CN112394655B - Balance car, method for controlling balance car and storage medium - Google Patents
Balance car, method for controlling balance car and storage medium Download PDFInfo
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- CN112394655B CN112394655B CN202010628868.1A CN202010628868A CN112394655B CN 112394655 B CN112394655 B CN 112394655B CN 202010628868 A CN202010628868 A CN 202010628868A CN 112394655 B CN112394655 B CN 112394655B
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- balance car
- mode
- controlling
- standby state
- setting information
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
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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
- B62K2204/00—Adaptations for driving cycles by electric motor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a balance car, a method for controlling the same and a storage medium, wherein the method for controlling the balance car comprises the following steps: acquiring setting information of a control mode; if the setting information indicates that the stepping-on-line mode is used, the stepping-on-line mode is started; the step-on and step-on mode is that the balance vehicle-mounted person enters a riding mode; and if the setting information indicates that a conventional manipulation manner is used, enabling the conventional manipulation manner; the traditional control mode is that the balance car is started and enters the riding mode after carrying a person. The balance car and the method for controlling the same can be compatible with a stepping-while-running mode and a traditional control mode, can meet different user requirements, are more various, and improve riding experience.
Description
Technical Field
The invention belongs to the technical field of balance car manufacturing, and particularly relates to a method for controlling a balance car, the balance car and a non-transitory 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 on-off button is usually arranged at a lower position, so that the operation is very inconvenient, the control mode is single, and different riding requirements cannot be met.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art. Therefore, one object of the present invention is to provide a method for controlling a balance car, which has a more flexible operation mode, can meet the requirements of different people, and improves the riding experience.
A second object of the invention is to propose a non-transitory computer-readable storage medium.
The third purpose of the invention is to provide a balance car.
In order to achieve the above object, a method for controlling a balance vehicle according to an embodiment of a first aspect of the present invention includes: acquiring setting information of a control mode, wherein the control mode comprises a stepping and walking mode and a traditional control mode; and starting a corresponding control mode according to the setting information to control the balance car.
The method for controlling the balance car is compatible with a stepping and running mode and a traditional control mode, and the corresponding control mode is started according to the setting information of the control mode, so that the method is more diversified, the requirements of different users can be met, and the riding experience is improved.
In some embodiments, the enabling a corresponding control manner to control the balance car according to the setting information includes: enabling the stepping and walking mode according to the setting information, and detecting that the balance car is in a riding mode; responding to an unmanned detection signal, and controlling the balance car to be switched from a riding mode to a power-assisted mode; and carrying out accumulated timing when the wheel speed of the balance car is detected to be zero, controlling the balance car to enter a standby state from the power-assisted mode when the accumulated timing reaches a preset time, or controlling the balance car to enter the standby state from the power-assisted mode when a shutdown trigger signal output by a foot switch device is detected.
In some embodiments, the enabling the corresponding control manner to control the balance car according to the setting information further includes: detecting that the balance car is in a standby state; responding to a wake-up instruction, and controlling the balance car to be woken up from the standby state; and responding to the manned detection signal, and controlling the balance car to enter a riding mode. From the standby state to the riding mode, the waiting time can be shortened, and the stepping and walking experience is improved.
In some embodiments, the enabling a corresponding control manner to control the balance car according to the setting information further includes:
detecting that the balance car is in a standby state;
the control device of the balance car is automatically awakened once every preset time, and the residual electric quantity of the power supply is detected;
and judging that the residual electric quantity of the power supply is less than a preset electric quantity, and enabling the balance car to enter a shutdown state.
In some embodiments, a support is disposed on one side of the bottom of the balance car, and the enabling a corresponding control manner to control the balance car according to the setting information further includes:
controlling the support to retract when the riding mode is determined to be entered;
or when the balance car is determined to enter the standby state, controlling the support piece to fall down and controlling the balance car to incline to the side where the support piece is located by a preset angle.
In some embodiments, the wake-up instruction comprises a man detection signal or a power-on trigger signal.
In some embodiments, the enabling a corresponding control manner to control the balance car according to the setting information includes:
starting the traditional control mode according to the setting information;
responding to a starting trigger signal, and powering on a power supply of the balance car;
responding to a manned detection signal, and controlling the balance car to enter a riding mode;
responding to an unmanned detection signal, and controlling the balance car to be switched from the riding mode to a power-assisted mode;
and responding to a shutdown trigger signal, and controlling the balance car to enter a shutdown state.
In some embodiments, the setting information of the control mode is from a mobile terminal or is set through a control interface of the balance car.
In some embodiments, the method further comprises: and under the condition that the control device of the balance car is powered on, the balance car receives the setting information of the control mode sent by the mobile terminal.
In order to achieve the above object, a non-transitory computer-readable storage medium according to an embodiment of the second aspect of the present invention has a computer program stored thereon, and when the computer program is executed, the method for controlling a balance car is implemented.
In order to achieve the above object, a balance vehicle according to an embodiment of a third aspect of the present invention includes: a vehicle body and a power supply; the foot switch device is arranged on the vehicle body and used for detecting the manned state of the vehicle body; the power on/off trigger device is used for outputting a power on trigger signal or a power off trigger signal; and the control device is used for acquiring the setting information of the control mode and starting the corresponding control mode to control according to the setting information, wherein the control mode comprises a stepping and walking mode and a traditional control mode.
The balance car disclosed by the embodiment of the invention is compatible with a stepping and running mode and a traditional control mode, and the corresponding control mode is started according to the setting information of the control mode, so that the balance car is more diversified, different user requirements can be met, and the riding experience is improved.
In some embodiments, the balance car further comprises a wheel speed detection device; the control device is used for starting a corresponding control mode according to the setting information to control, starting the stepping-on-instant mode according to the setting information, detecting that the balance car is in a riding mode, responding to a non-manned detection signal, controlling the balance car to be switched from the riding mode to a power-assisted mode, performing accumulated timing, detecting that the wheel speed of the balance car is zero, controlling the balance car to enter a standby state from the power-assisted mode when the accumulated timing reaches a preset time, or controlling the balance car to enter the standby state from the power-assisted mode when a stepping shutdown control signal is detected.
In some embodiments, the control device is further configured to detect that the balance car is in a standby state, control the balance car to be woken up from the standby state in response to a wake-up instruction, and control the balance car to enter a riding mode in response to a manned detection signal. From the standby state to the riding mode, the waiting time can be shortened, and the stepping and walking experience is improved.
In some embodiments, the balance car further comprises a support member disposed on one side of the bottom body portion; the control device is further used for controlling the supporting piece to be folded when the riding mode is determined to be entered, or controlling the supporting piece to fall and controlling the vehicle body to incline to the side where the supporting piece is located by a preset angle when the riding mode is determined to be entered.
In some embodiments, the control device is further configured to automatically wake up once every preset time in the standby state, detect a remaining power of the power supply, and enter a shutdown state when the remaining power of the power supply is less than a preset power.
In some embodiments, the wake-up instruction comprises a man detection signal or a power-on trigger signal.
In some embodiments, the power supply is configured to power up in response to a power-on trigger signal; the control device is further used for starting the traditional control mode according to the setting information, responding to a manned detection signal, controlling the balance car to enter a riding mode, responding to an unmanned detection signal, controlling the balance car to switch from the riding mode to a power-assisted mode, and responding to a shutdown trigger signal, controlling the balance car to enter a shutdown state.
In some embodiments, the balance car further comprises a control interface, wherein the control interface is used for generating setting information of the control mode according to an input instruction; or, the control device further comprises a communication device, and the communication device is used for receiving the setting information of the control mode sent by the mobile terminal.
In some embodiments, in a case where the control device is powered on, the communication device receives setting information of the control manner transmitted by the mobile terminal.
Drawings
FIG. 1 is a flow chart of a method of controlling a balance vehicle according to one embodiment of the present invention;
FIG. 2 is a diagram illustrating a mobile terminal setting control scheme according to one embodiment of the present invention;
FIG. 3 is a schematic view of a balance car according to one embodiment of the present invention;
FIG. 4 is a flow chart of a transition from an off state or a standby state to a riding mode in a step-and-go mode according to one embodiment of the present invention;
FIG. 5 is a flow diagram from a ride mode to a shutdown state in a step-and-go mode according to one embodiment of the present invention;
FIG. 6 is a flow chart of a conventional maneuver from a power-off state to a riding mode according to one embodiment of the present invention;
FIG. 7 is a flow chart of a conventional maneuver from a ride mode to a shutdown state, in accordance with one embodiment of the present invention;
FIG. 8 is a block diagram of a balance car according to one embodiment of the present invention;
fig. 9 is a block diagram of a balance car according to one embodiment of the present invention.
Reference numerals:
a balance car 1;
the device comprises a vehicle body 10, a power supply 20, a foot switch device 30, a switching trigger device 40, a control device 50, a wheel speed detection device 60 and a support 70.
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 method of controlling a balance car according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method of controlling a balancing vehicle according to one embodiment of the present invention.
As shown in fig. 1, the method for controlling a balance car according to the embodiment of the present invention includes step S1, step S2, and step S3.
And S1, acquiring setting information of a control mode.
In the embodiment, different riding control modes can be set, for example, the control modes can include a stepping and walking mode and a traditional control mode, wherein the stepping and walking mode is used, and a user can ride the balance bike by stepping on the balance bike as the name suggests; the conventional control method is similar to the control method adopted at present, and each control method is further explained below.
In some embodiments, the setting information of the control mode may be set by the mobile terminal, for example, the mobile terminal installs an app of the balance car, and the app selects to enable the control mode, as shown in fig. 2, where (a) in fig. 2 is a schematic diagram of selecting, i.e., stepping on, the row, and (b) in fig. 2 is a schematic diagram of closing, i.e., stepping on, the row, i.e., enabling a conventional manipulation mode, and then sends the setting information to the balance car, and the balance car may receive the setting information through a communication device, such as a bluetooth or wifi module; alternatively, a control interface may be provided on the balance car, and the setting information may be generated according to the input instruction through the control interface, for example, a selection knob or a bidirectional selection switch may be provided on the control interface, and the enabled control mode may be selected through the setting switch.
In an embodiment, under the condition that the control device of the balance car is powered on, the balance car may receive the setting information of the control mode sent by the mobile terminal, so as to ensure that the setting information may be effectively received.
And S2, starting a corresponding control mode according to the setting information.
For example, the mobile terminal sends the setting information to the balance car, the balance car receives the setting information through the communication device such as the bluetooth, and then the setting information can be cached in the flash of the control device, and the control device sets the flag bit according to the setting information, for example, if the flag bit is 1, the stepping and walking mode is selected, otherwise, if the flag bit is 0, the traditional control mode is selected. Or what kind of control mode is set to be started through the control interface of the balance car.
And S3, controlling the balance car according to the started control mode.
Specifically, the user may select the control mode according to the own requirement, for example, an old user who used the balance car at one time is already accustomed to the conventional control mode, and then may select the conventional control mode, or is familiar with the balance car, and wants to further improve the riding experience, and then may select the stepping-on-as-go mode, and for a new user, who is not familiar with the balance car, there is no sense of safety, then may select the conventional control mode or may also step-on-as-go mode, which is more convenient.
The method for controlling the balance car is compatible with a stepping and running mode and a traditional control mode, and the corresponding control mode is started according to the setting information of the control mode, so that the method is more diversified, meets the requirements of different users, and improves the riding experience.
The control procedure of the step-and-go mode according to the embodiment of the present invention will be described below.
In an embodiment, as shown in fig. 2 (a), the on-tap-and-go mode, i.e., the enable-and-tap-and-go mode, is turned on in the app, wherein the foot switch device may employ a physical switch element without pre-power, and in some embodiments, the foot switch device may employ a membrane switch.
Specifically, in the step-on and walk-through mode, if the balance car is detected to be in the riding mode, the step-on and step-off detection signal is responded, namely, a person gets on or off the balance car, and at the moment, the foot switch device of the balance car outputs the non-manned detection signal, so that the balance car is controlled to be switched from the riding mode to the power-assisted mode. The riding mode can be understood as that the balance car enters a self-balancing state after a person stands on the car body, and then the riding state of the balance car such as forward running, parking, turning and the like can be controlled according to the posture of the human body, namely the manned self-balancing state; the boosting mode can be understood as that no person stands on the vehicle body and the balance vehicle is in a self-balancing state, namely, the person-free self-balancing mode.
In some embodiments, in the power-assisted mode, when the wheel speed of the balance car is detected to be zero, that is, the balance car is stopped, the cumulative timing is performed, and if the cumulative timing reaches a preset time, for example, 10 seconds, the balance car is controlled to enter a standby state from the power-assisted mode, and the timeout standby control is realized. In the standby state, the power supply of the balance car stops outputting power supply, and other peripheral devices such as a motor and various sensors are powered off, however, the control device of the balance car may output a small current power supply through the power management part, for example, a low dropout regulator (LDO) power supply, and the control device enters the standby state.
In other embodiments, if the shutdown trigger signal output by the foot switch device is detected, the balance vehicle is controlled to enter the standby state from the power-assisted mode. Specifically, the standby triggering may be implemented by presetting a pedal operation, for example, a user pedals a plurality of pedals of the pedal switch device, or pedals the left or right pedal, or steps on the left or right pedal for a long time and then steps on the left or right pedal for a short time, or other settable operations, the pedal switch device outputs a corresponding shutdown trigger signal, the control device controls the balance car to enter a standby state in response to the shutdown trigger signal, that is, the standby control is implemented through an interactive action, and the user does not need to operate a shutdown key.
In some embodiments, in the step-and-go mode, if the balance car is detected to be in the standby state, the balance car is controlled to be wakened from the standby state in response to a wake-up instruction, and the balance car is controlled to enter the riding mode in response to a manned detection signal.
For example, the balance car is supported on the ground through the supporting piece and is in a standby state, when a user needs to ride, the user directly triggers the foot switch device such as a foot pad standing on the balance car, the control device detects that a manned detection signal is awakened from the standby state, self-checking is completed, the self-checking is completed, a power supply and other peripherals are started, and the foot switch device is triggered at the moment, so that the balance car is controlled to directly enter a manned self-balancing mode, namely a riding mode, and treading can be realized.
As another embodiment, the control device may also be awakened by a power-on trigger signal, for example, in a standby mode, if it is detected that the power-on button is triggered, the control device is awakened from a standby state, and then the user may trigger the foot switch device, and the control device detects the manned detection signal, i.e., controls the balance car to enter the riding mode.
When detecting that the user gets on or off from the balance car, control the balance car and get into standby state, compare in complete shutdown state, when getting into the mode of riding next time, can reduce latency, start more fast, improve and step on promptly and experience promptly.
Further, the balance car is detected to be in a standby state, the control device of the balance car is automatically awakened once every preset time, the remaining capacity of the power supply is detected, for example, the remaining capacity of the LDO is detected, and if the remaining capacity of the power supply is smaller than the preset capacity, for example, 10%, the balance car enters a shutdown state, that is, the LDO stops supplying power to the control device. In the power-off state, the power-on trigger can be realized by triggering a power-on trigger device such as a power-on button.
Further, as shown in fig. 3, a support member is provided at one side of the bottom of the balance car, and the car body can be supported on the ground through the support member, for example, the car body can be supported by being inclined at a certain angle, for example, 45 ° or 60 ° from the vertical direction of the ground, so that the user can ride the balance car directly.
In an embodiment, when the riding mode is determined to be entered, the support member is controlled to retract, for example, the support member is rotated to the left or right at 90 degrees to the ground, or the support member is rotated upward and away from the ground, so as to avoid being blocked by obstacles during riding. Or, when confirming to get into standby state, control support piece falls, for example, control support piece for example is 90 degrees the left side or the right with ground from initial position, keep away from the top on ground, rotate to the vertical state with ground, so that support subaerial when parkking, and control balance car and predetermine the angle to support piece place incline, it is more tiny angle to predetermine the angle, can so that the balance car after the standby towards that incline of support piece can, thereby the balance car is to fixed direction slope, and support subaerial by support piece, conveniently ride next time when directly getting on the bus, more convenient and fast.
Fig. 4 is a flowchart of entering a riding mode from a shutdown state or a standby state of the balance car in a step-on and go mode according to an embodiment of the present invention, as shown in fig. 4, specifically including:
and S10, judging in the step S12 when the balance car is in a shutdown state.
And S11, judging in steps S12 and S13 when the balance car is in a standby state.
And S12, judging whether the startup key is triggered, if so, entering the step S14, otherwise, returning to the step S11 or S10.
And S13, judging whether the foot switch device is triggered, if so, entering the step S14, otherwise, returning to the step S11.
And S14, executing a starting-up process.
S15, judging whether the vehicle body is in a balanceable angle range, for example, the deflection angle of the vehicle body in the direction vertical to the ground is less than 20 degrees, if so, going to step S16, otherwise, going to step S19.
And S16, entering a boosting mode.
S17, judging whether the foot switch device is still in a trigger state, if so, entering the step S18, otherwise, returning to the step S16.
And S18, controlling the balance car to enter a riding mode.
And S19, controlling the motor to be turned off, and returning to the step S11 after the motor stands by for 5 seconds.
Wherein, steps S15, S16 and S19 may be taken as self-test steps.
Fig. 5 is a flowchart of entering a standby state or a shutdown state from a riding mode of the balance car in a step-on and go mode according to an embodiment of the present invention, as shown in fig. 5, specifically including:
and S20, the balance car is in a riding mode.
S21, judging whether the foot switch device is disconnected, if so, going to the step S22, otherwise, returning to the step S20.
And S22, controlling the balance car to enter a power-assisted mode, and respectively entering the judgment of the steps S23 and S24.
And S23, judging whether the accumulated time reaches the preset time or not, if so, entering the step S25, and if not, returning to the step S22.
S24, whether a shutdown trigger signal of the foot switch device is detected or not is judged, if yes, the step S25 is carried out, and if not, the step S22 is returned to.
And S25, controlling the balance car to enter a standby state.
And S26, automatically waking up once every preset time, such as 30 seconds.
S27, judging whether the self-power supply is lower than 10%, if so, going to step S28, otherwise, returning to step S25.
And S28, controlling the balance car to enter a shutdown state.
The control procedure of the step-and-go mode is explained above, and the control procedure of the conventional manipulation mode is explained below.
In an embodiment, as shown in fig. 2 (b), the balance car is controlled in the app in a manner of closing, i.e., stepping, i.e., a conventional manipulation manner is enabled.
Specifically, when the balance car is detected to be in a shutdown mode, in response to a startup trigger signal, for example, when a startup key is detected to be triggered, the balance car is powered on, that is, a startup process is executed. In response to a manned detection signal, namely detecting that the foot switch device is triggered, such as a person steps on a foot pad, controlling the balance car to enter a riding mode; responding to the non-manned detection signal, namely detecting that a user gets on or off the balance car, and controlling the balance car to be switched from the riding mode to the power-assisted mode; and responding to a shutdown trigger signal, for example, if the accumulated timing in the boosting mode reaches a preset time or a shutdown key is triggered, controlling the balance car to enter a shutdown state.
Fig. 6 is a flowchart of a balance car from a shutdown mode to a riding mode in a conventional control mode according to an embodiment of the present invention, as shown in fig. 6, specifically including:
and S30, the balance car is in a shutdown mode.
And S31, judging whether the startup key is triggered, if so, entering the step S32, otherwise, returning to the step S30.
And S32, executing a starting-up process.
S33, judging whether the deflection angle of the vehicle body in the vertical direction with the ground is in a balanceable angle range, for example, smaller than 20 degrees, if so, going to step S34, otherwise, going to step S37.
And S34, controlling the balance car to enter a power-assisted mode.
And S35, judging whether the foot switch device is triggered or not, if so, going to step S36, otherwise, returning to step S34.
And S36, controlling the balance car to enter a riding mode.
And S37, controlling the motor to be turned off, and returning to the step S30 after the motor stands by for 5 seconds.
Fig. 7 is a flowchart of a balance car from a riding mode to a shutdown mode in a conventional control mode according to an embodiment of the present invention, as shown in fig. 7, specifically including:
and S40, the balance car is in a riding mode.
S41, judging whether the foot switch device is triggered, if so, going to S42, otherwise, returning to S40.
And S42, controlling the balance car to enter the boosting mode, and respectively judging in the steps S43 and S44.
And S43, judging that the accumulated timing time in the assistance mode reaches the preset time, if so, entering the step S45, and if not, returning to the step S42.
And S44, judging whether the shutdown key is triggered, if so, entering the step S45, otherwise, returning to the step S42.
And S45, controlling the balance car to enter a shutdown mode.
In the embodiment of the invention, namely the switching between the stepping-while-running mode and the traditional control mode can be realized in a riding mode, or when the balance car is in a power-assisted mode, namely under the condition that the control device of the balance car is powered on, the balance car can receive the setting information of the control mode.
In summary, the method for controlling the balance car in the embodiment of the invention can determine the control mode selected by the user according to the setting information of the control mode, and start the corresponding control mode, so that the control mode is more diversified, different requirements of the user are met, and the riding experience is improved. And, if the stepping-while-running mode is started, the operation is more smooth and simple; when the balance car parks, the balance car is controlled to enter a standby state, the standby state is switched to a riding mode, the waiting time can be shortened, and the stepping-on-and-going experience is improved.
Based on the method of controlling a balance car of the above embodiment, a non-transitory computer-readable storage medium of an embodiment of the second aspect of the present invention, on which a computer program is stored, which, when executed, can implement the method of controlling a balance car of the above embodiment.
A balance car according to an embodiment of the third aspect of the invention is described below with reference to the drawings.
Fig. 8 is a block diagram of a balance car according to an embodiment of the present invention, and as shown in fig. 8, a balance car 1 according to an embodiment of the present invention includes a car body 10, a power source 20, a foot switch device 30, an on/off trigger device 40, and a control device 50.
The foot switch device 30 is provided on the vehicle body 10 and is used for detecting a manned state of the vehicle body 10, for example, outputting a manned detection signal when detecting that the vehicle body 10 is in the manned state, and outputting an unmanned detection signal when detecting that the vehicle body 10 is in the unmanned state.
The power on/off trigger device 40, such as a power on/off button, is used for outputting a power on trigger signal or a power off trigger signal.
The control device 50 is used for acquiring the setting information of the control mode, starting the corresponding control mode according to the setting information, and controlling according to the started control mode, wherein the control mode comprises a stepping and walking mode and a traditional control mode.
The balance car 1 disclosed by the embodiment of the invention is compatible with a stepping-while-running mode and a traditional control mode, and the corresponding control mode is started according to the setting information of the control mode, so that the balance car is more diversified, the requirements of different users can be met, and the riding experience is improved.
As shown in fig. 9, the balance car 1 according to the embodiment of the present invention further includes a wheel speed detection device 60, and when the control device 50 performs control according to the enabled control manner, the control device is configured to enable a step-on-go manner according to the setting information, detect that the balance car 1 is in the riding mode, and in response to the non-manned detection signal, control the balance car 1 to switch from the riding mode to the power-assisted mode, perform accumulated timing, detect that the wheel speed of the balance car 1 is zero, and the accumulated timing reaches a preset time, control the balance car 1 to enter the standby state from the power-assisted mode, or detect a step-off control signal, control the balance car 1 to enter the standby state from the power-assisted mode, that is, implement standby control through interactive action, and the user does not need to operate a shutdown key.
In some embodiments, the control device 50 is further configured to detect that the balance car 1 is in a standby state, control the balance car 1 to be woken up from the standby state in response to a wake-up instruction, and control the balance car 1 to enter a riding mode in response to a manned detection signal, so as to realize stepping on and walking on. The wake-up command may include one of a man detection signal and a power-on trigger signal.
Further, as shown in fig. 3, the balance car 1 further includes a support member 70, and the support member 70 is provided on one side of the bottom of the car body 10. The control device 50 is further configured to control the car body 10 to incline to the side of the support member 70 by a preset angle before entering the standby state, where the preset angle is a small angle, so that the balance car can incline to the side of the support member after being standby, and the balance car is supported on the ground by the support member, so that the balance car can be directly loaded on the ground when riding next time, and is more convenient and faster. Before entering the riding mode, the control device 50 controls the support member to retract so as to avoid being blocked by an obstacle during riding.
In an embodiment, the control device 50 is further configured to automatically wake up once every preset time in the standby state, detect the remaining power of the power supply 20, and enter the shutdown state when the remaining power of the power supply 20 is smaller than the preset power. In the power-off state, the power-on trigger means 40, such as a power-on button, may be triggered to perform the power-on trigger.
In the embodiment, for the conventional operation and control manner, the power supply 20 is used for responding to the power-on trigger signal to be powered on, that is, the balance car 1 is powered on; the control device 50 is further configured to, when the conventional manipulation manner is enabled according to the setting information, control the balance car 1 to enter a riding mode in response to the manned detection signal, control the balance car 1 to switch from the riding mode to the power-assisted mode in response to the unmanned detection signal, and control the balance car 1 to enter a shutdown state in response to a shutdown trigger signal.
In an embodiment, the setting information of the control mode may be set by the mobile terminal and sent to the balance car 1, the control device 50 includes a communication device 80, such as bluetooth, and the communication device 80 is configured to receive the setting information of the control mode sent by the mobile terminal, so as to start the corresponding control mode and execute the corresponding control flow.
As another embodiment, setting information of the control method may be generated according to the input instruction through the control interface of the balance car 1, and the control device 50 acquires the setting information of the control method, further identifies the control method selected by the user, and executes the corresponding control flow.
In some embodiments, in the case that the control device is powered on, the communication device 80 receives the setting information of the control mode sent by the mobile terminal, and the control device 50 may set the information setting flag bit to indicate the enabled control mode.
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 out in the method of 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 the program, when executed, 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 of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means 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 (12)
1. A method of controlling a balance car, comprising:
acquiring setting information of a control mode;
if the setting information indicates that the stepping-on-line mode is used, the stepping-on-line mode is started; the step-on and step-on mode is that the balance car enters a riding mode from a standby state after carrying a person, and the balance car is controlled to enter the standby state after detecting that a user gets up and down from the balance car; and
enabling a conventional manipulation manner if the setting information indicates that the conventional manipulation manner is used; the traditional control mode is that the balance car is started and enters the riding mode after people are loaded;
under the stepping and walking mode, the conditions of the balance car executing the starting process from the standby state are as follows: judging that the foot switch device is triggered;
and in the standby state, the power supply of the balance car stops outputting power supply, and the control device outputs a small current for power supply through the power management part and enters the standby state.
2. The method of controlling a balance car according to claim 1, further comprising:
and if the manned signal is detected, controlling the balance car to be switched from the riding mode to the power-assisted mode.
3. The method of controlling a balance car according to claim 2, further comprising:
if the wheel speed of the balance car is detected to be zero, performing accumulated timing, and controlling the balance car to enter a standby state from the power-assisted mode when the accumulated timing reaches a preset time; or alternatively
And if a shutdown signal is detected, controlling the balance car to enter the standby state from the power-assisted mode.
4. The method of controlling a balance car according to claim 3, further comprising:
and if a wake-up instruction is detected, waking up the balance car from the standby state.
5. The method of controlling a balance car according to claim 4, wherein:
the awakening instruction comprises the manned signal or a signal for powering on the balance car.
6. The method of controlling a balance car according to claim 3, further comprising:
automatically awakening the balance car at preset time intervals, and detecting the residual electric quantity of the balance car;
and when the residual electric quantity of the balance car is less than the preset electric quantity, controlling the balance car to enter a shutdown state.
7. The method of controlling a balance car according to any one of claims 1 to 6, wherein a support is provided to one side of the balance car bottom, the method further comprising:
controlling the support to retract when the riding mode is determined to be entered.
8. The method of controlling a balance car of claim 7, further comprising:
and when the balance car is determined to enter the standby state, controlling the support piece to fall down and controlling the balance car to incline to the side of the support piece by a preset angle.
9. The method of controlling a balance car according to any one of claims 1 to 6, wherein the setting information is from a mobile terminal or the setting information is input through a control interface of the balance car.
10. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program when executed implements a method of controlling a balance car according to any of claims 1 to 9.
11. A balance car, characterized by comprising:
a memory for storing a computer program;
a processor for executing the computer program to perform the method of controlling a balance car according to any of claims 1 to 9.
12. A balance car, characterized by comprising:
a vehicle body and a power supply;
the foot switch device is arranged on the vehicle body and used for detecting the manned state of the vehicle body;
the power on/off trigger device is used for outputting a power on trigger signal or a power off trigger signal;
the control device is used for acquiring the setting information of the control mode, and if the setting information indicates that the stepping-on-demand mode is used, the stepping-on-demand mode is started, wherein the stepping-on-demand mode is that the balance vehicle enters a riding mode from a standby state after people are carried by the balance vehicle, and the balance vehicle is controlled to enter the standby state after the balance vehicle is detected to ascend or descend by a user; and
if the setting information indicates that a traditional control mode is used, starting the traditional control mode, wherein the traditional control mode is that the balance car is started up and enters the riding mode after a person is carried;
under the stepping and walking mode, the conditions of the balance car executing the starting process from the standby state are as follows: judging that the foot switch device is triggered;
and in the standby state, the power supply of the balance car stops outputting power supply, and the control device outputs a small current for power supply through the power management part and enters the standby state.
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| CN202010628868.1A CN112394655B (en) | 2019-08-01 | 2019-08-01 | Balance car, method for controlling balance car and storage medium |
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| CN202010628868.1A CN112394655B (en) | 2019-08-01 | 2019-08-01 | Balance car, method for controlling balance car and storage medium |
| CN201910708832.1A CN110554641B (en) | 2019-08-01 | 2019-08-01 | Balance car, method for controlling balance car and storage medium |
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| CN110554641B (en) | 2021-02-12 |
| CN112394655A (en) | 2021-02-23 |
| CN110554641A (en) | 2019-12-10 |
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