WO2017054346A1 - 平衡车的控制方法及装置 - Google Patents

平衡车的控制方法及装置 Download PDF

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Publication number
WO2017054346A1
WO2017054346A1 PCT/CN2015/099063 CN2015099063W WO2017054346A1 WO 2017054346 A1 WO2017054346 A1 WO 2017054346A1 CN 2015099063 W CN2015099063 W CN 2015099063W WO 2017054346 A1 WO2017054346 A1 WO 2017054346A1
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WO
WIPO (PCT)
Prior art keywords
obstacle
balance vehicle
type
balance
insurmountable
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/CN2015/099063
Other languages
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 RU2016119329A priority Critical patent/RU2651945C2/ru
Priority to KR1020167009251A priority patent/KR101878083B1/ko
Priority to JP2016524594A priority patent/JP6371840B2/ja
Priority to MX2016004499A priority patent/MX359829B/es
Publication of WO2017054346A1 publication Critical patent/WO2017054346A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3225—Systems specially adapted for single-track vehicles, e.g. motorcycles
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • 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
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Definitions

  • the present disclosure relates to the field of automatic control, and in particular, to a method and apparatus for controlling a balance vehicle.
  • the balance car also known as the electric balance car, is a new type of short-distance vehicle.
  • the balance car is advanced or retracted by the drive of the internal drive motor. If there is an obstacle in front of the balance car, the driver may fall.
  • the present disclosure provides a control method and apparatus for a balance vehicle.
  • the technical solution is as follows:
  • a method of controlling a balance vehicle comprising:
  • Identify the type of obstacle in front of the balance car including: an insurmountable obstacle;
  • the type further comprises: a barrier that can be exceeded;
  • the method also includes:
  • the type of obstacle is a barrier that can be overcome, increase the driving force of the balance car to continue.
  • identifying the type of obstacle in front of the balance car includes:
  • the obstacle is identified as an insurmountable type.
  • identifying the type of obstacle in front of the balance car includes:
  • the obstacle is identified as an insurmountable type.
  • the method further includes:
  • the method further includes:
  • the obstacle is prompted by a predetermined method
  • the predetermined manner includes at least one of playing a prompt sound, a predetermined component on the vibration balance vehicle, and a blinking signal light.
  • the method further includes:
  • the balance car is controlled to travel along the detour;
  • a control device for a balance vehicle comprising:
  • An identification module configured to identify a type of obstacle in front of the balance vehicle, the type comprising: an insurmountable obstacle;
  • the first control module is configured to control the balance vehicle to decelerate when the type of the obstacle is an insurmountable obstacle.
  • the type further comprises: a barrier that can be exceeded;
  • the device also includes:
  • the second control module is configured to increase the driving force of the balance vehicle to continue to advance when the type of the obstacle is a barrier that can be exceeded.
  • the identification module includes:
  • a first measurement submodule configured to measure a height of an obstacle in front of the balance vehicle by the distance measuring component
  • a first detecting submodule configured to detect whether a height of the obstacle is higher than a predetermined threshold
  • the first identification sub-module is configured to identify the obstacle as an insurmountable type when the height of the obstacle is above a predetermined threshold.
  • the identification module includes:
  • a collection sub-module configured to acquire an image frame in front of the balance vehicle through the image acquisition component
  • a second identification submodule configured to identify an obstacle in the image frame
  • a calculation sub-module configured to calculate a height of the identified obstacle
  • a second detecting submodule configured to detect whether a height of the obstacle is higher than a predetermined threshold
  • the third identification sub-module is configured to identify the obstacle as an insurmountable type when the height of the obstacle is above a predetermined threshold.
  • the first control module further includes:
  • a second measurement sub-module configured to measure a distance between the obstacle and the balance vehicle
  • a third detecting submodule configured to detect whether the distance is less than a predetermined distance
  • the first execution sub-module is configured to perform a step of controlling the balance vehicle to decelerate when the distance is less than a predetermined distance.
  • the first control module further includes:
  • a prompting sub-module configured to perform an obstacle prompt by a predetermined manner when the type of the obstacle is an insurmountable obstacle
  • the predetermined manner includes at least one of playing a prompt sound, a predetermined component on the vibration balance vehicle, and a blinking signal light.
  • the apparatus further includes:
  • the judgment sub-module is configured to determine whether there is a bypass route in front of the balance vehicle when the type of the obstacle is an insurmountable obstacle;
  • a third control sub-module configured to control the balance car to travel along the bypass route when there is a detour route in front of the balance car;
  • the first control module is further configured to perform a step of controlling the balance vehicle to decelerate when there is no bypass route in front of the balance vehicle.
  • a balance vehicle comprising:
  • a memory for storing controllable instructions of the chip
  • control chip is configured to:
  • the balance car By identifying the type of obstacle in front of the balance car, if the type of the obstacle is an insurmountable obstacle, the balance car is controlled to decelerate; and if the front of the balance car has an insurmountable obstacle, it is easy to cause the driver to fall.
  • the problem is that the balance car can automatically recognize the obstacle, and when the obstacle is an insurmountable obstacle, try to avoid the effect of falling quickly with the obstacle and falling.
  • FIG. 1 is a schematic diagram of an implementation environment involved in a method of controlling a balance vehicle according to some exemplary embodiments
  • FIG. 2 is a flow chart showing a method of controlling a balance vehicle according to an exemplary embodiment
  • FIG. 3 is a flowchart of a method for controlling a balance vehicle according to an exemplary embodiment
  • 4A is an implementation effect diagram of a ranging component identifying an obstacle according to an exemplary embodiment
  • FIG. 4B is a diagram showing an implementation effect of determining whether there is a bypass route in front according to an exemplary embodiment
  • FIG. 5 is a flowchart of a method for controlling a balance vehicle according to an exemplary embodiment
  • FIG. 6 is an implementation effect diagram of identifying an obstacle in an image frame, according to an exemplary embodiment
  • FIG. 7 is a block diagram of a control device for a balance vehicle according to an exemplary embodiment
  • FIG. 8 is a block diagram of a control device for a balance vehicle according to another exemplary embodiment.
  • FIG. 9 is a block diagram of a balance car, according to an exemplary embodiment.
  • FIG. 1 is a schematic diagram of an implementation environment involved in a method for controlling a balance vehicle according to an exemplary embodiment of the present disclosure.
  • the implementation environment may be a two-wheel balance vehicle, and the two-wheel balance vehicle includes Two juxtaposed wheels 110 and 120, two corresponding wheel housings 150 and 160 above the wheel, a turn control assembly 130, a load bearing pedal 140, and obstacle recognition assemblies 170 and 180.
  • the turn control assembly 130 is coupled to the load bearing pedal 140 and can be used to control the turning of the two-wheel balance vehicle.
  • the turning control component 130 can be implemented by manual control or by the leg motion control, which is not limited in this embodiment.
  • the obstacle recognition assemblies 170 and 180 are used to identify obstacles in the forward direction of the two-wheel balance vehicle.
  • the obstacle recognition components 1701 and 180 may be any ranging component having the ability to recognize the size and distance of the object, such as an infrared sensing device, an ultrasonic sensing device, a laser range finder, etc.; the obstacle recognition components 1701 and 180 may also have an image capturing The ability to capture any component, such as a camera.
  • obstacle recognition assembly 170 is merely illustratively disposed at position 1 of wheel housing 150
  • obstacle recognition assembly 180 is merely illustratively disposed at position 2 of wheel housing 160.
  • the obstacle recognition assemblies 170 and 180 can also be disposed at any possible location of a two-wheel balance vehicle that can be foreseen by those skilled in the art, such as the position at which the weight bearing pedal 140 and the turning control assembly 130 are engaged, for detecting the left front oblique direction of the left wheel. The position of the right wheel in the right front oblique direction and the like.
  • the number of the obstacle recognition components 170 and 180 is only exemplarily given in the present embodiment.
  • the number of the obstacle recognition components is at least one, which is not limited in this embodiment.
  • the obstacle recognition assemblies 170 and 180 can also have the ability to move in a vertical direction, or the obstacle recognition assemblies 170 and 180 have the ability to rotate up, down, left, and right in four directions.
  • the two-wheel balance car may also include other components such as a control chip, a memory, a drive motor, etc. (not shown in the drawings).
  • the control chip is connected to the driving motor, the above-mentioned turning control component 130, the obstacle recognition components 170 and 180, respectively, and controls the forward, backward, stop and turn of the two-wheel balance vehicle according to the executable instructions stored in the memory, the present disclosure The embodiment does not describe this part.
  • the above two-wheel balance car is only a schematic illustration of an implementation environment involved in the control method of the balance car provided by the embodiment of the present disclosure, and the control method of the balance car of the present disclosure can be used for two rounds.
  • the balancing vehicle can also be used for other balancing vehicles, which are the same as or similar to the two-wheel balancing vehicle, such as a single-wheel balancing vehicle.
  • the embodiment of the present disclosure does not limit this, and the implementation environment thereof is not shown.
  • FIG. 2 is a flow chart showing a control method of a balance vehicle according to an exemplary embodiment. As shown in FIG. 2, the method of the balance vehicle is applied to the balance vehicle shown in FIG. 1, and includes the following steps.
  • step 202 the type of obstacle in front of the balance vehicle is identified, the type including: an insurmountable obstacle.
  • control chip identifies the type of obstacle in front of any of the wheels through the obstacle recognition component.
  • the obstacle recognition component comprises: a ranging component, and/or an image acquisition component.
  • step 204 if the type of the obstacle is an insurmountable obstacle, the balance vehicle is controlled to decelerate.
  • control method of the balance vehicle is to identify the type of the obstacle in front of the balance vehicle, and if the type of the obstacle is an insurmountable obstacle, the balance vehicle is controlled to decelerate; Once the front has an insurmountable obstacle, it is easy to cause the driver to fall; the balance car can automatically recognize the obstacle, and when the obstacle is an insurmountable obstacle, try to avoid falling quickly with the obstacle and falling. Effect.
  • the implementation of identifying the type of the obstacle in front of the balance vehicle in step 202 includes, but is not limited to, the following two types:
  • the first is to identify the type of obstacle by the ranging component, which is explained below using the embodiment shown in FIG.
  • the second is to identify the type of obstacle by the image acquisition component, which is explained below using the embodiment shown in FIG.
  • FIG. 3 is a flowchart of a method for controlling a balance vehicle according to another exemplary embodiment. As shown in FIG. 3, the embodiment is applied to the two-wheel balance vehicle shown in FIG. 1 by the control method of the balance vehicle.
  • the control method of the balance vehicle includes the following steps.
  • step 301 the height of the obstacle in front of the balance vehicle is measured by the ranging assembly.
  • the control chip of the balance car controls the ranging component to transmit a detection signal to the outside every predetermined time interval, and the detection signal may be laser, infrared, ultrasonic, or the like.
  • the reflected signal is returned when the probe signal encounters an obstacle. Therefore, when the ranging component receives the reflected signal, it indicates that there is an obstacle ahead.
  • the height of the obstacle is not below the height of the ranging assembly.
  • the distance measuring component installed in the balance car casing is located 5 cm away from the ground. If a reflection signal of the detection signal is received, it indicates that there is an obstacle with a height of at least 5 cm in front of the balance car; if no reflection signal is received, It is indicated that there is no obstacle with a height exceeding 5 cm in front of the balance car.
  • the ranging assembly 30 has the ability to move up and down in the vertical direction on the balance car.
  • the ranging component 30 is capable of transmitting a sounding signal at different locations in the vertical direction.
  • the ranging component 30 sends a detection signal from a height of the ground height h0, and after receiving the reflection signal, raises the h1 to send the detection signal again, and after receiving the reflection signal, raises the h2 and sends the detection signal again. This process is repeated, and when the final height from the ground is h1+h2+...+hn, no reflected signal is received, thereby detecting the top end of the obstacle 32. At this time, the height of the obstacle 32 is measured to be h1+h2+...+hn.
  • the embodiment of the present disclosure does not limit the implementation manner of measuring the height of the obstacle by the ranging component.
  • the balance vehicle may also be provided with a plurality of ranging components at different positions, and the height of the obstacle is measured by whether each of the plurality of ranging components receives the reflection signal of the detection signal.
  • step 302 it is detected whether the height of the obstacle is above a predetermined threshold.
  • the predetermined threshold is the maximum height of the obstacle that the balance vehicle can override.
  • the predetermined threshold may be 1/x of the height of the tire or other values, which is not limited in this embodiment.
  • step 303 If the height of the obstacle is higher than a predetermined threshold, proceed to step 303;
  • step 304 is entered.
  • step 303 if the height of the obstacle is above the predetermined threshold, the obstacle is identified as an insurmountable type.
  • step 305 When the obstacle is an insurmountable type, proceed to step 305.
  • step 304 if the height of the obstacle is not above the predetermined threshold, the obstacle is identified as a passable obstacle.
  • step 311 When the obstacle is of a passable type, the process proceeds to step 311.
  • step 305 it is determined whether there is a bypass route in front of the balance car.
  • This step includes but is not limited to the following two implementations:
  • the left front oblique direction is a direction in which the first angle is formed from the front direction to the left direction
  • the right front oblique direction is a direction in which the second angle is formed from the front direction to the right direction.
  • the distance measuring component determines whether there is an obstacle in the left front oblique direction or the right front oblique direction, and if there is no obstacle, there is a bypass route.
  • the balancer is provided with a distance measuring unit 34 for detecting the left front oblique direction of the left side wheel, and a distance measuring unit 36 for detecting the right front oblique direction of the right side wheel, as shown in Fig. 4B.
  • the ranging component for detecting the front side receives the reflected signal of the sounding signal, and the distance measuring component 34 also receives the reflected signal of the sounding signal, but the distance measuring component 36 does not receive the reflected signal, the right front direction has a bypass. route.
  • the left front direction is indicated. Has a detour route.
  • the distance measuring component having the horizontal rotation capability is used to determine whether the left and right sides of the forward direction have a bypass route.
  • the ranging assembly has the ability to rotate to the left, or has the ability to rotate to the right, or has the ability to rotate to the left or to the right at the same time. Then, the distance measuring component determines whether there is an obstacle in the left front oblique direction or the right front oblique direction, and if there is no obstacle, there is a bypass route.
  • step 306 If there is a bypass route, proceed to step 306; if there is no bypass route, proceed to step 307.
  • step 306 if the bypass vehicle has the bypass route ahead, the balance vehicle is controlled to travel along the bypass route.
  • the control chip controls the balance car to travel along the bypass route.
  • step 307 the distance of the obstacle from the balance vehicle is measured.
  • control chip measures the distance between the obstacle in front of any wheel and the balance car through the ranging component.
  • control chip calculates the distance according to the time when the detection signal is sent to the time when the reflected signal is received, and the distance of the balance vehicle is calculated. This embodiment is not limited.
  • step 308 it is detected if the distance is less than a predetermined distance.
  • the control chip detects whether the distance between the obstacle and the balance car is less than a predetermined distance.
  • the predetermined distance is the maximum distance required to balance the turning of the vehicle.
  • the predetermined distance may be x times the diameter of the tire, or other values, which are not limited in this embodiment.
  • the predetermined distance is proportional to the current vehicle speed of the balance vehicle. The faster the current vehicle speed is, the larger the predetermined distance is; the slower the current vehicle speed is, the smaller the predetermined distance is.
  • step 309 If the distance is less than the predetermined distance, proceed to step 309; if the distance is greater than the predetermined distance, proceed to step 310;
  • step 309 if the distance is less than the predetermined distance, the balance vehicle is controlled to decelerate, and the obstacle is presented in a predetermined manner.
  • the control chip controls the balance vehicle to decelerate until it stops.
  • the control chip controls the balance car to decelerate before stopping to the obstacle; however, it is also possible that the balance car hits the obstacle without stopping completely during the deceleration.
  • control chip further performs an obstacle reminder by a predetermined manner, wherein the predetermined manner includes: playing a prompt sound, a predetermined component on the vibration balance vehicle, and at least one of a blinking signal light.
  • the balance car when it is recognized that there is an insurmountable obstacle in front of the balance car, and the insurmountable obstacle reaches the predetermined distance with the balance car, the balance car emits a "beep, bang, bang" sound.
  • step 310 if the distance is less than the predetermined distance, the balance vehicle is controlled to continue to advance.
  • step 311 if the type of the obstacle is a passable obstacle, the driving force of the balance vehicle is increased to continue.
  • the control chip controls the drive motor to increase the driving force of the balance vehicle.
  • control method of the balance vehicle is to identify the type of the obstacle in front of the balance vehicle, and if the type of the obstacle is an insurmountable obstacle, the balance vehicle is controlled to decelerate; Once the front has an insurmountable obstacle, it is easy to cause the driver to fall; the balance car can automatically recognize the obstacle, and when the obstacle is an insurmountable obstacle, try to avoid falling quickly with the obstacle and falling. Effect.
  • the control method of the balance vehicle measures the height and distance of the obstacle through the distance measuring component, thereby enabling the balance vehicle to recognize the type of the obstacle, and decelerating and avoiding according to the distance between the obstacle and the balance vehicle. .
  • the control method of the balance car provided by the embodiment further determines whether there is a bypass route in front of the balance car, and if there is a bypass route, automatically controls the balance car to travel along the bypass route, thereby avoiding the occurrence of the balance car and the obstacle. Collision without affecting the normal travel of the balance car.
  • FIG. 5 is a flowchart of a method for controlling a balance vehicle according to an exemplary embodiment. As shown in FIG. 5, the embodiment is applied to the implementation environment shown in FIG. 1 by using the control method of the balance vehicle. Note that the method includes the following steps.
  • step 501 an image frame in front of the balance vehicle is acquired by the image acquisition component.
  • the image acquisition assembly can be mounted on the two wheel housings of the balance car or in the interface between the load bearing pedal and the turn control assembly.
  • the control chip controls the image acquisition component to collect images in front of the balance car to form a continuous frame of image frames.
  • step 502 an obstacle in the image frame is identified.
  • the ground and other objects in the image frame can be determined from the changes in the pixels in the image frame.
  • the image frame is The binarization process 60 is performed in accordance with the color difference to obtain the first region 62 and the second region 64, and the intersection of the first region 62 and the second region 64 forms a road line 66.
  • the control chip detects whether there is a bump 68 on the road line 66. If the road line 66 has a bump 68, the control chip identifies the bump 68 as an obstacle.
  • step 503 the height of the identified obstacle is calculated.
  • the control chip calculates the height of the obstacle according to the height of the obstacle in the image frame and a predetermined scale. For example, if the predetermined scale is 1:3, the height of the obstacle in the image frame is At 1 cm, the calculated height of the obstacle is 3 cm. When the obstacle is getting closer to the balance car, the calculated height of the obstacle is getting closer.
  • the balance vehicle is further provided with a distance measuring component, wherein the distance measuring component can measure the distance between the obstacle and the balance car, and the control chip first searches for a scale corresponding to the distance, and then according to the scale
  • the height of the obstacle in the image frame is calculated by a scale corresponding to the distance to calculate the coverage of the obstacle. For example, if the scale corresponding to the distance is 1:5, the height of the obstacle in the image frame is 1 cm. The calculated height of the obstacle is 5 cm.
  • control chip can calculate the convexity (ie, obstacle) and binocular imaging principle in the two image frames collected by the two image acquisition components. The actual height of the obstacle.
  • the embodiment does not limit the manner in which the control chip calculates the height of the obstacle.
  • step 504 it is detected whether the height of the obstacle is above a predetermined threshold.
  • the control chip detects whether the calculated obstacle height is above a predetermined threshold.
  • the predetermined threshold is the maximum height of the obstacle that the balance vehicle can override.
  • step 505 If the height of the obstacle is greater than a predetermined threshold, proceed to step 505;
  • step 506 is entered.
  • step 505 if the height of the obstacle is above a predetermined threshold, the obstacle is identified as an insurmountable type.
  • step 506 if the height of the obstacle is less than a predetermined threshold, the obstacle is identified as a passable type.
  • step 513 When the obstacle is of a passable type, the process proceeds to step 513.
  • step 507 when the obstacle is an insurmountable type, it is determined whether the front of the balance vehicle has a bypass route.
  • This step includes but is not limited to the following three implementations:
  • the image frame collected by the image acquisition component is used to determine whether the left and right sides of the forward direction have a bypass route.
  • control chip passes the image frame collected by the image acquisition component to determine whether there is an obstacle in the left front oblique direction or the right front oblique direction, and if there is no obstacle, there is a bypass route.
  • the left front oblique direction is a direction in which the first angle is formed from the front direction to the left direction
  • the right front oblique direction is a direction in which the second angle is formed from the front direction to the right direction.
  • the control chip determines whether there is an obstacle in the left front oblique direction or the right front oblique direction through the ranging component, and if there is no obstacle, there is a bypass route.
  • the distance measuring component having the horizontal rotation capability is used to determine whether the left and right sides of the forward direction have a bypass route.
  • the ranging assembly has the ability to rotate to the left, or has the ability to rotate to the right, or has the ability to rotate to the left or to the right at the same time. Then, the control chip determines whether there is an obstacle in the left front oblique direction or the right front oblique direction through the ranging component, and if there is no obstacle, there is a bypass route.
  • step 508 If there is a bypass route, proceed to step 508; if there is no bypass route, proceed to step 509.
  • step 508 if the bypass vehicle has the bypass route ahead, the balance vehicle is controlled to travel along the bypass route.
  • the control chip controls the balance car to travel along the bypass route.
  • step 509 the distance of the obstacle from the balance vehicle is measured.
  • control chip measures the distance between the obstacle in front of any wheel and the balance car through the ranging component.
  • control chip calculates the distance according to the time when the detection signal is sent to the time when the reflected signal is received, and the distance of the balance vehicle is calculated. This embodiment is not limited.
  • step 510 it is detected if the distance is less than a predetermined distance.
  • the control chip detects whether the distance between the obstacle and the balance car is less than a predetermined distance.
  • the predetermined distance is the maximum distance required to balance the turning of the vehicle.
  • the predetermined distance may be x times the diameter of the tire, or other values, which are not limited in this embodiment.
  • the predetermined distance is proportional to the current vehicle speed of the balance vehicle. The faster the current vehicle speed is, the larger the predetermined distance is; the slower the current vehicle speed is, the smaller the predetermined distance is.
  • step 511 If the distance is less than the predetermined distance, proceed to step 511; if the distance is greater than the predetermined distance, proceed to step 512;
  • step 511 if the distance is less than the predetermined distance, the balance vehicle is controlled to decelerate, and an obstacle is presented in a predetermined manner.
  • the control chip controls the balance vehicle to decelerate until it stops.
  • the control chip controls the balance car to decelerate before stopping to the obstacle; however, it is also possible that the balance car hits the obstacle without stopping completely during the deceleration.
  • control chip further performs an obstacle reminder by a predetermined manner, wherein the predetermined manner includes: playing a prompt sound, a predetermined component on the vibration balance vehicle, and at least one of a blinking signal light.
  • the balance car when it is recognized that there is an insurmountable obstacle in front of the balance car, and the insurmountable obstacle reaches the predetermined distance with the balance car, the balance car emits a "beep, bang, bang" sound.
  • step 512 if the distance is less than the predetermined distance, the balance vehicle is controlled to continue.
  • step 513 if the type of the obstacle is a passable obstacle, the driving force of the balance vehicle is increased to continue.
  • the control chip controls the drive motor to increase the driving force of the balance vehicle.
  • control method of the balance vehicle is to identify the type of the obstacle in front of the balance vehicle, and if the type of the obstacle is an insurmountable obstacle, the balance vehicle is controlled to decelerate; Once the front has an insurmountable obstacle, it is easy to cause the driver to fall; the balance car can automatically recognize the obstacle, and when the obstacle is an insurmountable obstacle, try to avoid falling quickly with the obstacle and falling. Effect.
  • the control method of the balance vehicle measures the height and distance of the obstacle through the image acquisition component, thereby enabling the balance vehicle to recognize the type of the obstacle, and decelerating and avoiding according to the distance between the obstacle and the balance vehicle. .
  • the control method of the balance car provided by the embodiment further determines whether there is a bypass route in front of the balance car, and if there is a bypass route, automatically controls the balance car to travel along the bypass route, thereby avoiding the occurrence of the balance car and the obstacle. Collision without affecting the normal travel of the balance car.
  • FIG. 7 is a block diagram of a control device for a balance vehicle according to an exemplary embodiment.
  • the control device of the balance vehicle may be implemented as software or hardware or a combination of the two to achieve all of the balance vehicle or
  • the control device of the balance vehicle includes but is not limited to: an identification module 710 and a first control module 720.
  • the identification module 710 is configured to identify a type of an obstacle in front of the balance vehicle, the type comprising: an insurmountable obstacle;
  • the first control module 720 is configured to control the balance vehicle to decelerate when the type of the obstacle is an insurmountable obstacle.
  • control device for the balance vehicle determines the type of the obstacle in front of the balance vehicle, and if the type of the obstacle is an insurmountable obstacle, the balance vehicle is controlled to decelerate; Once there is an insurmountable obstacle in front, it is easy to cause the driver to fall; the balance car can automatically recognize the obstacle, and when the obstacle is an insurmountable obstacle, try to avoid falling quickly with the obstacle and falling. effect.
  • FIG. 8 is a block diagram of a control device for a balance vehicle according to another exemplary embodiment.
  • the control device of the balance vehicle can be implemented as a balance vehicle by software, hardware, or a combination of both.
  • a part of the control device of the balance car includes but is not limited to: an identification module 810 and a first control module 820.
  • the identification module 810 is configured to identify a type of an obstacle in front of the balance vehicle, the type comprising: an insurmountable obstacle;
  • the first control module 820 is configured to control the balance vehicle to decelerate when the type of the obstacle is an insurmountable obstacle.
  • the type further includes: a passable obstacle; the device further includes: a second control module 830.
  • the second control module 830 is configured to increase the driving force of the balance vehicle to continue to advance when the type of the obstacle is a barrier that can be exceeded.
  • the identification module 810 includes: a first measurement sub-module 811, a first detection sub-module 812, and a first identification sub-module 813.
  • the first measurement sub-module 811 is configured to measure a height of an obstacle in front of the balance vehicle by a distance measuring component
  • the first detecting submodule is configured to detect whether a height of the obstacle is higher than a predetermined threshold
  • the first identification sub-module is configured to identify the obstacle as an insurmountable type when a height of the obstacle is above a predetermined threshold.
  • the identification module 810 further includes: a collection submodule 814, a second identification submodule 815, a calculation submodule 816, a second detection submodule 817, and a third identification submodule 818.
  • the collection sub-module 814 is configured to collect an image frame in front of the balance vehicle through an image acquisition component
  • the second identification sub-module 815 is configured to identify an obstacle in the image frame
  • the calculation sub-module 816 is configured to calculate the height of the identified obstacle
  • the second detecting sub-module 817 is configured to detect whether the height of the obstacle is higher than a predetermined threshold
  • the third identification sub-module 818 is configured to identify the obstacle as an insurmountable type when the height of the obstacle is above the predetermined threshold.
  • the first control module 820 further includes: a second measurement submodule 821, a third detection submodule 822, and a first execution submodule 823.
  • the second measurement sub-module 821 is configured to measure a distance between the obstacle and the balance vehicle
  • the third detecting submodule 822 is configured to detect whether the distance is less than a predetermined distance
  • the first execution sub-module 823 is configured to perform a step of controlling the balance vehicle to decelerate when the distance is less than a predetermined distance.
  • the foregoing first control module 820 further includes: a prompting sub-module 824.
  • the prompting sub-module 824 is configured to perform an obstacle prompting in a predetermined manner when the type of the obstacle is an insurmountable obstacle;
  • the predetermined manner includes at least one of playing a prompt sound, shaking a predetermined component on the balance vehicle, and blinking a signal light.
  • control device of the balance vehicle further includes: a determining submodule 825, a third control submodule 826, and a second execution submodule 827.
  • the determining sub-module is configured to determine whether the front of the balance vehicle has a bypass route when the type of the obstacle is an insurmountable obstacle;
  • the third control sub-module is configured to control the balance vehicle to travel along the bypass route when there is a detour route in front of the balance car;
  • the first control module is further configured to perform a step of controlling the balance vehicle to decelerate when there is no bypass route in front of the balance vehicle.
  • control device for the balance vehicle determines the type of the obstacle in front of the balance vehicle, and if the type of the obstacle is an insurmountable obstacle, the balance vehicle is controlled to decelerate; Once there is an insurmountable obstacle in front, it is easy to cause the driver to fall; the balance car can automatically recognize the obstacle, and when the obstacle is an insurmountable obstacle, try to avoid falling quickly with the obstacle and falling. effect.
  • the control device for the balance vehicle measures the height and distance of the obstacle through the distance measuring component, thereby enabling the balance vehicle to recognize the type of the obstacle, and decelerating and avoiding according to the distance between the obstacle and the balance vehicle. .
  • the control device for the balance vehicle provided by the embodiment further determines whether there is a bypass route in front of the balance vehicle, and if there is a bypass route, automatically controls the balance vehicle to travel along the bypass route, thereby avoiding the occurrence of balance vehicles and obstacles. Collision without affecting the normal travel of the balance car.
  • An exemplary embodiment of the present disclosure provides a balance vehicle capable of implementing a control method of a balance vehicle provided by the present disclosure, the balance vehicle including: a control chip, and an executable instruction for storing the control chip Memory.
  • control chip is configured to:
  • Identifying the type of obstacle in front of the balance car the type including: an insurmountable obstacle;
  • the balance vehicle is controlled to decelerate.
  • FIG. 9 is a block diagram of a balance car, according to an exemplary embodiment.
  • the balance vehicle 900 can include one or more of the following components: a control chip 902, a memory 904, a power supply component 906, an image acquisition component 908, a ranging component 910, an input/output (I/O) interface 912, and a sensor component. 914, and a turn control component 916.
  • Control chip 902 typically controls the overall operation of balancer 900, such as operations associated with forward, reverse, acceleration, and deceleration.
  • control chip 902 can include one or more modules to facilitate control of interaction between chip 902 and other components.
  • control chip 902 can include an image acquisition module to facilitate interaction between image acquisition component 908 and control chip 902.
  • the memory 904 is configured to store various types of data to support operation of the balance vehicle 900. Examples of such data include instructions for any balance car operating on the balance car 900, image data, distance data, and the like.
  • the memory 904 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, 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, Disk or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk or Optical Disk.
  • Power supply assembly 906 provides power to various components of balance vehicle 900.
  • Power component 906 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for balancing vehicle 900.
  • Image acquisition component 908 is included in balance car 900.
  • image acquisition component 908 includes a front camera and/or a rear camera.
  • the front camera and/or the rear camera can receive external multimedia data.
  • Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the ranging component 910 is configured to transmit and/or receive a sounding signal.
  • the ranging component 910 includes a laser emitter that is configured to receive a reflected signal of the probe signal when the balancer 900 is in an operational mode, such as receiving a reflected laser.
  • the received reflected signal can be further stored in memory 904.
  • the I/O interface 912 provides an interface between the control chip 902 and the peripheral interface module, and the peripheral interface module may be a USB flash drive, an audio player, or the like.
  • Sensor assembly 914 includes one or more sensors for providing balance assessment 900 with various aspects of status assessment.
  • sensor assembly 914 can detect the on/off state of balancer 900, and sensor assembly 914 can detect balance vehicle 900 orientation or acceleration/deceleration changes.
  • Sensor assembly 914 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 914 can also include an accelerometer sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor, and the like.
  • the turn control assembly 916 is configured to facilitate turn control of the balance vehicle 900.
  • the turn control component 916 can be a manually controlled turn control assembly or a leg controlled turn control assembly.
  • balance car 900 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), A gated array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation is used to perform the control method of the balance car described above.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA gated array
  • controller microcontroller, microprocessor, or other electronic component implementation is used to perform the control method of the balance car described above.

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Abstract

一种平衡车的控制方法及装置，属于自动控制领域。所述方法包括：识别平衡车前方的障碍物的类型，该类型包括：不可逾越障碍物(步骤202)；若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速(步骤204)。通过识别平衡车前方的障碍物的类型，若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速，解决了平衡车的前方一旦具有不可逾越的障碍物，容易导致驾驶者摔倒的问题，达到了平衡车能够自动识别障碍物，尽量避免与障碍物快速碰撞而摔倒的效果。

Description

平衡车的控制方法及装置
本申请基于申请号为201510627152.9、申请日为2015年9月28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
本公开涉及自动控制领域，特别涉及一种平衡车控制方法及装置。
背景技术
平衡车又称电动平衡车，是目前新兴的一种短距离交通工具。
平衡车通过内部的驱动马达的驱动进行前进或后退。若平衡车的前方存在障碍物，则可能会让驾驶者摔倒。
发明内容
为了解决现有技术中的问题，本公开提供一种平衡车的控制方法及装置。所述技术方案如下：
根据本公开实施例的第一方面，提供一种平衡车的控制方法，该方法包括：
识别平衡车前方的障碍物的类型，该类型包括：不可逾越障碍物；
若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速。
在可选的实施例中，该类型还包括：可逾越障碍物；
该方法还包括：
若障碍物的类型是可逾越障碍物，则增加平衡车的驱动力继续前进。
在可选的实施例中，识别平衡车前方的障碍物的类型，包括：
通过测距组件测量平衡车前方的障碍物的高度；
检测障碍物的高度是否高于预定阈值；
若障碍物的高度高于预定阈值，则将障碍物识别为不可逾越类型。
在可选的实施例中，识别平衡车前方的障碍物的类型，包括：
通过图像采集组件采集平衡车前方的图像帧；
识别图像帧中的障碍物；
计算识别出的障碍物的高度；
检测障碍物的高度是否高于预定阈值；
若障碍物的高度高于预定阈值，则将障碍物识别为不可逾越类型。
在可选的实施例中，该方法还包括：
测量障碍物与平衡车之间的距离；
检测距离是否小于预定距离；
若距离小于预定距离，则执行控制平衡车进行减速的步骤。
在可选的实施例中，该方法还包括：
若障碍物的类型是不可逾越障碍物，则通过预定方式进行障碍物提示；
其中，预定方式包括：播放提示音、震动平衡车上的预定部件、闪烁信号灯中的至少一种。
在可选的实施例中，该方法还包括：
若障碍物的类型是不可逾越障碍物，则判断平衡车前方是否具有绕行路线；
若平衡车前方具有绕行路线，则控制平衡车沿绕行路线行进；
若平衡车前方不具有绕行路线，则执行控制平衡车进行减速的步骤。
根据本公开实施例的第二方面，提供了一种平衡车的控制装置，该装置包括：
识别模块，被配置为识别平衡车前方的障碍物的类型，类型包括：不可逾越障碍物；
第一控制模块，被配置为在障碍物的类型是不可逾越障碍物时，控制平衡车进行减速。
在可选的实施例中，该类型还包括：可逾越障碍物；
装置还包括：
第二控制模块，被配置为在障碍物的类型是可逾越障碍物时，增加平衡车的驱动力继续前进。
在可选的实施例中，识别模块，包括：
第一测量子模块，被配置为通过测距组件测量平衡车前方的障碍物的高度；
第一检测子模块，被配置为检测障碍物的高度是否高于预定阈值；
第一识别子模块，被配置为在障碍物的高度高于预定阈值时，将障碍物识别为不可逾越类型。
在可选的实施例中，识别模块，包括：
采集子模块，被配置为通过图像采集组件采集平衡车前方的图像帧；
第二识别子模块，被配置为识别图像帧中的障碍物；
计算子模块，被配置为计算识别出的障碍物的高度；
第二检测子模块，被配置为检测障碍物的高度是否高于预定阈值；
第三识别子模块，被配置为在障碍物的高度高于预定阈值时，将障碍物识别为不可逾越类型。
在可选的实施例中，第一控制模块还包括：
第二测量子模块，被配置为测量障碍物与平衡车的距离；
第三检测子模块，被配置为检测距离是否小于预定距离；
第一执行子模块，被配置为在距离小于预定距离时，执行控制平衡车进行减速的步骤。
在可选的实施例中，第一控制模块还包括；
提示子模块，被配置为在障碍物的类型是不可逾越障碍物时，通过预定方式进行障碍物提示；
其中，预定方式包括：播放提示音、震动平衡车上的预定部件、闪烁信号灯中的至少一种。
在可选的实施例中，该装置还包括：
判断子模块，被配置为在障碍物的类型是不可逾越障碍物时，判断平衡车前方是否具有绕行路线；
第三控制子模块，被配置为在平衡车前方具有绕行路线时，控制平衡车沿绕行路线行进；
第一控制模块，还被配置为在平衡车前方不具有绕行路线时，执行控制平衡车进行减速的步骤。
根据本公开的第三方面，提供了一种平衡车，该平衡车包括：
控制芯片；
用于存储控制芯片可执行指令的存储器；
其中，控制芯片被配置为：
识别平衡车前方的障碍物的类型，类型包括：不可逾越障碍物；
若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速。
本公开的实施例提供的技术方案可以包括以下有益效果：
通过识别平衡车前方的障碍物的类型，若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速；解决了平衡车的前方一旦具有不可逾越的障碍物，容易导致驾驶者摔倒的问题；达到了平衡车能够自动识别障碍物，并且在障碍物是不可逾越障碍物时，尽量避免与障碍物快速碰撞而摔倒的效果。
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，示出了符合本公开的实施例，并于说明书一起用于解释本公开的原理。
图1是根据部分示例性实施例示出的一种平衡车的控制方法所涉及的实施环境的示意图；
图2是根据一示例性实施例示出的一种平衡车的控制方法的流程图；
图3是根据一示例性实施例示出的一种平衡车的控制方法的流程图；
图4A是根据一示例性实施例示出的测距组件识别障碍物的实施效果图；
图4B是根据一示例性实施例示出的判断前方是否具有绕行路线的实施效果图；
图5是根据一示例性实施例示出的一种平衡车的控制方法的流程图；
图6是根据一示例性实施例示出的识别图像帧中的障碍物的实施效果图；
图7是根据一示例性实施例示出的一种平衡车的控制装置的框图；
图8是根据另一示例性实施例示出的一种平衡车的控制装置的框图；
图9是根据一示例性实施例示出的一种平衡车的框图。
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公开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、本公开的一些方面相一致的装置和方法的例子。
图1是根据本公开一示例性实施例示出的平衡车的控制方法所涉及的实施环境的示意图，如图1所示，该实施环境可以是一台两轮平衡车，该两轮平衡车包括两个并列的车轮110和120、两个并列的车轮上方对应的车轮外壳150和160、转弯控制组件130、承重踏板140、以及障碍物识别组件170和180。
转弯控制组件130与承重踏板140相连接，可以用于对两轮平衡车的转弯进行控制。该转弯控制组件130可以通过手动控制实现，也可以通过腿动控制实现，本实施例不做限定。
障碍物识别组件170和180用于对两轮平衡车前进方向的障碍物进行识别。障碍物识别组件1701和180可以是具有识别物体大小和距离能力的任意测距组件，如红外线感应装置、超声波感应装置、激光测距仪等；障碍物识别组件1701和180也可以为具有图像拍摄能力的任一图像采集组件，如摄像头。
在图1中，障碍物识别组件170只是示例性地设置在车轮外壳150的位置1上，障碍物识别组件180只是示例性地设置在车轮外壳160的位置2上。障碍物识别组件170和180还可以设置在本领域技术人员可以预见的两轮平衡车的任意可能部位上，如承重踏板140和转弯控制组件130衔接的位置，用于探测左车轮的左前斜方向的位置，用于探测右车轮的右前斜方向的位置等等。此外，障碍物识别组件170和180的数量在本实施例中也只是示例性地给出两个，碍物识别组件的数量至少为一个，本实施例对此不做限定。障碍物识别组件170和180还可以具有在竖直方向上运动的能力，或者障碍物识别组件170和180具有上、下、左、右四向旋转的能力。
需要补充说明的是，两轮平衡车还可以包括其它部件，比如，控制芯片、存储器、驱动马达等(图中均未示出)。其中，控制芯片与驱动马达、上述转弯控制组件130、障碍物识别组件170和180分别相连，并根据存储器中存储的可执行指令来控制两轮平衡车的前进、后退、停止和转弯，本公开实施例不对此部分内容进行展开叙述。
还需要补充说明的是，上述两轮平衡车只是本公开实施例提供的平衡车的控制方法所涉及的一种实施环境的示意性说明，本公开的平衡车的控制方法既可以用于两轮平衡车，也可以用于与两轮平衡车相同或相似的其它平衡车，如单轮平衡车，本公开实施例对此不做限定，其实施环境亦不一一示出。
图2是根据一示例性实施例示出的一种平衡车的控制方法的流程图，如图2所示，该平衡车的方法应用于图1所示的平衡车中，包括以下步骤。
在步骤202中，识别平衡车前方的障碍物的类型，该类型包括：不可逾越障碍物。
可选地，控制芯片通过障碍物识别组件识别任一车轮前方的障碍物的类型。
可选地，该障碍物识别组件包括：测距组件，和/或，图像采集组件。
在步骤204中，若该障碍物的类型是不可逾越障碍物，则控制该平衡车进行减速。
综上所述，本实施例中提供的平衡车的控制方法，通过识别平衡车前方的障碍物的类型，若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速；解决了平衡车的前方一旦具有不可逾越的障碍物，容易导致驾驶者摔倒的问题；达到了平衡车能够自动识别障碍物，并且在障碍物是不可逾越障碍物时，尽量避免与障碍物快速碰撞而摔倒的效果。
可选的，步骤202中的识别平衡车前方的障碍物的类型的实现方式包括但不限于如下两种：
第一种为通过测距组件识别障碍物的类型，下面采用图3所示实施例进行阐述。
第二种为通过图像采集组件识别障碍物的类型，下面采用图5所示实施例进行阐述。
图3是根据另一示例性实施例示出的一种平衡车的控制方法的流程图，如图3所示，本实施例以该平衡车的控制方法应用于图1所示的两轮平衡车中来举例说明，该平衡车的控制方法包括以下步骤。
在步骤301中，通过测距组件测量该平衡车前方的障碍物的高度。
平衡车的控制芯片控制测距组件每隔预定时间间隔向外界发射探测信号，该探测信号可以为激光，红外线、超声波等。当探测信号遇到障碍物时会返回反射信号。因此，当测距组件接收到反射信号时，说明前方存在障碍物。通常，该障碍物的高度不低于测距组件的所处高度。
例如，安装在平衡车外壳的测距组件位于距离地面5cm的位置上，若接收到探测信号的反射信号，说明该平衡车前方存在一个高度至少为5cm的障碍物；若未接收到反射信号，说明该平衡车前方不存在高度超过5cm的障碍物。
可选地，如图4A所示，测距组件30具有在平衡车上沿竖直方向上下移动的能力。测距组件30能够在竖直方向上的不同位置发送探测信号。可选地，测距组件30从离地面高度为h0的高度发送一次探测信号，在接收到反射信号后升高h1再次发送探测信号，在又收到反射信号后升高h2再次发送探测信号，重复此过程，在最终离地面高度为h1+h2+…+hn时，未收到反射信号，从而探测到障碍物32的顶端。此时，测量得到该障碍物32的高度为h1+h2+…+hn。
需要说明的是，本公开实施例对通过测距组件测量障碍物的高度的实现方式不做限定。比如，平衡车上还可以在不同位置上设置多个测距组件，通过多个测距组件中的每个测距组件是否接收到探测信号的反射信号，来测量障碍物的高度。
在步骤302中，检测该障碍物的高度是否高于预定阈值。
可选地，该预定阈值为平衡车能逾越的障碍物的最大高度。该预定阈值可以为轮胎高度的1/x或者其他数值，本实施例不做限定。
若该障碍物的高度高于预定阈值，则进入步骤303；
若该障碍物的高度低于预定阈值，则进入步骤304。
在步骤303中，若该障碍物的高度高于该预定阈值，则将该障碍物识别为不可逾越类型。
当障碍物是不可逾越类型时，进入步骤305。
在步骤304中，若障碍物的高度不高于该预定阈值，则将该障碍物识别为可逾越障碍物。
当障碍物是可逾越类型时，进入步骤311。
在步骤305中，判断该平衡车前方是否具有绕行路线。
本步骤包括但不限于如下两种实现方式：
1、通过设置在平衡车左前斜方向或右前斜方向的测距组件，来判断前进方向的左右两侧是否具有绕行路线。
可选地，左前斜方向是从正前方向向左形成第一夹角的方向，右前斜方向是从正前方向向右形成第二夹角的方向。通过该测距组件判断左前斜方向或右前斜方向是否具有障碍物，若无障碍物，则存在绕行路线。
比如，平衡车上设置有用于探测左侧车轮的左前斜方向的测距组件34，和用于探测右侧车轮的右前斜方向的测距组件36，如图4B所示。
若用于探测正前方的测距组件接收到了探测信号的反射信号，且测距组件34也接收到了探测信号的反射信号，但测距组件36未接收到反射信号，则说明右前方向具有绕行路线。
同理，若用于探测正前方的测距组件接收到了探测信号的反射信号，且测距组件36也接收到了探测信号的反射信号，但测距组件34未接收到反射信号，则说明左前方向具有绕行路线。
2、通过具有水平方向旋转能力的测距组件，来判断前进方向的左右两侧是否具有绕行路线。
也即，该测距组件具有向左转动的能力，或，具有向右转动的能力，或，具有同时向左或向右转动的能力。然后，通过该测距组件判断左前斜方向或右前斜方向是否具有障碍物，若无障碍物，则存在绕行路线。
若具有绕行路线，则进入步骤306；若不具有绕行路线，则进入步骤307。
在步骤306中，若该平衡车前方具有该绕行路线，则控制该平衡车沿该绕行路线行进。
若该平衡车前方具有该绕行路线，则控制芯片控制该平衡车沿该绕行路线行进。
在步骤307中，测量该障碍物与该平衡车的距离。
可选地，控制芯片通过测距组件测量任一车轮前方的障碍物与平衡车之间的距离。比如，控制芯片根据探测信号的发出时刻到反射信号的接收时刻，再结合平衡车的行进速度计算得知该距离，本实施例不做限定。
在步骤308中，检测该距离是否小于预定距离。
控制芯片检测障碍物与平衡车之间的距离是否小于预定距离。
可选地，该预定距离为平衡车转弯时需要的最大距离。预定距离可以为轮胎直径的x倍，或者其他数值，本实施例不做限定。
可选地，该预定距离与平衡车的当前车速呈正比例关系，当前车速越快，该预定距离越大；当前车速越慢，该预定距离越小。
若该距离小于预定距离，则进入步骤309；若该距离大于预定距离，则进入步骤310；
在步骤309中，若该距离小于该预定距离，则控制该平衡车进行减速，并通过预定方式进行障碍物提示。
若该距离小于预定距离，则控制芯片控制平衡车进行减速，直至停止。通常，控制芯片控制平衡车减速至障碍物前停止；但也有可能发生平衡车在减速过程中尚未完全停止，就碰撞到障碍物的情形。
可选地，控制芯片还通过预定方式进行障碍物提示，其中，预定方式包括：播放提示音、震动平衡车上的预定部件、闪烁信号灯中的至少一种。
例如，当识别到平衡车的前方存在不可逾越的障碍物，且不可逾越的障碍物与平衡车达到预定距离时，平衡车发出“嘀、嘀、嘀”的提示音。
在步骤310中，若该距离小于该预定距离，则控制该平衡车继续前进。
在步骤311中，若该障碍物的类型是可逾越障碍物，则增加该平衡车的驱动力继续前进。
若该障碍物的类型是可逾越障碍物时，则控制芯片控制驱动马达增加平衡车的驱动力前进。
需要补充说明的是，上述步骤305、步骤307、步骤310的先后顺序并不限于上述顺序，本实施例对此不做限定。
综上所述，本实施例中提供的平衡车的控制方法，通过识别平衡车前方的障碍物的类型，若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速；解决了平衡车的前方一旦具有不可逾越的障碍物，容易导致驾驶者摔倒的问题；达到了平衡车能够自动识别障碍物，并且在障碍物是不可逾越障碍物时，尽量避免与障碍物快速碰撞而摔倒的效果。
本实施例提供的平衡车的控制方法，通过测距组件来测量障碍物的高度和距离，进而使得平衡车能够识别障碍物的类型，并根据该障碍物与平衡车之间的距离作出减速避让。
本实施例提供的平衡车的控制方法，还通过判断平衡车前方是否有绕行路线，如有绕行路线则自动控制该平衡车沿该绕行路线行驶，从而避免了平衡车与障碍物发生碰撞，同时又不影响平衡车的正常行进的效果。
图5是根据一示例性实施例示出的一种平衡车的控制方法的流程图，如图5所示，本实施例以该平衡车的控制方法应用于图1所示的实施环境中来举例说明，该方法包括以下步骤。
在步骤501中，通过图像采集组件采集平衡车前方的图像帧。
图像采集组件可以安装在平衡车的两个车轮外壳上，也可安装在承重踏板与转弯控制组件的衔接部分。
控制芯片控制图像采集组件对平衡车前方的图像进行采集，形成连续的一帧帧图像帧。
在步骤502中，识别该图像帧中的障碍物。
由于大地和处于地面上的其他物体颜色区别十分明显，因此可以根据图像帧中像素的变化确定图像帧中的地面和其他物体。
可选地，如图6所示，控制芯片在获取到图像采集组件采集到的图像帧60后，对图像帧 60按照颜色差异进行二值化处理得到第一区域62和第二区域64，第一区域62和第二区域64的交汇处形成道路线66。控制芯片检测该道路线66是否存在凸起68。若该道路线66存在凸起68，则控制芯片将该凸起68识别为障碍物。
在步骤503中，计算识别出的该障碍物的高度。
作为第一种可能的实现方式，控制芯片根据该障碍物在图像帧中的高度和预定比例尺计算该障碍物的高度，比如预定比例尺为1:3，则该障碍物在图像帧中的高度为1厘米时，计算出的该障碍物的高度为3厘米。当该障碍物离平衡车的距离越来越近时，计算出的该障碍物的高度也越来越近。
作为第二种可能的实现方式，平衡车上还设置有测距组件，该测距组件能够测量得到该障碍物与平衡车之间的距离，控制芯片先查找与该距离对应的比例尺，再根据该障碍物在图像帧中的高度与该距离对应的比例尺计算该障碍物的盖度，比如，与该距离对应的比例尺为1:5，则该障碍物在图像帧中的高度为1厘米时，计算出的该障碍物的高度为5厘米。
作为第三种可能的实现方式，图像采集组件为两个，则控制芯片可以根据两个图像采集组件采集到的两帧图像帧中的凸起(也即障碍物)和双眼成像原理，计算出该障碍物的实际高度。
需要说明的是，本实施例不对控制芯片计算该障碍物的高度的方式进行限定。
在步骤504中，检测该障碍物的高度是否高于预定阈值。
控制芯片检测计算出的障碍物高度是否高于预定阈值。
可选地，该预定阈值为平衡车能逾越的障碍物的最大高度。
若该障碍物的高度大于预定阈值，则进入步骤505；
若该障碍物的高度小于预定阈值，则进入步骤506。
在步骤505中，若该障碍物的高度高于预定阈值，则将该障碍物识别为不可逾越类型。
当障碍物是不可逾越类型时，进入步骤507。
在步骤506中，若该障碍物的高度小于预定阈值，则将该障碍物识别为可逾越类型。
当障碍物是可逾越类型时，进入步骤513。
在步骤507中，当障碍物是不可逾越类型时，判断该平衡车前方是否具有绕行路线。
本步骤包括但不限于如下三种实现方式：
1、通过图像采集组件采集的图像帧，来判断前进方向的左右两侧是否具有绕行路线。
通过步骤501类似的处理，控制芯片通过图像采集组件采集到的图像帧，判断左前斜方向或右前斜方向是否具有障碍物，若无障碍物，则存在绕行路线。
可选地，左前斜方向是从正前方向向左形成第一夹角的方向，右前斜方向是从正前方向向右形成第二夹角的方向。
2、通过设置在平衡车左前斜方向或右前斜方向的测距组件，来判断前进方向的左右两侧是否具有绕行路线。
控制芯片通过该测距组件判断左前斜方向或右前斜方向是否具有障碍物，若无障碍物，则存在绕行路线。
3、通过具有水平方向旋转能力的测距组件，来判断前进方向的左右两侧是否具有绕行路线。
也即，该测距组件具有向左转动的能力，或，具有向右转动的能力，或，具有同时向左或向右转动的能力。然后，控制芯片通过该测距组件判断左前斜方向或右前斜方向是否具有障碍物，若无障碍物，则存在绕行路线。
若具有绕行路线，则进入步骤508；若不具有绕行路线，则进入步骤509。
在步骤508中，若该平衡车前方具有该绕行路线，则控制该平衡车沿该绕行路线行进。
若该平衡车前方具有该绕行路线，则控制芯片控制该平衡车沿该绕行路线行进。
在步骤509中，测量该障碍物与该平衡车的距离。
可选地，控制芯片通过测距组件测量任一车轮前方的障碍物与平衡车之间的距离。比如，控制芯片根据探测信号的发出时刻到反射信号的接收时刻，再结合平衡车的行进速度计算得知该距离，本实施例不做限定。
在步骤510中，检测该距离是否小于预定距离。
控制芯片检测障碍物与平衡车之间的距离是否小于预定距离。
可选地，该预定距离为平衡车转弯时需要的最大距离。预定距离可以为轮胎直径的x倍，或者其他数值，本实施例不做限定。
可选地，该预定距离与平衡车的当前车速呈正比例关系，当前车速越快，该预定距离越大；当前车速越慢，该预定距离越小。
若该距离小于预定距离，则进入步骤511；若该距离大于预定距离，则进入步骤512；
在步骤511中，若该距离小于该预定距离，则控制该平衡车进行减速，并通过预定方式进行障碍物提示。
若该距离小于预定距离，则控制芯片控制平衡车进行减速，直至停止。通常，控制芯片控制平衡车减速至障碍物前停止；但也有可能发生平衡车在减速过程中尚未完全停止，就碰撞到障碍物的情形。
可选地，控制芯片还通过预定方式进行障碍物提示，其中，预定方式包括：播放提示音、震动平衡车上的预定部件、闪烁信号灯中的至少一种。
例如，当识别到平衡车的前方存在不可逾越的障碍物，且不可逾越的障碍物与平衡车达到预定距离时，平衡车发出“嘀、嘀、嘀”的提示音。
在步骤512中，若该距离小于该预定距离，则控制该平衡车继续前进。
在步骤513中，若该障碍物的类型是可逾越障碍物，则增加该平衡车的驱动力继续前进。
若该障碍物的类型是可逾越障碍物时，则控制芯片控制驱动马达增加平衡车的驱动力前进。
综上所述，本实施例中提供的平衡车的控制方法，通过识别平衡车前方的障碍物的类型，若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速；解决了平衡车的前方一旦具有不可逾越的障碍物，容易导致驾驶者摔倒的问题；达到了平衡车能够自动识别障碍物，并且在障碍物是不可逾越障碍物时，尽量避免与障碍物快速碰撞而摔倒的效果。
本实施例提供的平衡车的控制方法，通过图像采集组件来测量障碍物的高度和距离，进而使得平衡车能够识别障碍物的类型，并根据该障碍物与平衡车之间的距离作出减速避让。
本实施例提供的平衡车的控制方法，还通过判断平衡车前方是否有绕行路线，如有绕行路线则自动控制该平衡车沿该绕行路线行驶，从而避免了平衡车与障碍物发生碰撞，同时又不影响平衡车的正常行进的效果。
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7是根据一示例性实施例示出的一种平衡车的控制装置的框图，如图7所示，该平衡车的控制装置可以通过软件、硬件或者两者的结合实现成为平衡车的全部或一部分，该平衡车的控制装置包括但不限于：识别模块710和第一控制模块720。
该识别模块710，被配置为识别该平衡车前方的障碍物的类型，该类型包括：不可逾越障碍物；
该第一控制模块720，被配置为在该障碍物的类型是不可逾越障碍物时，控制该平衡车进行减速。
综上所述，本实施例提供的平衡车的控制装置，通过识别平衡车前方的障碍物的类型，若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速；解决了平衡车的前方一旦具有不可逾越的障碍物，容易导致驾驶者摔倒的问题；达到了平衡车能够自动识别障碍物，并且在障碍物是不可逾越障碍物时，尽量避免与障碍物快速碰撞而摔倒的效果。
图8是根据另一示例性实施例示出的一种平衡车的控制装置的框图，如图8所示，该平衡车的控制装置可以通过软件、硬件或者两者的结合实现成为平衡车的全部或一部分，该平衡车的控制装置包括但不限于：识别模块810和第一控制模块820。
该识别模块810，被配置为识别该平衡车前方的障碍物的类型，该类型包括：不可逾越障碍物；
该第一控制模块820，被配置为在该障碍物的类型是不可逾越障碍物时，控制该平衡车进行减速。
可选的，该类型还包括：可逾越障碍物；该装置还包括：第二控制模块830。
该第二控制模块830，被配置为在该障碍物的类型是可逾越障碍物时，增加该平衡车的驱动力继续前进。
可选的，该识别模块810，包括：第一测量子模块811、第一检测子模块812、第一识别子模块813。
该第一测量子模块811，被配置为通过测距组件测量该平衡车前方的障碍物的高度；
该第一检测子模块，被配置为检测该障碍物的高度是否高于预定阈值；
该第一识别子模块，被配置为在该障碍物的高度高于预定阈值时，将所述障碍物识别为不可逾越类型。
可选的，该识别模块810，还包括：采集子模块814、第二识别子模块815、计算子模块816、第二检测子模块817、第三识别子模块818。
该采集子模块814，被配置为通过图像采集组件采集该平衡车前方的图像帧；
该第二识别子模块815，被配置为识别该图像帧中的障碍物；
该计算子模块816，被配置为计算识别出的该障碍物的高度；
该第二检测子模块817，被配置为检测该障碍物的高度是否高于预定阈值；
该第三识别子模块818，被配置为在该障碍物的高度高于所述预定阈值时，将该障碍物识别为不可逾越类型。
可选的，上述第一控制模块820还包括：第二测量子模块821、第三检测子模块822、第一执行子模块823。
该第二测量子模块821，被配置为测量该障碍物与该平衡车的距离；
该第三检测子模块822，被配置为检测该距离是否小于预定距离；
该第一执行子模块823，被配置为在该距离小于预定距离时，执行控制该平衡车进行减速的步骤。
可选的，上述第一控制模块820还包括：提示子模块824。
该提示子模块824，被配置为在该障碍物的类型是不可逾越障碍物时，通过预定方式进行障碍物提示；
其中，该预定方式包括：播放提示音、震动该平衡车上的预定部件、闪烁信号灯中的至少一种。
可选的，该平衡车的控制装置还包括：判断子模块825、第三控制子模块826、第二执行子模块827。
该判断子模块，被配置为在该障碍物的类型是不可逾越障碍物时，判断该平衡车前方是否具有绕行路线；
该第三控制子模块，被配置为在该平衡车前方具有绕行路线时，控制该平衡车沿该绕行路线行进；
该第一控制模块，还被配置为在该平衡车前方不具有绕行路线时，执行控制该平衡车进行减速的步骤。
综上所述，本实施例提供的平衡车的控制装置，通过识别平衡车前方的障碍物的类型，若障碍物的类型是不可逾越障碍物，则控制平衡车进行减速；解决了平衡车的前方一旦具有不可逾越的障碍物，容易导致驾驶者摔倒的问题；达到了平衡车能够自动识别障碍物，并且在障碍物是不可逾越障碍物时，尽量避免与障碍物快速碰撞而摔倒的效果。
本实施例提供的平衡车的控制装置，通过测距组件来测量障碍物的高度和距离，进而使得平衡车能够识别障碍物的类型，并根据该障碍物与平衡车之间的距离作出减速避让。
本实施例提供的平衡车的控制装置，还通过判断平衡车前方是否有绕行路线，如有绕行路线则自动控制该平衡车沿该绕行路线行驶，从而避免了平衡车与障碍物发生碰撞，同时又不影响平衡车的正常行进的效果。
本公开一示例性实施例提供了一种平衡车，该平衡车能够实现本公开提供的一种平衡车的控制方法，该平衡车包括：控制芯片、用于存储所述控制芯片可执行指令的存储器。
其中，控制芯片被配置为：
识别该平衡车前方的障碍物的类型，该类型包括：不可逾越障碍物；
当该障碍物的类型是不可逾越障碍物时，则控制该平衡车进行减速。
图9是根据一示例性实施例示出的一种平衡车的框图。参照图9，平衡车900可以包括以下一个或多个组件：控制芯片902，存储器904，电源组件906，图像采集组件908，测距组件910，输入/输出(I/O)接口912，传感器组件914，以及转弯控制组件916。
控制芯片902通常控制平衡车900的整体操作，诸如与前进、后退、加速，减速相关联的操作。此外，控制芯片902可以包括一个或多个模块，便于控制芯片902和其他组件之间的交互。例如，控制芯片902可以包括图像采集模块，以方便图像采集组件908和控制芯片902之间的交互。
存储器904被配置为存储各种类型的数据以支持在平衡车900的操作。这些数据的示例包括用于在平衡车900上操作的任何平衡车的指令，图像数据，距离数据等。存储器904可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件906为平衡车900的各种组件提供电力。电源组件906可以包括电源管理系统，一个或多个电源，及其他与为平衡车900生成、管理和分配电力相关联的组件。
图像采集组件908包括在平衡车900中。在一些实施例中，图像采集组件908包括一个前置摄像头和/或后置摄像头。当平衡车900处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
测距组件910被配置为发射和/或接收探测信号。例如，测距组件910包括一个激光发射器，当平衡车900处于操作模式，如接收反射激光时，激光发射器被配置为接收探测信号的反射信号。所接收的反射信号可以被进一步存储在存储器904中。
I/O接口912为控制芯片902和外围接口模块之间提供接口，上述外围接口模块可以是U盘，音频播放器等。
传感器组件914包括一个或多个传感器，用于为平衡车900提供各个方面的状态评估。例如，传感器组件914可以检测到平衡车900的打开/关闭状态，传感器组件914可以检测平衡车900方位或加速/减速变化。传感器组件914还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件914还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器等等。
转弯控制组件916被配置为便于对平衡车900进行转弯控制。该转弯控制组件916可以是手动控制的转弯控制组件，还可以是腿部控制的转弯控制组件。
在示例性实施例中，平衡车900可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述平衡车的控制方法。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开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。本公开的范围仅由所附的权利要求来限制。

Claims (15)

  1. 一种平衡车的控制方法，其特征在于，所述方法包括：
    识别所述平衡车前方的障碍物的类型，所述类型包括：不可逾越障碍物；
    若所述障碍物的类型是所述不可逾越障碍物，则控制所述平衡车进行减速。
  2. 根据权利要求1所述的方法，其特征在于，所述类型还包括：可逾越障碍物；
    所述方法还包括：
    若所述障碍物的类型是所述可逾越障碍物，则增加所述平衡车的驱动力继续前进。
  3. 根据权利要求1或2所述的方法，其特征在于，所述识别所述平衡车前方的障碍物的类型，包括：
    通过测距组件测量所述平衡车前方的障碍物的高度；
    检测所述障碍物的高度是否高于预定阈值；
    若所述障碍物的高度高于所述预定阈值，则将所述障碍物识别为所述不可逾越类型。
  4. 根据权利要求1或2所述的方法，其特征在于，所述识别所述平衡车前方的障碍物的类型，包括：
    通过图像采集组件采集所述平衡车前方的图像帧；
    识别所述图像帧中的障碍物；
    计算识别出的所述障碍物的高度；
    检测所述障碍物的高度是否高于预定阈值；
    若所述障碍物的高度高于所述预定阈值，则将所述障碍物识别为所述不可逾越类型。
  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：
    测量所述障碍物与所述平衡车之间的距离；
    检测所述距离是否小于预定距离；
    若所述距离小于所述预定距离，则执行所述控制所述平衡车进行减速的步骤。
  6. 根据权利要求1至5任一所述的方法，其特征在于，所述方法还包括：
    若所述障碍物的类型是所述不可逾越障碍物，则通过预定方式进行障碍物提示；
    其中，所述预定方式包括：播放提示音、震动所述平衡车上的预定部件、闪烁信号灯中的至少一种。
  7. 根据权利要求1至6任一所述的方法，其特征在于，所述方法还包括：
    若所述障碍物的类型是所述不可逾越障碍物，则判断所述平衡车前方是否具有绕行路线；
    若所述平衡车前方具有所述绕行路线，则控制所述平衡车沿所述绕行路线行进；
    若所述平衡车前方不具有所述绕行路线，则执行所述控制所述平衡车进行减速的步骤。
  8. 一种平衡车的控制装置，其特征在于，所述装置包括：
    识别模块，被配置为识别所述平衡车前方的障碍物的类型，所述类型包括：不可逾越障碍物；
    第一控制模块，被配置为在所述障碍物的类型是所述不可逾越障碍物时，控制所述平衡车进行减速。
  9. 根据权利要求8所述的装置，其特征在于，所述类型还包括：可逾越障碍物；
    所述装置还包括：
    第二控制模块，被配置为在所述障碍物的类型是所述可逾越障碍物时，增加所述平衡车的驱动力继续前进。
  10. 根据权利要求8或9所述的装置，其特征在于，所述识别模块，包括：
    第一测量子模块，被配置为通过测距组件测量所述平衡车前方的障碍物的高度；
    第一检测子模块，被配置为检测所述障碍物的高度是否高于预定阈值；
    第一识别子模块，被配置为在所述障碍物的高度高于所述预定阈值时，将所述障碍物识别为所述不可逾越类型。
  11. 根据权利要求8或9所述的装置，其特征在于，所述识别模块，包括：
    采集子模块，被配置为通过图像采集组件采集所述平衡车前方的图像帧；
    第二识别子模块，被配置为识别所述图像帧中的障碍物；
    计算子模块，被配置为计算识别出的所述障碍物的高度；
    第二检测子模块，被配置为检测所述障碍物的高度是否高于预定阈值；
    第三识别子模块，被配置为在所述障碍物的高度高于所述预定阈值时，将所述障碍物识别为所述不可逾越类型。
  12. 根据权利要求8至11任一所述的装置，其特征在于，所述第一控制模块还包括：
    第二测量子模块，被配置为测量所述障碍物与所述平衡车的距离；
    第三检测子模块，被配置为检测所述距离是否小于预定距离；
    第一执行子模块，被配置为在所述距离小于所述预定距离时，执行所述控制所述平衡车进行减速的步骤。
  13. 根据权利要求8至12任一所述的装置，其特征在于，所述第一控制模块还包括；
    提示子模块，被配置为在所述障碍物的类型是所述不可逾越障碍物时，通过预定方式进行障碍物提示；
    其中，所述预定方式包括：播放提示音、震动所述平衡车上的预定部件、闪烁信号灯中的至少一种。
  14. 根据权利要求8至13任一所述的装置，其特征在于，所述装置还包括：
    判断子模块，被配置为在所述障碍物的类型是所述不可逾越障碍物时，判断所述平衡车前方是否具有绕行路线；
    第三控制子模块，被配置为在所述平衡车前方具有所述绕行路线时，控制所述平衡车沿所述绕行路线行进；
    所述第一控制模块，还被配置为在所述平衡车前方不具有所述绕行路线时，执行所述控制所述平衡车进行减速的步骤。
  15. 一种平衡车，其特征在于，所述平衡车包括：
    控制芯片；
    用于存储所述控制芯片可执行指令的存储器；
    其中，所述控制芯片被配置为：
    识别所述平衡车前方的障碍物的类型，所述类型包括：不可逾越障碍物；
    若所述障碍物的类型是所述不可逾越障碍物，则控制所述平衡车进行减速。
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