CN118068830A - Method and device for controlling movement of balance car and balance car - Google Patents
Method and device for controlling movement of balance car and balance car Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The disclosure relates to a method and a device for controlling movement of a balance car and the balance car. The method comprises the following steps: when a balance car is in a following mode, detecting a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car, wherein the first sensor and the second sensor are distributed in the axle direction of the balance car; when the balance car moves along with the user equipment, determining whether the balance car needs to adjust the movement direction according to the first distance value and the second distance value; and when the movement direction of the balance car is determined to be required to be adjusted, adjusting the movement direction of the balance car. By utilizing the technology, the balance car can be controlled to move along with the user equipment carried by the user, so that the user can use the balance car more conveniently, and the user experience is greatly improved.
Description
Technical Field
The disclosure relates to the technical field of communication, and in particular relates to a method and device for controlling movement of a balance car and the balance car.
Background
Balance car is popular because it is convenient, intelligent, pollution subalternation characteristics of going on a journey more and more receive people. However, the use of balance cars is limited in certain situations, such as public places, office areas, etc. Under the condition, the user can only control the movement of the balance car in a hand-push mode, so that great inconvenience is brought to the user.
Disclosure of Invention
In order to overcome the problems in the related art, the embodiment of the disclosure provides a method and a device for controlling the movement of a balance car and the balance car.
According to a first aspect of embodiments of the present disclosure, there is provided a method of controlling movement of a balance car, comprising:
When a balance car is in a following mode, detecting a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car, wherein the first sensor and the second sensor are distributed in the axle direction of the balance car;
When the balance car moves along with the user equipment, determining whether the balance car needs to adjust the movement direction according to the first distance value and the second distance value;
And when the movement direction of the balance car is determined to be required to be adjusted, adjusting the movement direction of the balance car.
In an embodiment, the determining whether the balance car needs to adjust the movement direction according to the first distance value and the second distance value includes:
Determining the angles of a first included angle and a second included angle according to the first distance value, the second distance value and a third distance value between the first sensor and the second sensor; defining a line segment connected between the first sensor and the user equipment as a first line segment, defining a line segment connected between the second sensor and the user equipment as a second line segment, and defining a line segment connected between the first sensor and the second sensor as a third line segment, wherein the first included angle is an included angle formed by the first line segment and the third line segment, and the second included angle is an included angle formed by the second line segment and the third line segment;
and when the angle of the first included angle or the second included angle is larger than a preset angle threshold, determining that the balance car needs to turn.
In an embodiment, the determining whether the balance car needs to adjust the movement direction according to the first distance value and the second distance value includes:
determining a distance difference between the first distance value and the second distance value;
and when the distance difference is larger than a preset difference threshold, determining that the balance car needs to turn.
In an embodiment, the method further comprises:
Detecting the change of the first distance value or the second distance value, and determining the relative movement speed between the balance car and the user equipment according to the change of the first distance value or the second distance value;
when the relative movement speed is smaller than the movement speed of the balance car, determining the movement direction of the user equipment as the current movement direction of the balance car;
And when the relative movement speed is greater than the movement speed of the balance car, determining that the movement direction of the user equipment is the opposite direction of the current movement direction of the balance car.
In an embodiment, the detecting the change of the first distance value or the second distance value, and determining the relative movement speed between the balance car and the user equipment according to the change of the first distance value or the second distance value includes:
Determining a change value of a linear distance between the user equipment and the balance car in a preset duration by detecting the change of the first distance value or the second distance value in the preset duration;
and calculating the relative movement speed according to the change value of the linear distance and the preset duration.
In an embodiment, the distance between the first sensor and the wheel axle midpoint of the balance car is equal to the distance between the second sensor and the wheel axle midpoint of the balance car.
According to a second aspect of embodiments of the present disclosure, there is provided an apparatus for controlling movement of a balance car, comprising:
The detection module is used for detecting a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car when the balance car is in a following mode, wherein the first sensor and the second sensor are distributed in the axle direction of the balance car;
The first determining module is used for determining whether the balance car needs to adjust the movement direction according to the first distance value and the second distance value when the balance car moves along with the user equipment;
And the adjusting module is used for adjusting the movement direction of the balance car when the movement direction of the balance car is determined to be required to be adjusted.
In an embodiment, the first determining module includes:
the first determining submodule is used for determining angles of a first included angle and a second included angle according to the first distance value, the second distance value and a third distance value between the first sensor and the second sensor; defining a line segment connected between the first sensor and the user equipment as a first line segment, defining a line segment connected between the second sensor and the user equipment as a second line segment, and defining a line segment connected between the first sensor and the second sensor as a third line segment, wherein the first included angle is an included angle formed by the first line segment and the third line segment, and the second included angle is an included angle formed by the second line segment and the third line segment;
And the second determining submodule is used for determining that the balance car needs to turn when the angle of the first included angle or the second included angle is larger than a preset angle threshold value.
In an embodiment, the first determining module includes:
A third determination sub-module for determining a distance difference of the first distance value and the second distance value;
and the fourth determining submodule is used for determining that the balance car needs to turn when the distance difference value is larger than a preset difference value threshold value.
In an embodiment, the device further comprises:
the second determining module is used for detecting the change of the first distance value or the second distance value and determining the relative movement speed between the balance car and the user equipment according to the change of the first distance value or the second distance value;
the third determining module is used for determining that the movement direction of the user equipment is the current movement direction of the balance car when the relative movement speed is smaller than the movement speed of the balance car;
and the fourth determining module is used for determining that the movement direction of the user equipment is the opposite direction of the current movement direction of the balance car when the relative movement speed is greater than the movement speed of the balance car.
In an embodiment, the second determining module includes:
A fifth determining submodule, configured to determine a change value of a linear distance between the user equipment and the balance car in a preset duration by detecting a change of the first distance value or the second distance value in the preset duration;
And the sixth determining submodule is used for calculating the relative movement speed according to the change value of the linear distance and the preset duration.
In an embodiment, the distance between the first sensor and the wheel axle midpoint of the balance car is equal to the distance between the second sensor and the wheel axle midpoint of the balance car.
According to a third aspect of embodiments of the present disclosure, there is provided a balance car comprising:
A processor;
A memory for storing processor-executable instructions;
wherein the processor is configured to:
When a balance car is in a following mode, detecting a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car, wherein the first sensor and the second sensor are distributed in the axle direction of the balance car;
When the balance car moves along with the user equipment, determining whether the balance car needs to adjust the movement direction according to the first distance value and the second distance value;
And when the movement direction of the balance car is determined to be required to be adjusted, adjusting the movement direction of the balance car.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
In the embodiment of the disclosure, a balance car is provided with a following mode, and when the balance car is in the following mode, a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car can be detected; further, whether the balance car needs to adjust the movement direction or not is determined according to the first distance value and the second distance value; and when the movement direction of the balance car is determined to be required to be adjusted, adjusting the movement direction of the balance car. It is seen that through the first sensor that sets up on the balance car, the second sensor can make the user be inconvenient for riding when the balance car, follow user equipment (i.e. user) motion through above-mentioned process control balance car to make the user more convenient when using the balance car, promoted user's experience greatly.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1A is a flowchart illustrating a method of controlling movement of a balance car according to an exemplary embodiment;
FIG. 1B is one of the scene graphs showing a method of controlling movement of a balance car according to an exemplary embodiment;
FIG. 1C is a second scene diagram illustrating a method of controlling movement of a balance car according to an exemplary embodiment;
FIG. 1D is a third scene diagram illustrating a method of controlling movement of a balance car according to an exemplary embodiment;
FIG. 1E is a fourth scene diagram illustrating a method of controlling movement of a balance car according to an exemplary embodiment;
FIG. 1F is a fifth scene diagram illustrating a method of controlling movement of a balance car according to an exemplary embodiment;
FIG. 2 is a flowchart illustrating another method of controlling movement of a balance car according to an exemplary embodiment;
FIG. 3 is a flowchart illustrating another method of controlling movement of a balance car according to an exemplary embodiment;
FIG. 4A is a flowchart illustrating yet another method of controlling movement of a balance car in accordance with an exemplary embodiment;
FIG. 4B is one of the scene graphs showing yet another method of controlling balance car movement in accordance with an exemplary embodiment;
FIG. 4C is a second scene diagram illustrating yet another method of controlling movement of a balance car according to an exemplary embodiment;
FIG. 5 is a block diagram illustrating an apparatus for controlling movement of a balance car according to an exemplary embodiment;
FIG. 6 is a block diagram illustrating another apparatus for controlling movement of a balance car according to an exemplary embodiment;
FIG. 7 is a block diagram illustrating another apparatus for controlling movement of a balance car according to an exemplary embodiment;
FIG. 8 is a block diagram illustrating another apparatus for controlling movement of a balance car according to an exemplary embodiment;
FIG. 9 is a block diagram illustrating yet another apparatus for controlling movement of a balance car according to an exemplary embodiment;
Fig. 10 is a block diagram of a balance car according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
Fig. 1A is a flowchart illustrating a method of controlling a balance car movement according to an exemplary embodiment, fig. 1B is one of scene diagrams illustrating a method of controlling a balance car movement according to an exemplary embodiment, fig. 1C is two of scene diagrams illustrating a method of controlling a balance car movement according to an exemplary embodiment, fig. 1D is three of scene diagrams illustrating a method of controlling a balance car movement according to an exemplary embodiment, fig. 1E is four of scene diagrams illustrating a method of controlling a balance car movement according to an exemplary embodiment, and fig. 1F is five of scene diagrams illustrating a method of controlling a balance car movement according to an exemplary embodiment. The method for controlling the movement of the balance car can be applied to the balance car, and the balance car can acquire the movement condition of user equipment (such as a smart phone, a bracelet and the like) through a sensor arranged on the balance car, and control the movement of the balance car according to the movement condition of the user equipment. As shown in fig. 1A, the method for controlling the balance car includes the following steps 101-103:
In step 101, when the balance car is in a following mode, a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car are detected.
In the embodiment of the disclosure, when a user does not ride the balance car, the balance car can be in a following mode. The manner in which the balance car is placed in the following mode may include various ways, which will be exemplified below.
For example, in one embodiment, a user may set a balance car to follow mode by operating a button on the balance car that adjusts the balance car movement mode.
In an embodiment, a user may set the balance car to a follow mode by operating an application on a user device (e.g., smart phone, smart bracelet, etc.) that controls the balance car.
In one embodiment, the balance car automatically adjusts to the following mode when it detects that it is not being ridden by the user (e.g., the balance car detects that its current weight bearing is zero).
In an embodiment, the first sensor and the second sensor are distributed in the direction of the wheel axis of the balance car. In a preferred embodiment, the distance between the first sensor and the wheel axle midpoint of the balance car may be equal to the distance between the second sensor and the wheel axle midpoint of the balance car. For example, when the balance car includes two wheels, the first and second sensors may be disposed at positions close to the two wheels, respectively.
The case of detecting the first distance value and the second distance value in the balance car will be described with reference to fig. 1B and 1C. Referring to fig. 1B, a balance car 10 and user equipment 20 carried by a user are shown. The first sensor 11 and the second sensor 12 are respectively distributed in the directions of two wheel shafts 13 and 14 of the balance car 10. Referring to fig. 1C, the first sensor detects a first distance value x between itself and the user equipment, the second sensor detects a second distance value y between itself and the user equipment, and the first sensor detects a third distance z between the second sensor and the first sensor, when the length of the line segment P1M is equal to the length of the line segment P2M, and the first sensor detects a first distance value x between itself and the user equipment, when the second sensor detects a second distance value y between itself and the user equipment, when the second sensor detects a third distance z between itself and the second sensor.
The first sensor and the second sensor can detect the first distance value and the second distance value through ultrasonic, laser, infrared, radar and other technologies.
In step 102, when the balance car moves along with the user equipment, it is determined whether the balance car needs to adjust the movement direction according to the first distance value and the second distance value.
In this embodiment, whether the balance car needs to adjust the movement direction may be determined in various manners according to the first distance value and the second distance value, which will be described below.
For example, in an embodiment, it may be determined whether the balance car needs to adjust the direction according to whether the difference between the first distance value and the second distance value is greater than a preset difference threshold. The difference threshold is a preset value, and a value input by a user on the balance car can be used as the difference threshold before the balance car is in the following mode, for example, the user can input 0.3 meter, 0.5 meter, 0.8 meter and the like. The difference threshold value can also be set by the balance car manufacturer in the balance car production process, for example, 0.5 meter, 0.8 meter and the like.
As described in connection with fig. 1C, according to the description in the above step 101, it is determined that the balance car needs to adjust the moving direction if the preset difference threshold is 0.5 m, and when the difference between the first distance value x and the second distance value y (i.e. the value obtained by x-y or y-x) is greater than 0.5 m.
In another embodiment, the angles of the first included angle and the second included angle may be determined according to the first distance value, the second distance value, and a third distance value between the first sensor and the second sensor. Defining a line segment connected between the first sensor and the user equipment as a first line segment, defining a line segment connected between the second sensor and the user equipment as a second line segment, and defining a line segment connected between the first sensor and the second sensor as a third line segment, wherein the first included angle is an included angle formed by the first line segment and the third line segment, and the second included angle is an included angle formed by the second line segment and the third line segment; and when the angle of the first included angle or the second included angle is larger than a preset angle threshold, determining that the balance car needs to turn. The angle threshold is a preset angle value, and a user can input a value on the balance car as the angle threshold before the balance car is in the following mode, for example, the user can input 90 degrees, 100 degrees and the like; the angle threshold value can be set by a balance car manufacturer in the production process of the balance car, for example, 90 degrees, 95 degrees and the like.
Referring to fig. 1D, the positions of the balance car are P1 and P2, respectively, the position of the user equipment is Q1, the first line segment P1Q1 and the third line segment P1P2 form a first included angle a, and the second line segment P2Q1 and the third line segment P1P2 form a second included angle B. In this embodiment, the first distance value x1, the second distance value x2, and the third distance value z may be all measured, and the first included angle a and the second included angle B may be calculated by using a cosine law of a triangle; if the preset angle threshold is 90 degrees, determining whether the first included angle A and the second included angle B are larger than 90 degrees or not respectively, as shown in fig. 1D, wherein the first included angle A is larger than 90 degrees, and determining that the balance car needs to turn.
In step 103, when it is determined that the balance car needs to adjust the movement direction, the movement direction of the balance car is adjusted.
In an embodiment, when it is determined that the balance car needs to adjust the movement direction, the movement of the axle of the balance car that is farther from the user equipment may be adjusted, or the movement of the axle of the balance car that is located at the vertex of the smaller included angle of the first included angle or the second included angle may be adjusted, so as to adjust the movement direction of the balance car.
In an embodiment, as described with reference to fig. 1E, if the difference between the first distance value x2 and the second distance value y2 is greater than the preset distance difference by 0.5m, determining that the balance car needs to adjust the moving direction may be implemented by adjusting the first distance value x2 or the second distance value y 2. Referring to fig. 1E, it is obvious that the second distance value y2 is greater than the first distance value x2, and the axle where the second sensor is located rotates counterclockwise around the axle where the first sensor is located until the difference between the first distance value x2 and the second distance value y2' is less than the preset distance difference value 0.5.
For example, in one embodiment, the axle on which the second sensor is located may be adjusted such that the second distance y2' is equal to the first distance.
In an embodiment, as described with reference to fig. 1F, if the angle of the first included angle A2 or the second included angle B2 is greater than the preset angle threshold value of 90 °, as can be seen from fig. 1F, the axle where the vertex P2 of the smaller second included angle B2 is located may be adjusted if the first included angle A2 is greater than 90 °, so that the axle rotates counterclockwise around the axle where P1 is located until the first included angle A2 "is smaller than 90 °, and the second included angle is also smaller than 90 °.
For example, in one embodiment, the axle at which P2 is located may be adjusted such that the first angle A2 "is equal to the second angle B2".
In the embodiment of the present disclosure, the moving direction of the default balance car is generally the same as the moving direction of the user equipment, and if the moving direction of the balance car is opposite to the moving direction of the user equipment, the moving direction of the balance car may be manually turned.
According to the method provided by the embodiment of the disclosure, when the balance car is in the following mode, a first distance value and a second distance value between a first sensor and a second sensor on the balance car and the user equipment are detected respectively; further, whether the balance car needs to adjust the movement direction or not is determined according to the first distance value and the second distance value; and when the movement direction of the balance car is determined to be required to be adjusted, adjusting the movement direction of the balance car. Therefore, when the user is inconvenient to ride the balance car, the balance car can move along with the user equipment through the process control, so that the user is more convenient when using the balance car, and the user experience is greatly improved.
FIG. 2 is a flow chart illustrating another method of controlling movement of a balance car, which may be applied to a balance car, according to an exemplary embodiment. As shown in fig. 2, the method for controlling the movement of the balance car includes the following steps 201 to 204, wherein:
In step 201, when the balance car is in the following mode, a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car are detected.
In step 201 of this embodiment, the first sensor and the second sensor are distributed in the axle direction of the balance car.
In step 202, the angles of the first included angle and the second included angle are determined according to the first distance value, the second distance value, and a third distance value between the first sensor and the second sensor.
In step 202 of this embodiment, a line segment connected between the first sensor and the user equipment is defined as a first line segment, a line segment connected between the second sensor and the user equipment is defined as a second line segment, a line segment connected between the first sensor and the second sensor is defined as a third line segment, the first included angle is an included angle formed by the first line segment and the third line segment, and the second included angle is an included angle formed by the second line segment and the third line segment;
In step 203, when the angle of the first included angle or the second included angle is greater than a preset angle threshold, it is determined that the balance car needs to be steered.
In step 204, the direction of movement of the balance car is adjusted.
The above steps 201 and 204 may refer to the content of step 101 and step 103 in the embodiment shown in fig. 1A, and will not be described herein. The steps 202 and 203 may refer to the relevant content in step 102 in the embodiment shown in fig. 1A, and will not be described herein again.
In this embodiment, whether the movement direction of the balance car following the user equipment needs to be adjusted is determined by comparing whether the first angle and the second angle are greater than a preset angle threshold, so that the accuracy of the movement direction of the balance car following the user equipment is improved.
FIG. 3 is a flowchart illustrating another method of controlling movement of a balance car according to an exemplary embodiment, which may be applied to a balance car. As shown in fig. 3, the method for controlling the movement of the balance car includes the following steps 301 to 304, wherein:
In step 301, when a balance car is in a following mode, a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car are detected.
In step 302, a distance difference between the first distance value and the second distance value is determined.
In step 303, when the distance difference is greater than a preset difference threshold, it is determined that the balance car needs to be steered.
In step 304, the direction of movement of the balance car is adjusted.
The above steps 301 and 304 may refer to the content of the steps 101 and 103 in the embodiment shown in fig. 1A, which is not described herein. The steps 302 and 303 may refer to the relevant content in step 102 in the embodiment shown in fig. 1A, and will not be described herein again.
In this embodiment, the first angle and the second angle do not need to be calculated by the first distance value, the second distance value and the third distance value, but whether the balance car needs to adjust the movement direction is directly determined according to whether the difference value between the first distance value and the second distance value is greater than a preset difference value threshold. The method for determining whether the balance car needs to adjust the movement direction is simpler. The method for controlling the movement of the balance car provided by the embodiment ensures that a user can travel more conveniently by using the balance car and can reduce the time for determining whether the balance car needs to be adjusted in direction.
Fig. 4A is a flowchart illustrating yet another method of controlling movement of a balance car according to an exemplary embodiment, fig. 4B is one of scene diagrams illustrating yet another method of controlling movement of a balance car according to an exemplary embodiment, and fig. 4C is a second of scene diagrams illustrating yet another method of controlling movement of a balance car according to an exemplary embodiment, which may be used for a balance car. As shown in fig. 4A, the method for controlling the movement of the balance car includes the following steps 401 to 404, wherein:
In step 401, when the balance car is in the following mode, a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car are detected.
In the embodiment of the disclosure, step 401 may refer to the content of step 101 in the embodiment shown in fig. 1A, which is not described herein.
In step 402, a change in the first distance value or the second distance value is detected, and a relative movement speed between the balance car and the user equipment is determined according to the change in the first distance value or the second distance value.
In the embodiment of the disclosure, the change value of the linear distance between the user equipment and the balance car in the preset time period may be determined by detecting the change of the first distance value or the second distance value in the preset time period.
In the embodiment of the present disclosure, the preset duration is a preset time period, for example, may be set to 5s,10s, or the like. If the preset time length is 5s, the relative movement speed is: and dividing the change value of the linear distance between the user equipment and the balance car within 5s by a value obtained by the preset duration of 5 s. In the embodiment of the present disclosure, the linear distance between the user equipment and the balance car may be a linear distance between any position point on the balance car and the user equipment.
For example, in one embodiment, as shown in fig. 4B, the linear distance may be a linear distance s3 from the user device Q3 to the wheel axle midpoint M of the balance car. Wherein s3 can be calculated by the first distance value x3 or the second distance value y3, and the corresponding change value of s3 can be determined by the change of the first distance value x3 or the second distance value y 3.
In another embodiment, as shown in fig. 4C, the straight line distance may be a perpendicular line distance s4 from the user device Q4 of the balance car to the straight line P1P2 where the balance car axle is located, where s4 may be calculated by the first distance value x4 or the second distance value y4, and then the change value of the corresponding s4 may be determined by the change of the first distance value x4 or the second distance value y 4.
And calculating the relative movement speed according to the change value of the linear distance and the preset duration.
In step 403, it is determined whether the balance car needs to adjust the movement direction according to the relative speed, the first distance value and the second distance value.
In this embodiment of the present disclosure, it may be determined, according to the relative speed, whether the movement direction of the user equipment is a current movement direction or a direction opposite to the current movement direction of the balance car, and the current movement direction of the balance car is adjusted according to a determination result, and then, according to the first distance value and the second distance value, it is determined whether the movement direction of the balance car needs to be adjusted. Determining whether the movement direction of the user equipment is the current movement direction or the opposite direction of the current movement direction of the balance car according to the relative speed may include the following two cases:
when the relative movement speed is smaller than the movement speed of the balance car, determining the movement direction of the user equipment as the current movement direction of the balance car;
And when the relative movement speed is greater than the movement speed of the balance car, determining that the movement direction of the user equipment is the opposite direction of the current movement direction of the balance car.
In an embodiment, when the movement direction of the user equipment is determined to be the opposite direction to the current movement direction of the balance car according to the relative speed, the balance car may be turned by 180 ° and then the movement direction of the balance car is controlled according to the result of determining the first distance value and the second distance value.
It should be noted that, the content of determining whether the balance car needs to adjust the movement direction according to the first distance value and the second distance value may refer to the content of step 102 in the embodiment shown in fig. 1A, which is not described herein.
In step 404, when it is determined that the balance car needs to adjust the movement direction, the movement direction of the balance car is adjusted.
In the embodiment of the present disclosure, step 404 may refer to the content of step 103 in the embodiment shown in fig. 1A, which is not described herein.
It should be noted that, when the balance car is in the following mode, a distance range value may be set for a distance between the user equipment and the balance car (i.e., the first distance value and the second distance value), so as to ensure that the balance car is not too far or too close to the user. In addition, the maximum speed of the balance car can be set, so that the balance car cannot move too fast, and safety of a user of the balance car and other pedestrians around the user can be ensured. For the distance range value or the maximum speed, the user can set the distance range value or the maximum speed through a mobile phone or through operation on a related interface of the balance car. And this arrangement may also be applied in other embodiments.
In the embodiment of the disclosure, a method for determining whether the current movement direction of the balance car needs to be adjusted by using the relative speed between the balance car and the user equipment is increased, so that the balance car can automatically follow the movement of the user equipment (i.e. the user) without manual operation of the user.
Fig. 5 is a block diagram illustrating an apparatus for controlling movement of a balance car according to an exemplary embodiment, and as shown in fig. 5, the apparatus for controlling movement of a balance car may include:
The detection module 501 is configured to detect a first distance value between a first sensor and a user device on the balance car and a second distance value between a second sensor and the user device when the balance car is in a following mode, where the first sensor and the second sensor are distributed in a wheel axis direction of the balance car.
The first determining module 502 is configured to determine, when the balance car moves along with the user equipment, whether the balance car needs to adjust a movement direction according to the first distance value and the second distance value.
And the adjusting module 503 is configured to adjust the movement direction of the balance car when it is determined that the balance car needs to adjust the movement direction.
Fig. 6 is a block diagram illustrating another apparatus for controlling movement of a balance car, according to an exemplary embodiment, as shown in fig. 6, the first determining module 502 may include:
A first determining submodule 5021, configured to determine an angle of a first included angle and a second included angle according to the first distance value, the second distance value, and a third distance value between the first sensor and the second sensor; defining a line segment connected between the first sensor and the user equipment as a first line segment, defining a line segment connected between the second sensor and the user equipment as a second line segment, and defining a line segment connected between the first sensor and the second sensor as a third line segment, wherein the first included angle is an included angle formed by the first line segment and the third line segment, and the second included angle is an included angle formed by the second line segment and the third line segment;
And the second determining submodule 5022 is used for determining that the balance car needs to turn when the angle of the first included angle or the second included angle is larger than a preset angle threshold value.
Fig. 7 is a block diagram illustrating another apparatus for controlling movement of a balance car according to an exemplary embodiment, and as shown in fig. 7, the first determining module 502 may include:
A third determining submodule 5023 for determining a distance difference value of the first distance value and the second distance value;
and a fourth determining submodule 5024, configured to determine that the balance car needs to turn when the distance difference is greater than a preset difference threshold.
Fig. 8 is a block diagram of another apparatus for controlling movement of a balance car according to an exemplary embodiment, as shown in fig. 8, and the apparatus may further include, based on the embodiment shown in fig. 5, the following steps:
a second determining module 504, configured to detect a change of the first distance value or the second distance value, and determine a relative movement speed between the balance car and the user equipment according to the change of the first distance value or the second distance value;
A third determining module 505, configured to determine, when the relative movement speed is less than the movement speed of the balance car, that the movement direction of the user equipment is the current movement direction of the balance car;
a fourth determining module 506, configured to determine, when the relative movement speed is greater than the movement speed of the balance car, that the movement direction of the user equipment is the opposite direction of the current movement direction of the balance car.
Fig. 9 is a block diagram illustrating yet another apparatus for controlling movement of a balance car, according to an exemplary embodiment, and as shown in fig. 9, the second determining module 504 may include:
A fifth determining submodule 5041, configured to determine a value of a change in a linear distance between the user equipment and the balance car within a preset duration by detecting a change in the first distance value or the second distance value within the preset duration;
a sixth determining submodule 5042, configured to calculate the relative movement speed according to the change value of the linear distance and the preset duration.
In an embodiment, the distance between the first sensor and the wheel axle midpoint of the balance car is equal to the distance between the second sensor and the wheel axle midpoint of the balance car.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the objectives of the disclosed solution. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Fig. 10 is a block diagram of a balance car according to an exemplary embodiment. Referring to fig. 10, balance car 600 may include one or more of the following components: a processing component 602, a memory 604, a power component 606, a multimedia component 608, an audio component 610, an input/output (I/O) interface 612, a sensor component 614, and a communication component 616.
The processing component 602 generally controls overall operation of the terminal device 600, such as operations associated with display, data communication, recording operations. The processing element 602 may include one or more processors 620 to execute instructions, the processor 620 being configured in one embodiment to:
When a balance car is in a following mode, detecting a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car, wherein the first sensor and the second sensor are distributed in the axle direction of the balance car;
When the balance car moves along with the user equipment, determining whether the balance car needs to adjust the movement direction according to the first distance value and the second distance value;
And when the movement direction of the balance car is determined to be required to be adjusted, adjusting the movement direction of the balance car.
Further, the processing component 602 can include one or more modules that facilitate interaction between the processing component 602 and other components. For example, the processing component 602 may include a multimedia module to facilitate interaction between the multimedia component 608 and the processing component 602.
The memory 604 is configured to store various types of data to support operations at the device 600. Examples of such data include instructions, messages, pictures, etc. for any application or method operating on balance car 600. The memory 604 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The power supply assembly 606 provides power to the various components of the balance car 600. The power components 606 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the balance car 600.
The multimedia component 608 includes a screen between the balance car 600 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation. In some embodiments, the multimedia component 608 includes a front camera and/or a rear camera. The front-facing camera and/or the rear-facing camera may receive external multimedia data when the device 600 is in an operational mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
The audio component 610 is configured to output and/or input audio signals. For example, the audio component 610 includes a Microphone (MIC) configured to receive external audio signals when the balance car 600 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, audio component 610 further includes a speaker for outputting audio signals.
The I/O interface 612 provides an interface between the processing component 602 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.
The sensor assembly 614 includes one or more sensors for providing status assessment of various aspects of the balance car 600. For example, the sensor assembly 614 may detect the on/off status of the device 600, the relative positioning of the assemblies, such as the display and keypad of the balance car 600, the sensor assembly 614 may also detect a change in position of the balance car 600 or one of the assemblies of the balance car 600, the presence or absence of a user's contact with the balance car 600, the orientation or acceleration/deceleration of the balance car 600, and a change in temperature of the balance car 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a distance sensor, a pressure sensor, or a temperature sensor.
The communication component 616 is configured to facilitate communication between the balance car 600 and other devices in a wired or wireless manner. Balance car 600 may access a wireless network based on a communication standard, such as WIFI,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication part 616 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 616 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the balance car 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the above method.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 604, including instructions executable by processor 620 of balance car 600 to perform the above-described method. In this embodiment, the processor 620 may be configured to: acquiring image data; determining a value of a preset parameter in a preset defogging algorithm; defogging the image data according to the value of the preset parameter and by adopting the preset defogging algorithm; and responding to the photographing instruction, and generating an image file according to the image data obtained after defogging processing. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (12)
1. A method of controlling movement of a balance car, the method comprising:
When a balance car is in a following mode, detecting a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car, wherein the first sensor and the second sensor are distributed in the axle direction of the balance car;
Determining a change value of a linear distance between the user equipment and the balance car in a preset duration by detecting the change of the first distance value or the second distance value in the preset duration;
Calculating the relative movement speed according to the change value of the linear distance and the preset duration;
When the balance car moves along with the user equipment, determining whether the balance car needs to adjust the movement direction according to the relative movement speed, the first distance value and the second distance value;
And when the movement direction of the balance car is determined to be required to be adjusted, adjusting the movement direction of the balance car.
2. The method of claim 1, wherein determining whether the balance car requires adjustment of a direction of movement based on the first distance value and the second distance value comprises:
Determining the angles of a first included angle and a second included angle according to the first distance value, the second distance value and a third distance value between the first sensor and the second sensor; defining a line segment connected between the first sensor and the user equipment as a first line segment, defining a line segment connected between the second sensor and the user equipment as a second line segment, and defining a line segment connected between the first sensor and the second sensor as a third line segment, wherein the first included angle is an included angle formed by the first line segment and the third line segment, and the second included angle is an included angle formed by the second line segment and the third line segment;
and when the angle of the first included angle or the second included angle is larger than a preset angle threshold, determining that the balance car needs to turn.
3. The method of claim 1, wherein determining whether the balance car requires adjustment of a direction of movement based on the first distance value and the second distance value comprises:
determining a distance difference between the first distance value and the second distance value;
and when the distance difference is larger than a preset difference threshold, determining that the balance car needs to turn.
4. The method according to claim 1, wherein the method further comprises:
when the relative movement speed is smaller than the movement speed of the balance car, determining the movement direction of the user equipment as the current movement direction of the balance car;
And when the relative movement speed is greater than the movement speed of the balance car, determining that the movement direction of the user equipment is the opposite direction of the current movement direction of the balance car.
5. The method of any one of claims 1 to 4, wherein a distance between the first sensor and a wheel axle midpoint of the balance car is equal to a distance between the second sensor and a wheel axle midpoint of the balance car.
6. An apparatus for controlling movement of a balance car, the apparatus comprising:
The detection module is used for detecting a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car when the balance car is in a following mode, wherein the first sensor and the second sensor are distributed in the axle direction of the balance car;
A fifth determining submodule, configured to determine a change value of a linear distance between the user equipment and the balance car in a preset duration by detecting a change of the first distance value or the second distance value in the preset duration;
A sixth determining submodule, configured to calculate a relative movement speed according to the change value of the linear distance and the preset duration; the first determining module is used for determining whether the balance car needs to adjust the movement direction according to the relative movement speed, the first distance value and the second distance value when the balance car moves along with the user equipment;
And the adjusting module is used for adjusting the movement direction of the balance car when the movement direction of the balance car is determined to be required to be adjusted.
7. The apparatus of claim 6, wherein the first determining module comprises:
the first determining submodule is used for determining angles of a first included angle and a second included angle according to the first distance value, the second distance value and a third distance value between the first sensor and the second sensor; defining a line segment connected between the first sensor and the user equipment as a first line segment, defining a line segment connected between the second sensor and the user equipment as a second line segment, and defining a line segment connected between the first sensor and the second sensor as a third line segment, wherein the first included angle is an included angle formed by the first line segment and the third line segment, and the second included angle is an included angle formed by the second line segment and the third line segment;
And the second determining submodule is used for determining that the balance car needs to turn when the angle of the first included angle or the second included angle is larger than a preset angle threshold value.
8. The apparatus of claim 6, wherein the first determining module comprises:
A third determination sub-module for determining a distance difference of the first distance value and the second distance value;
and the fourth determining submodule is used for determining that the balance car needs to turn when the distance difference value is larger than a preset difference value threshold value.
9. The apparatus of claim 6, wherein the apparatus further comprises:
the third determining module is used for determining that the movement direction of the user equipment is the current movement direction of the balance car when the relative movement speed is smaller than the movement speed of the balance car;
and the fourth determining module is used for determining that the movement direction of the user equipment is the opposite direction of the current movement direction of the balance car when the relative movement speed is greater than the movement speed of the balance car.
10. The apparatus of any one of claims 6 to 9, wherein a distance between the first sensor and a wheel axle midpoint of the balance car is equal to a distance between the second sensor and a wheel axle midpoint of the balance car.
11. A balance car, comprising:
A processor and a memory for storing processor-executable instructions;
wherein the processor is configured to:
When a balance car is in a following mode, detecting a first distance value between a first sensor and user equipment and a second distance value between a second sensor and the user equipment on the balance car, wherein the first sensor and the second sensor are distributed in the axle direction of the balance car;
Determining a change value of a linear distance between the user equipment and the balance car in a preset duration by detecting the change of the first distance value or the second distance value in the preset duration;
Calculating the relative movement speed according to the change value of the linear distance and the preset duration;
when the balance car moves along with the user equipment, determining whether the balance car needs to adjust the movement direction according to the relative movement speed, the first distance value and the second distance value;
And when the movement direction of the balance car is determined to be required to be adjusted, adjusting the movement direction of the balance car.
12. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 5.
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| CN202311774841.3A CN118068830A (en) | 2016-12-15 | 2016-12-15 | Method and device for controlling movement of balance car and balance car |
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| CN202311774841.3A CN118068830A (en) | 2016-12-15 | 2016-12-15 | Method and device for controlling movement of balance car and balance car |
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| CN108733043B (en) * | 2017-09-01 | 2021-12-14 | 北京猎户星空科技有限公司 | Robot movement control method and device |
| CN109828558A (en) * | 2018-12-20 | 2019-05-31 | 钟胤舜 | Intelligent movement system and method |
| CN109463868A (en) * | 2018-12-26 | 2019-03-15 | 南京英维尔科技服务有限公司 | A kind of Intelligent travel suitcase |
| CN109976385A (en) * | 2019-04-03 | 2019-07-05 | 成都永奉科技有限公司 | A kind of Following Car control method based on acceleration |
| CN110673596A (en) * | 2019-08-23 | 2020-01-10 | 广东工业大学 | Automatic following method of double-wheel balance car |
| CN114397888A (en) * | 2021-12-21 | 2022-04-26 | 三一机器人科技有限公司 | Blade following control method and device and working machine |
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| CN103076803B (en) * | 2012-12-13 | 2015-06-24 | 鼎力联合(北京)科技有限公司 | Vehicle automatic following system, device and method |
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| US9340207B2 (en) * | 2014-01-16 | 2016-05-17 | Toyota Motor Engineering & Manufacturing North America, Inc. | Lateral maneuver planner for automated driving system |
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| CN104932548B (en) * | 2015-05-29 | 2017-11-21 | 北京航空航天大学 | A kind of unmanned plane directional aerial autotracking systems design method |
| CN104991557A (en) * | 2015-07-02 | 2015-10-21 | 深圳乐行天下科技有限公司 | Autonomous following dolly and system thereof |
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| CN105867371B (en) * | 2016-04-06 | 2019-05-21 | 北京小米移动软件有限公司 | Control the mobile method and device of balance car |
| CN205707061U (en) * | 2016-04-26 | 2016-11-23 | 杭州速控软件有限公司 | Automatically trailing type electrodynamic balance car |
| CN105843231A (en) * | 2016-06-18 | 2016-08-10 | 陈明敬 | Moving carrier capable of automatically walking along with signal terminal |
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