WO2017016157A1 - 平衡车驻留方法和装置 - Google Patents

平衡车驻留方法和装置 Download PDF

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Publication number
WO2017016157A1
WO2017016157A1 PCT/CN2015/098417 CN2015098417W WO2017016157A1 WO 2017016157 A1 WO2017016157 A1 WO 2017016157A1 CN 2015098417 W CN2015098417 W CN 2015098417W WO 2017016157 A1 WO2017016157 A1 WO 2017016157A1
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WO
WIPO (PCT)
Prior art keywords
balance
mode
balance car
vehicle
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/098417
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English (en)
French (fr)
Inventor
刘华一君
唐明勇
陈涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xiaomi Inc
Original Assignee
Xiaomi Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xiaomi Inc filed Critical Xiaomi Inc
Priority to JP2017530397A priority Critical patent/JP6205533B2/ja
Priority to KR1020167004648A priority patent/KR101811550B1/ko
Priority to MX2016003680A priority patent/MX382689B/es
Priority to RU2016110526A priority patent/RU2628251C1/ru
Publication of WO2017016157A1 publication Critical patent/WO2017016157A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/20—Cycle computers as cycle accessories
    • 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 SIDECARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present disclosure relates to the field of balancing vehicles, and more particularly to a method and apparatus for balancing a vehicle.
  • the present disclosure provides a method and apparatus for balancing a vehicle.
  • the technical solution is as follows:
  • a method for residing a vehicle including:
  • the parking mode of the balance car is turned on, and the balance car automatically maintains balance in the parking mode.
  • the method before the opening the parking mode of the balance car, the method further includes:
  • the trigger signal is a signal sent by the environment device to the balance car after the balance car enters a preset area, where the preset area is the environment device and the balance The communication area of the car communication.
  • the method further includes:
  • the prompt information is used to prompt the balance vehicle to enter the resident mode
  • the rejection signal is used to indicate that the balance car does not turn on the resident mode temporarily;
  • the resident mode is not turned on temporarily
  • the opening the parking mode of the balance vehicle comprises:
  • the braking function in the balance car is activated.
  • the method further includes:
  • the resident mode of the balance vehicle is turned off after receiving the shutdown signal.
  • a balance vehicle parking apparatus comprising:
  • a distance acquisition module configured to obtain a distance between the balance vehicle and the surrounding obstacles
  • a number calculation module configured to calculate a number of distances in which the distance values in each distance are less than a preset threshold
  • a mode-opening module configured to: when the number of the number calculated by the number calculation module reaches a preset number, start a resident mode of the balance vehicle, and the balance car automatically starts in the resident mode maintain balance.
  • the device further includes:
  • the first receiving module is configured to receive a trigger signal sent by the environment device before the mode-on module starts the camping mode of the balance car, where the trigger signal is that the environment device enters a preset in the balance car a signal sent by the area to the balance car, the preset area being a communication area in which the environment device communicates with the balance vehicle.
  • the device further includes:
  • An information display module configured to display prompt information, the prompt information being used to prompt the balance vehicle to enter the resident mode
  • the detecting module is configured to detect whether a reject signal is received within a preset time period, and the reject signal is used to indicate that the balance car does not turn on the resident mode temporarily;
  • the module is not turned on, and is configured to temporarily disable the resident mode when the detection result of the detection module is that the rejection signal is received;
  • the mode-on module is further configured to perform the operation of turning on the resident mode of the balance vehicle when a detection result of the detection module is that the rejection signal is not received.
  • the mode opening module includes:
  • a first opening submodule configured to open an automatic balancing system of the balancing vehicle
  • a second opening sub-module configured to activate a braking function in the balance vehicle.
  • the device further includes:
  • a second receiving module configured to receive a shutdown signal
  • the mode shutdown module is configured to turn off the resident mode of the balance vehicle after the second receiving module receives the shutdown signal.
  • a balance vehicle parking apparatus comprising:
  • a memory for storing the processor executable instructions
  • processor is configured to:
  • the parking mode of the balance car is turned on, and the balance car automatically maintains balance in the parking mode.
  • the parking mode of the balance car is automatically turned on, and the balance vehicle is in the resident mode.
  • the balance is automatically balanced; the problem that the user is difficult to balance the balance of the vehicle by shaking the body after the user enters the narrow space by the balance car is solved; after the balance car enters the narrow space, the balance car can automatically maintain the balance. effect.
  • FIG. 1 is a flow chart showing a method of camping a car according to an exemplary embodiment.
  • FIG. 2A is a flow chart of a method of camping a car according to another exemplary embodiment.
  • FIG. 2B is a schematic diagram showing presentation information according to another exemplary embodiment.
  • 2C is another flow diagram of a method of camping a car according to another exemplary embodiment.
  • 2D is a schematic diagram showing the environment in which the balance vehicle is placed when the balance vehicle is in the park mode, according to another exemplary embodiment.
  • FIG. 3 is a block diagram of a balance vehicle parking device, according to an exemplary embodiment.
  • FIG. 4 is a block diagram of a balance vehicle parking device, according to another exemplary embodiment.
  • FIG. 1 is a flow chart showing a method of parking a balance vehicle according to an exemplary embodiment. As shown in FIG. 1 , the method for parking a balance vehicle may include the following steps.
  • step 101 the distance between the balance car and the surrounding obstacles is obtained.
  • step 102 the number of distances in which the distance value in each distance is less than a preset threshold is calculated.
  • step 103 if the number reaches a preset number, the parking mode of the balance car is turned on, and the balance car automatically maintains the balance in the parking mode.
  • the balance vehicle parking method obtained in the embodiment of the present disclosure obtains the distance between the balance vehicle and the surrounding obstacles, and the distance between the distances and the distance threshold is less than the preset threshold.
  • the parking mode of the balance car is automatically turned on, and the balance car automatically maintains the balance in the parking mode; after solving the related art, the user is difficult to shake the body to maintain the balance of the balance car after entering the narrow space by the balance car.
  • the problem is that after the balance car enters a small space, the balance car can automatically maintain the balance.
  • FIG. 2A is a flow chart showing a method of parking a balance vehicle according to another exemplary embodiment. As shown in FIG. 2A, the method for parking a balance vehicle may include the following steps.
  • a trigger signal sent by the environment device is received, where the trigger signal is a signal sent by the environment device to the balance car after the balance car enters the preset area, and the preset area is a communication area where the environment device communicates with the balance car.
  • the balance car and the environmental device can preset a communication protocol such that when the balance car enters a communication area that can communicate with the environmental device, the balance car can receive the trigger signal sent by the environment device.
  • the environmental device refers to a device capable of forming a confined space and capable of carrying a person in a confined space, and the size of the confined space is smaller than a preset space.
  • the environmental equipment can be an elevator, a subway or a train.
  • the balance vehicle receives the trigger signal sent by the environment device, and may include: the balance vehicle sends the detection signal, receives the response signal fed back by the environment device, and uses the response signal as the trigger signal; or the balance vehicle receives the trigger signal actively sent by the environment device.
  • the preset area is a communication area in which the elevator can communicate with the balance vehicle.
  • step 202 the distance between the balance car and the surrounding obstacles is obtained.
  • the distance between the obstacles and the surrounding obstacles can be obtained in real time, and the distance between the obstacles and the surrounding obstacles can be obtained after receiving the trigger signal in step 201, which is not limited in this embodiment.
  • An infrared device can be provided in the balance car, and the distance between the obstacles and the surrounding obstacles is measured by the infrared device.
  • the balance car can detect the distance between itself and the obstacles in the front, rear, left and right directions through the infrared device.
  • the distance between the obstacle and the obstacle is measured by the infrared device.
  • the balance car can measure the distance between itself and the obstacle by other measurement methods, which is not limited in this embodiment. .
  • step 203 the number of distances in which the distance value in each distance is less than a preset threshold is calculated.
  • step 204 if the number reaches a preset number, a prompt message is displayed, which is used to prompt the balance vehicle to enter the resident mode.
  • the balance vehicle can display the prompt information, and the prompt information is used to prompt the balance vehicle to enter the resident mode.
  • the balance car can be used to balance the information display area in the car, such as displaying the prompt information through the display screen in the handle, or by voice. For example, to show the balance through the display For example, the prompt information is shown. Referring to FIG. 2B, the balance car can display ‘whether the resident mode is turned on? ’. Of course, in order to prevent the user from missing the prompt information displayed by the balance car through the display screen, the balance car can also display the prompt information through both voice and display. For example, the balance car emits a sound of " ⁇ " while displaying the prompt information shown in Fig. 2B.
  • the preset number may be an integer greater than or equal to 3.
  • the balance vehicle can determine that it has entered the elevator. At this time, the balance vehicle can display the prompt information.
  • step 205 it is detected whether a rejection signal is received within a preset time period, and the rejection signal is used to indicate that the balance car does not turn on the resident mode.
  • the balance car After the balance car displays the prompt message, the balance car can turn on the timer and monitor the user's operation. Whether or not the rejection signal is received within the preset time period is detected according to the operation of the monitored user. If the balance car receives the rejection signal within the preset time period, step 206 is performed, otherwise step 207 is performed.
  • the balance car displays the prompt information
  • the user when the user wants to balance the vehicle into the park mode, the user can select the 'confirm open' option 21; and if the user does not want the balance car to enter the park mode, the user can select ' Temporarily do not turn on 'Option 22.
  • the balance car can receive the user's selection signal.
  • step 206 if a rejection signal is received, the resident mode is not turned on.
  • the balance car receives the rejection signal within the preset time period, it means that the user does not want to let the balance car enter the parking mode temporarily. At this time, the balance car can temporarily not turn on the parking mode.
  • the balance car can turn on the timer and temporarily disable the resident mode for a preset period of time.
  • step 207 if the reject signal is not received, the operation of turning on the park mode of the balance vehicle is performed.
  • the balance car If the balance car does not receive the rejection signal within the preset time period, the balance car turns on the parking mode.
  • the balance car can immediately turn on the parking mode; and if the balance car does not receive any signal within the preset time period, the preset time is After the end of the segment, the balance car can turn on the park mode. Among them, the balance car automatically maintains balance in the park mode.
  • this step may include the following two possible implementation manners.
  • the first type is to turn on the automatic balancing system of the balance car.
  • the balance car can turn on its own automatic balancing system, and the balance car automatically balances when the automatic balancing system is turned on.
  • the balance car can be automatically balanced by the limitation of the brake function.
  • step 201 is an optional step, which may not be performed during actual implementation.
  • the first step is performed in the first step of the step 201.
  • the step 201 may be performed in any step before the step 207, which is not limited in this embodiment.
  • the second point that needs to be added is that the steps 204-206 are also optional steps.
  • the balance car can also directly open the resident.
  • the mode, that is, the step 207 is directly executed, which is not limited in this embodiment.
  • the balance vehicle parking method may further include:
  • step 208 a shutdown signal is received.
  • the balance car After the balance car is turned on the dwell mode, when the user wants to continue using the balance car, the user can apply a shutdown signal that turns off the park mode of the balance car. Correspondingly, the balance car can receive the shutdown signal.
  • a physical button can be set in the balance car, which is used to turn off the park mode. Therefore, when the user wants to turn off the resident mode, the user can press the physical button, and the balance car will receive the pressed signal as a shutdown signal.
  • the balance car can receive the shutdown signal by other means, which is not limited in this embodiment.
  • step 209 after receiving the shutdown signal, the park mode of the balance car is turned off.
  • the balance car After the balance car receives the shutdown signal, the balance car can turn off the park mode. Thereafter, the user can shake the body to maintain the balance of the balance car, and then use the balance car normally.
  • the balance car measures the distance between itself and the surrounding obstacles through the infrared device.
  • the preset threshold reaches 3
  • the balance vehicle detects that the distance between the left and right sides and the rear side and the obstacle is less than
  • the threshold is preset
  • the user has entered the elevator by taking the balance car.
  • the balance car can be turned on and then automatically balanced (so that after the user enters the elevator with the balance car, the balance car can be turned on before the elevator door is closed, improving the user experience) .
  • the balance car can also display a prompt message for prompting to activate the parking mode of the balance car through the display on the handlebar, and does not receive the rejection within the preset time period.
  • the signal is on, the resident mode is turned on. If the rejection signal is received within the preset time period, it indicates that the user is likely to wait for the elevator outside the elevator at this time, and does not want to open the parking mode of the balance vehicle, so the balance vehicle can temporarily not turn on the parking mode.
  • the balance vehicle parking method obtained in the embodiment of the present disclosure obtains the distance between the balance vehicle and the surrounding obstacles, and the distance between the distances and the distance threshold is less than the preset threshold.
  • the parking mode of the balance car is automatically turned on, and the balance car automatically maintains the balance in the parking mode; after solving the related art, the user is difficult to shake the body to maintain the balance of the balance car after entering the narrow space by the balance car.
  • the problem is that after the balance car enters a small space, the balance car can automatically maintain the balance.
  • the balancing vehicle By enabling the camping mode after receiving the trigger signal of the environmental device, the balancing vehicle is prevented from being in the non-essential scene and the resident mode is also turned on, thereby affecting the normal use of the user. At the same time, if the balance car acquires the distance between the obstacles after receiving the trigger signal, and does not need to obtain the distance in real time, the processing complexity of the balance car is reduced.
  • the parking mode can be turned on without waiting for the distance values of the respective distances to be greater than the preset threshold.
  • the dwell mode achieves the effect of increasing the opening speed of the balance car open-resident mode.
  • the prompt message is displayed before the balance car is turned on and the resident mode is selected, and then the user does not open the resident mode or the resident mode when the user participates, thereby achieving the effect of better satisfying the user's use requirement and improving the user experience.
  • the user can turn off the parking mode of the balance car, which is convenient for the user.
  • FIG. 3 is a block diagram of a balance vehicle parking device according to an exemplary embodiment.
  • the balance vehicle parking device may include, but is not limited to, a distance acquisition module 301 , a number calculation module 302 , and The mode opens module 303.
  • the distance obtaining module 301 is configured to acquire a distance between the balance vehicle and the surrounding obstacles;
  • the number calculation module 302 is configured to calculate a number of distances in which the distance values in each distance are less than a preset threshold
  • the mode-opening module 303 is configured to enable the resident mode of the balance vehicle when the number calculated by the number calculation module 302 reaches a preset number, and the balance vehicle is in the resident mode Automatically maintain balance.
  • the balance vehicle parking device by obtaining the distance between the balance vehicle and the surrounding obstacles, the number of distances in which the distance value is less than the preset threshold value reaches a preset number.
  • the parking mode of the balance car is automatically turned on, and the balance car automatically maintains the balance in the parking mode; after solving the related art, the user is difficult to shake the body to maintain the balance of the balance car after entering the narrow space by the balance car.
  • the problem is that after the balance car enters a small space, the balance car can automatically maintain the balance.
  • FIG. 4 is a block diagram of a balance vehicle parking device according to another exemplary embodiment.
  • the balance vehicle parking device may include, but is not limited to, a distance acquisition module 401 and a number calculation module 402. And mode open module 403.
  • the distance obtaining module 401 is configured to obtain a distance between the balance vehicle and the surrounding obstacles;
  • the number calculation module 402 is configured to calculate a number of distances in which the distance values in each distance are less than a preset threshold
  • the mode-opening module 403 is configured to enable the resident mode of the balance vehicle when the number calculated by the number calculation module 402 reaches a preset number, and the balance vehicle is in the resident mode Automatically maintain balance.
  • the device further includes:
  • the first receiving module 404 is configured to receive a trigger signal sent by the environment device before the mode-on module 403 turns on the camping mode of the balance car, where the trigger signal is that the environment device enters in the balance car And a signal sent by the preset area to the balance car, where the preset area is a communication area where the environment device communicates with the balance car.
  • the device further includes:
  • the information display module 405 is configured to display prompt information, the prompt information is used to prompt the balance vehicle to enter the resident mode;
  • the detecting module 406 is configured to detect whether a reject signal is received within a preset time period, and the reject signal is used to indicate that the balance car does not turn on the resident mode temporarily;
  • the module 407 is not enabled, and is configured to temporarily disable the resident mode when the detection result of the detection module 406 is that the rejection signal is received;
  • the mode opening module 403 is further configured to perform the operation of turning on the resident mode of the balance vehicle when the detection result of the detection module 406 is that the rejection signal is not received.
  • the mode opening module 403 includes:
  • the first opening sub-module 403a is configured to open an automatic balancing system of the balance vehicle
  • the second opening sub-module 403b is configured to activate a braking function in the balance vehicle.
  • the device further includes:
  • the second receiving module 408 is configured to receive a shutdown signal
  • the mode shutdown module 409 is configured to turn off the resident mode of the balance vehicle after the second receiving module 408 receives the shutdown signal.
  • the balance vehicle parking device by obtaining the distance between the balance vehicle and the surrounding obstacles, the number of distances in which the distance value is less than the preset threshold value reaches a preset number.
  • the parking mode of the balance car is automatically turned on, and the balance car automatically maintains the balance in the parking mode; after solving the related art, the user is difficult to shake the body to maintain the balance of the balance car after entering the narrow space by the balance car.
  • the problem is that after the balance car enters a small space, the balance car can automatically maintain the balance.
  • the balancing vehicle By enabling the camping mode after receiving the trigger signal of the environmental device, the balancing vehicle is prevented from being in the non-essential scene and the resident mode is also turned on, thereby affecting the normal use of the user. At the same time, if the balance car acquires the distance between the obstacles after receiving the trigger signal, and does not need to obtain the distance in real time, the processing complexity of the balance car is reduced.
  • the parking mode can be turned on without waiting for the distance values of the respective distances to be greater than the preset threshold.
  • the dwell mode achieves the effect of increasing the opening speed of the balance car open-resident mode.
  • the prompt message is displayed before the balance car is turned on and the resident mode is selected, and then the user does not open the resident mode or the resident mode when the user participates, thereby achieving the effect of better satisfying the user's use requirement and improving the user experience.
  • the user can turn off the parking mode of the balance car, which is convenient for the user.
  • An exemplary embodiment of the present disclosure provides a balance vehicle parking apparatus capable of implementing the balance vehicle parking method provided by the present disclosure, the balance vehicle parking apparatus comprising: a processor, a memory for storing processor executable instructions ;
  • processor is configured to:
  • the parking mode of the balance car is turned on, and the balance car automatically maintains balance in the parking mode.

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Abstract

一种平衡车驻留方法和装置，包括：获取平衡车与四周障碍物之间的距离；计算各个距离中距离值小于预设阈值的距离的个数；若个数达到预设个数，则开启平衡车的驻留模式，平衡车在驻留模式下自动保持平衡。解决了相关技术中用户搭乘平衡车进入狭小空间后，用户很难通过晃动身体来保持平衡车的平衡的问题，达到了平衡车进入狭小空间后，平衡车可以自动保持平衡的效果。

Description

平衡车驻留方法和装置
本申请基于申请号为CN 2015104550166、申请日为2015年7月29日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及平衡车领域，特别涉及一种平衡车驻留方法和装置。
背景技术
随着科技的发展，平衡车已经进入了人们的日常生活。
在人们使用平衡车的过程中，人们通常需要通过身体晃动来保持平衡车的平衡。然而，在人们搭乘平衡车进入狭小的空间后，人们通过身体晃动来保持平衡车的平衡无疑是一件非常困难的事。
发明内容
本公开提供了一种平衡车驻留方法和装置。所述技术方案如下：
根据本公开实施例的第一方面，提供一种平衡车驻留方法，包括：
获取平衡车与四周障碍物之间的距离；
计算各个距离中距离值小于预设阈值的距离的个数；
若所述个数达到预设个数，则开启所述平衡车的驻留模式，所述平衡车在所述驻留模式下自动保持平衡。
可选地，所述开启所述平衡车的驻留模式之前，所述方法还包括：
接收环境设备发送的触发信号，所述触发信号为所述环境设备在所述平衡车进入预设区域后向所述平衡车发送的信号，所述预设区域为所述环境设备与所述平衡车通信的通信区域。
可选地，所述方法还包括：
展示提示信息，所述提示信息用于提示所述平衡车进入所述驻留模式；
检测在预设时间段内是否接收到拒绝信号，所述拒绝信号用于指示所述平衡车暂不开启所述驻留模式；
若接收到所述拒绝信号，则暂不开启所述驻留模式；
若未接收到所述拒绝信号，则执行所述开启所述平衡车的驻留模式的操作。
可选地，所述开启所述平衡车的驻留模式，包括：
开启所述平衡车的自动平衡系统；
和/或，
启动所述平衡车中的制动功能。
可选地，所述方法还包括：
接收关闭信号；
在接收到所述关闭信号之后，关闭所述平衡车的所述驻留模式。
根据本公开实施例的第二方面，提供一种平衡车驻留装置，包括：
距离获取模块，被配置为获取平衡车与四周障碍物之间的距离；
个数计算模块，被配置为计算各个距离中距离值小于预设阈值的距离的个数；
模式开启模块，被配置为在所述个数计算模块计算得到的所述个数达到预设个数时，开启所述平衡车的驻留模式，所述平衡车在所述驻留模式下自动保持平衡。
可选地，所述装置还包括：
第一接收模块，被配置为在所述模式开启模块开启所述平衡车的驻留模式之前，接收环境设备发送的触发信号，所述触发信号为所述环境设备在所述平衡车进入预设区域后向所述平衡车发送的信号，所述预设区域为所述环境设备与所述平衡车通信的通信区域。
可选地，所述装置还包括：
信息展示模块，被配置为展示提示信息，所述提示信息用于提示所述平衡车进入所述驻留模式；
检测模块，被配置为检测在预设时间段内是否接收到拒绝信号，所述拒绝信号用于指示所述平衡车暂不开启所述驻留模式；
暂不开启模块，被配置为在所述检测模块的检测结果为接收到所述拒绝信号时，暂不开启所述驻留模式；
所述模式开启模块，还被配置为在所述检测模块的检测结果为未接收到所述拒绝信号时，执行所述开启所述平衡车的驻留模式的操作。
可选地，所述模式开启模块，包括：
第一开启子模块，被配置为开启所述平衡车的自动平衡系统；
和/或，
第二开启子模块，被配置为启动所述平衡车中的制动功能。
可选地，所述装置还包括：
第二接收模块，被配置为接收关闭信号；
模式关闭模块，被配置为在所述第二接收模块接收到所述关闭信号之后，关闭所述平衡车的所述驻留模式。
根据本公开实施例的第三方面，提供一种平衡车驻留装置，包括：
处理器；
用于存储所述处理器可执行指令的存储器；
其中，所述处理器被配置为：
获取平衡车与四周障碍物之间的距离；
计算各个距离中距离值小于预设阈值的距离的个数；
若所述个数达到预设个数，则开启所述平衡车的驻留模式，所述平衡车在所述驻留模式下自动保持平衡。
本公开的实施例提供的技术方案可以包括以下有益效果：
通过获取平衡车与四周障碍物之间的距离，在各个距离中距离值小于预设阈值的距离的个数达到预设个数时，自动开启平衡车的驻留模式，平衡车在驻留模式下自动保持平衡；解决了相关技术中用户搭乘平衡车进入狭小空间后，用户很难通过晃动身体来保持平衡车的平衡的问题；达到了平衡车进入狭小空间后，平衡车可以自动保持平衡的效果。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明 的实施例，并于说明书一起用于解释本发明的原理。
图1是根据一示例性实施例示出的一种平衡车驻留方法的流程图。
图2A是根据另一示例性实施例示出的一种平衡车驻留方法的流程图。
图2B是根据另一示例性实施例示出的展示提示信息的示意图。
图2C是根据另一示例性实施例示出的平衡车驻留方法的另一流程图。
图2D是根据另一示例性实施例示出的平衡车开启驻留模式时平衡车所处环境的示意图。
图3是根据一示例性实施例示出的一种平衡车驻留装置的框图。
图4是根据另一示例性实施例示出的一种平衡车驻留装置的框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
图1是根据一示例性实施例示出的一种平衡车驻留方法的流程图，如图1所示，该平衡车驻留方法可以包括以下步骤。
在步骤101中，获取平衡车与四周障碍物之间的距离。
在步骤102中，计算各个距离中距离值小于预设阈值的距离的个数。
在步骤103中，若个数达到预设个数，则开启平衡车的驻留模式，平衡车在驻留模式下自动保持平衡。
综上所述，本公开实施例中提供的平衡车驻留方法，通过获取平衡车与四周障碍物之间的距离，在各个距离中距离值小于预设阈值的距离的个数达到预设个数时，自动开启平衡车的驻留模式，平衡车在驻留模式下自动保持平衡；解决了相关技术中用户搭乘平衡车进入狭小空间后，用户很难通过晃动身体来保持平衡车的平衡的问题；达到了平衡车进入狭小空间后，平衡车可以自动保持平衡的效果。
图2A是根据另一示例性实施例示出的一种平衡车驻留方法的流程图，如图2A所示，该平衡车驻留方法可以包括以下步骤。
在步骤201中，接收环境设备发送的触发信号，该触发信号为环境设备在平衡车进入预设区域后向平衡车发送的信号，预设区域为环境设备与平衡车通信的通信区域。
平衡车和环境设备可以预设通信协议，这样，当平衡车进入能够与环境设备通信的通信区域时，平衡车即可接收到该环境设备发送的触发信号。其中，环境设备是指能够形成密闭空间，且密闭空间中可以载人的设备，密闭空间的大小小于预设空间大小。比如，环境设备可以为电梯、地铁或者火车。
平衡车接收环境设备发送的触发信号，可以包括：平衡车发送探测信号，接收环境设备反馈的响应信号，将该响应信号作为触发信号；或者，平衡车接收环境设备主动发送的触发信号。
以环境设备为电梯为例，在用户搭乘平衡车进入预设区域，也即平衡车与电梯能够通信时，平衡车可以接收电梯发送的触发信号。预设区域为电梯能够与平衡车通信的通信区域。
在步骤202中，获取平衡车与四周障碍物之间的距离。
平衡车可以实时获取与四周障碍物之间的距离，也可以在接收到步骤201中的触发信号之后获取与四周障碍物之间的距离，本实施例对此并不做限定。
平衡车中可以设置有红外装置，通过该红外装置测量与四周障碍物之间的距离。比如，平衡车可以通过红外装置探测自身与前、后、左和右四个方向的障碍物之间的距离。本实施例只是以通过红外装置测量与障碍物之间的距离为例，可选的，平衡车还可以通过其他测量方法测量自身与障碍物之间的距离，本实施例对此并不做限定。
在步骤203中，计算各个距离中距离值小于预设阈值的距离的个数。
在步骤204中，若个数达到预设个数，则展示提示信息，该提示信息用于提示平衡车进入驻留模式。
在平衡车检测到距离值小于预设阈值的距离的个数达到预设个数时，平衡车即可展示提示信息，提示信息用于提示平衡车进入驻留模式。
平衡车可以通过平衡车中的信息展示区域，如通过把手中的显示屏展示该提示信息，也可以通过语音来发出该提示信息。比如，以平衡车通过显示屏展 示该提示信息为例，请参考图2B，平衡车可以在显示屏中展示‘是否开启驻留模式？’。当然，为了避免用户会遗漏查看平衡车通过显示屏显示的提示信息，平衡车还可以通过语音和显示屏展示两者同时来展示该提示信息。比如，平衡车在显示图2B所示的提示信息的同时，发出‘嘀嘀嘀’的声音。
可选的，预设个数可以为大于等于3的整数。比如，平衡车检测到至少三个方向的障碍物与自身的距离均小于预设阈值，则平衡车可以判定自身已进入电梯，此时，平衡车可以展示提示信息。
在步骤205中，检测在预设时间段内是否接收到拒绝信号，该拒绝信号用于指示平衡车暂不开启驻留模式。
在平衡车展示提示信息之后，平衡车可以开启定时器并监控用户的操作。根据监控的用户的操作来检测在预设时间段内是否接收到拒绝信号。若平衡车在预设时间段内接收到拒绝信号，则执行步骤206，否则执行步骤207。
结合图2B，平衡车展示提示信息之后，当用户想要平衡车进入驻留模式时，用户可以选择‘确认开启’选项21；而若用户不想让平衡车进入驻留模式，则用户可以选择‘暂不开启’选项22。相应的，平衡车可以接收到用户的选择信号。
在步骤206中，若接收到拒绝信号，则暂不开启驻留模式。
若平衡车在预设时间段内接收到拒绝信号，则说明用户暂时不想让平衡车进入驻留模式，此时，平衡车可以暂不开启驻留模式。可选的，平衡车接收到拒绝信号之后，平衡车可以开启定时器，并在预设时长内暂不开启驻留模式。
在步骤207中，若未接收到拒绝信号，则执行开启平衡车的驻留模式的操作。
而若平衡车在预设时间段内未接收到拒绝信号，则平衡车开启驻留模式。
可选的，若平衡车接收到确认开启驻留模式的确认信号，则平衡车即可立即开启驻留模式；而若平衡车在预设时间段内未接收到任何信号，则在预设时间段结束之后，平衡车即可开启驻留模式。其中，平衡车在驻留模式下自动保持平衡。
可选的，本步骤可以包括如下两种可能的实现方式。
第一种，开启平衡车的自动平衡系统。
平衡车可以开启自身的自动平衡系统，在开启自动平衡系统之后，平衡车可以自动保持平衡。
第二种，启动平衡车中的制动功能。
在开启制动功能之后，平衡车即可受限于制动功能的限制而自动保持平衡。
需要补充说明的第一点是，步骤201为可选步骤，实际实现时可以并不执行。并且，本实施例只是以步骤201在第一步执行为例，可选的，步骤201可以在步骤207之前的任一步骤执行，本实施例对此并不做限定。
需要补充说明的第二点是，步骤204-206也为可选步骤，实际实现时，若距离值小于预设阈值的距离的个数达到预设个数时，平衡车也可以直接开启驻留模式，也即直接执行步骤207，本实施例对此并不做限定。
需要补充说明的第三点是，请参考图2C，该平衡车驻留方法还可以包括：
在步骤208中，接收关闭信号。
平衡车开启驻留模式之后，当用户想要继续使用该平衡车时，用户可以施加关闭平衡车的驻留模式的关闭信号。相应的，平衡车可以接收该关闭信号。
平衡车中可以设置一个物理按键，该物理按键用于关闭驻留模式。所以用户想要关闭驻留模式时，用户可以按压该物理按键，平衡车将接收到的按压信号作为关闭信号。当然实际实现时，平衡车还可以通过其他方式来接收该关闭信号，本实施例对此并不做限定。
在步骤209中，在接收到关闭信号之后，关闭平衡车的驻留模式。
在平衡车接收到关闭信号之后，平衡车即可关闭驻留模式。此后，用户可以通过身体晃动来保持平衡车的平衡，进而正常使用该平衡车。
在本实施例的一个应用场景中，平衡车接收到电梯发送的触发信号之后，平衡车通过红外装置测量自身与四周障碍物之间的距离。当平衡车测量得到的各个距离中距离值小于预设阈值的距离的个数达到3个时，比如，请参考图2D，平衡车检测到左右两侧以及后侧与障碍物之间的距离小于预设阈值时，说明用户已搭乘平衡车进入电梯。此时，平衡车即可开启驻留模式，进而自动保持平衡(这样，在用户搭乘平衡车进入电梯之后，在电梯门关闭之前，平衡车即可开启驻留模式，提高了用户的用户体验)。可选的，平衡车在开启驻留模式之前，平衡车还可以通过车把手上的显示屏显示用于提示开启平衡车的驻留模式的提示信息，并在预设时间段内未接收到拒绝信号时，开启驻留模式。而若在预设时间段内接收到拒绝信号，则说明用户此时很可能在电梯外等电梯，并不想开启平衡车的驻留模式，所以此时平衡车可以暂不开启驻留模式。
综上所述，本公开实施例中提供的平衡车驻留方法，通过获取平衡车与四周障碍物之间的距离，在各个距离中距离值小于预设阈值的距离的个数达到预设个数时，自动开启平衡车的驻留模式，平衡车在驻留模式下自动保持平衡；解决了相关技术中用户搭乘平衡车进入狭小空间后，用户很难通过晃动身体来保持平衡车的平衡的问题；达到了平衡车进入狭小空间后，平衡车可以自动保持平衡的效果。
通过在接收到环境设备的触发信号之后，开启驻留模式，避免了平衡车处于一些非必要的场景中也会开启驻留模式，进而影响用户的正常使用的问题。同时，若平衡车在接收到触发信号之后，获取与四周障碍物之间的距离，而无需实时获取距离，降低了平衡车的处理复杂度。
平衡车在测量得到的各个距离中距离值小于预设阈值的距离的个数达到预设个数时，即可开启驻留模式，而无需等待各个距离的距离值均大于预设阈值时才开启驻留模式，达到了可以提高平衡车开启驻留模式的开启速度的效果。
在平衡车开启驻留模式之前展示提示信息，进而在用户的参与下选择暂不开启驻留模式或者开启驻留模式，达到了可以更好的满足用户的使用需求，提高用户体验的效果。
此外，在平衡车开启驻留模式之后，当用户想要正常使用平衡车时，用户可以关闭平衡车的驻留模式，方便了用户的使用。
下述为本公开装置实施例，可以用于执行本公开方法实施例。对于本公开装置实施例中未披露的细节，请参照本公开方法实施例。
图3是根据一示例性实施例示出的一种平衡车驻留装置的框图，如图3所示，该平衡车驻留装置可以包括但不限于：距离获取模块301、个数计算模块302和模式开启模块303。
距离获取模块301，被配置为获取平衡车与四周障碍物之间的距离；
个数计算模块302，被配置为计算各个距离中距离值小于预设阈值的距离的个数；
模式开启模块303，被配置为在所述个数计算模块302计算得到的所述个数达到预设个数时，开启所述平衡车的驻留模式，所述平衡车在所述驻留模式下自动保持平衡。
综上所述，本公开实施例中提供的平衡车驻留装置，通过获取平衡车与四周障碍物之间的距离，在各个距离中距离值小于预设阈值的距离的个数达到预设个数时，自动开启平衡车的驻留模式，平衡车在驻留模式下自动保持平衡；解决了相关技术中用户搭乘平衡车进入狭小空间后，用户很难通过晃动身体来保持平衡车的平衡的问题；达到了平衡车进入狭小空间后，平衡车可以自动保持平衡的效果。
图4是根据另一示例性实施例示出的一种平衡车驻留装置的框图，如图4所示，该平衡车驻留装置可以包括但不限于：距离获取模块401、个数计算模块402和模式开启模块403。
距离获取模块401，被配置为获取平衡车与四周障碍物之间的距离；
个数计算模块402，被配置为计算各个距离中距离值小于预设阈值的距离的个数；
模式开启模块403，被配置为在所述个数计算模块402计算得到的所述个数达到预设个数时，开启所述平衡车的驻留模式，所述平衡车在所述驻留模式下自动保持平衡。
可选地，所述装置还包括：
第一接收模块404，被配置为在所述模式开启模块403开启所述平衡车的驻留模式之前，接收环境设备发送的触发信号，所述触发信号为所述环境设备在所述平衡车进入预设区域后向所述平衡车发送的信号，所述预设区域为所述环境设备与所述平衡车通信的通信区域。
可选地，所述装置还包括：
信息展示模块405，被配置为展示提示信息，所述提示信息用于提示所述平衡车进入所述驻留模式；
检测模块406，被配置为检测在预设时间段内是否接收到拒绝信号，所述拒绝信号用于指示所述平衡车暂不开启所述驻留模式；
暂不开启模块407，被配置为在所述检测模块406的检测结果为接收到所述拒绝信号时，暂不开启所述驻留模式；
所述模式开启模块403，还被配置为在所述检测模块406的检测结果为未接收到所述拒绝信号时，执行所述开启所述平衡车的驻留模式的操作。
可选地，所述模式开启模块403，包括：
第一开启子模块403a，被配置为开启所述平衡车的自动平衡系统；
和/或，
第二开启子模块403b，被配置为启动所述平衡车中的制动功能。
可选地，所述装置还包括：
第二接收模块408，被配置为接收关闭信号；
模式关闭模块409，被配置为在所述第二接收模块408接收到所述关闭信号之后，关闭所述平衡车的所述驻留模式。
综上所述，本公开实施例中提供的平衡车驻留装置，通过获取平衡车与四周障碍物之间的距离，在各个距离中距离值小于预设阈值的距离的个数达到预设个数时，自动开启平衡车的驻留模式，平衡车在驻留模式下自动保持平衡；解决了相关技术中用户搭乘平衡车进入狭小空间后，用户很难通过晃动身体来保持平衡车的平衡的问题；达到了平衡车进入狭小空间后，平衡车可以自动保持平衡的效果。
通过在接收到环境设备的触发信号之后，开启驻留模式，避免了平衡车处于一些非必要的场景中也会开启驻留模式，进而影响用户的正常使用的问题。同时，若平衡车在接收到触发信号之后，获取与四周障碍物之间的距离，而无需实时获取距离，降低了平衡车的处理复杂度。
平衡车在测量得到的各个距离中距离值小于预设阈值的距离的个数达到预设个数时，即可开启驻留模式，而无需等待各个距离的距离值均大于预设阈值时才开启驻留模式，达到了可以提高平衡车开启驻留模式的开启速度的效果。
在平衡车开启驻留模式之前展示提示信息，进而在用户的参与下选择暂不开启驻留模式或者开启驻留模式，达到了可以更好的满足用户的使用需求，提高用户体验的效果。
此外，在平衡车开启驻留模式之后，当用户想要正常使用平衡车时，用户可以关闭平衡车的驻留模式，方便了用户的使用。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
本公开一示例性实施例提供了一种平衡车驻留装置，能够实现本公开提供的平衡车驻留方法，该平衡车驻留装置包括：处理器、用于存储处理器可执行指令的存储器；
其中，处理器被配置为：
获取平衡车与四周障碍物之间的距离；
计算各个距离中距离值小于预设阈值的距离的个数；
若所述个数达到预设个数，则开启所述平衡车的驻留模式，所述平衡车在所述驻留模式下自动保持平衡。
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。

Claims (11)

  1. 一种平衡车驻留方法，其特征在于，所述方法包括：
    获取平衡车与四周障碍物之间的距离；
    计算各个距离中距离值小于预设阈值的距离的个数；
    若所述个数达到预设个数，则开启所述平衡车的驻留模式，所述平衡车在所述驻留模式下自动保持平衡。
  2. 根据权利要求1所述的方法，其特征在于，所述开启所述平衡车的驻留模式之前，所述方法还包括：
    接收环境设备发送的触发信号，所述触发信号为所述环境设备在所述平衡车进入预设区域后向所述平衡车发送的信号，所述预设区域为所述环境设备与所述平衡车通信的通信区域。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    展示提示信息，所述提示信息用于提示所述平衡车进入所述驻留模式；
    检测在预设时间段内是否接收到拒绝信号，所述拒绝信号用于指示所述平衡车暂不开启所述驻留模式；
    若接收到所述拒绝信号，则暂不开启所述驻留模式；
    若未接收到所述拒绝信号，则执行所述开启所述平衡车的驻留模式的操作。
  4. 根据权利要求1所述的方法，其特征在于，所述开启所述平衡车的驻留模式，包括：
    开启所述平衡车的自动平衡系统；
    和/或，
    启动所述平衡车中的制动功能。
  5. 根据权利要求1至4任一所述的方法，其特征在于，所述方法还包括：
    接收关闭信号；
    在接收到所述关闭信号之后，关闭所述平衡车的所述驻留模式。
  6. 一种平衡车驻留装置，其特征在于，所述装置包括：
    距离获取模块，被配置为获取平衡车与四周障碍物之间的距离；
    个数计算模块，被配置为计算各个距离中距离值小于预设阈值的距离的个数；
    模式开启模块，被配置为在所述个数计算模块计算得到的所述个数达到预设个数时，开启所述平衡车的驻留模式，所述平衡车在所述驻留模式下自动保持平衡。
  7. 根据权利要求6所述的装置，其特征在于，所述装置还包括：
    第一接收模块，被配置为在所述模式开启模块开启所述平衡车的驻留模式之前，接收环境设备发送的触发信号，所述触发信号为所述环境设备在所述平衡车进入预设区域后向所述平衡车发送的信号，所述预设区域为所述环境设备与所述平衡车通信的通信区域。
  8. 根据权利要求6所述的装置，其特征在于，所述装置还包括：
    信息展示模块，被配置为展示提示信息，所述提示信息用于提示所述平衡车进入所述驻留模式；
    检测模块，被配置为检测在预设时间段内是否接收到拒绝信号，所述拒绝信号用于指示所述平衡车暂不开启所述驻留模式；
    暂不开启模块，被配置为在所述检测模块的检测结果为接收到所述拒绝信号时，暂不开启所述驻留模式；
    所述模式开启模块，还被配置为在所述检测模块的检测结果为未接收到所述拒绝信号时，执行所述开启所述平衡车的驻留模式的操作。
  9. 根据权利要求6所述的装置，其特征在于，所述模式开启模块，包括：
    第一开启子模块，被配置为开启所述平衡车的自动平衡系统；
    和/或，
    第二开启子模块，被配置为启动所述平衡车中的制动功能。
  10. 根据权利要求6至9任一所述的装置，其特征在于，所述装置还包括：
    第二接收模块，被配置为接收关闭信号；
    模式关闭模块，被配置为在所述第二接收模块接收到所述关闭信号之后，关闭所述平衡车的所述驻留模式。
  11. 一种平衡车驻留装置，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    获取平衡车与四周障碍物之间的距离；
    计算各个距离中距离值小于预设阈值的距离的个数；
    若所述个数达到预设个数，则开启所述平衡车的驻留模式，所述平衡车在所述驻留模式下自动保持平衡。
PCT/CN2015/098417 2015-07-29 2015-12-23 平衡车驻留方法和装置 Ceased WO2017016157A1 (zh)

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