WO2017206170A1 - Control method of electric balance scooter and control device - Google Patents

Control method of electric balance scooter and control device Download PDF

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Publication number
WO2017206170A1
WO2017206170A1 PCT/CN2016/084695 CN2016084695W WO2017206170A1 WO 2017206170 A1 WO2017206170 A1 WO 2017206170A1 CN 2016084695 W CN2016084695 W CN 2016084695W WO 2017206170 A1 WO2017206170 A1 WO 2017206170A1
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WO
WIPO (PCT)
Prior art keywords
obstacle
electric balance
balance vehicle
map
road
Prior art date
Application number
PCT/CN2016/084695
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French (fr)
Chinese (zh)
Inventor
尚艳燕
Original Assignee
尚艳燕
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Publication date
Application filed by 尚艳燕 filed Critical 尚艳燕
Priority to PCT/CN2016/084695 priority Critical patent/WO2017206170A1/en
Publication of WO2017206170A1 publication Critical patent/WO2017206170A1/en

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    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • 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

Definitions

  • the present invention relates to the field of automatic control, and more particularly to an electric balance vehicle control method and control device.
  • Electric balance car also known as body car, thinking car
  • its operation principle is mainly based on a basic principle called “dynamic stability", using the gyroscope and acceleration sensor inside the car body to detect the posture of the car body. Change and use the servo control system to accurately drive the motor to adjust accordingly to maintain the balance of the system.
  • the user can control the balance car to make a turn by operating the lever or the rotating mechanism. If there is an obstacle in front of the wheel of the balance car, the wheel is blocked or jammed, posing a hazard to the driver.
  • the technical problem to be solved by the present invention is to provide a control method and a control device for an electric balance vehicle that facilitates the travel of an electric balance vehicle.
  • a control method of an electric balance vehicle comprising the following steps:
  • the preset manner includes: blinking the electric balance vehicle to bypass the signal light on the side of the obstacle, and vibrating the electric balance vehicle to bypass the obstacle At least one of the components on one side;
  • Determining whether the obstacle is in a motion state if the obstacle is in a motion state, not marking the obstacle on the obstacle map; if the obstacle is in a static state, marking the obstacle to the obstacle On the map.
  • a control method of an electric balance vehicle comprising the following steps:
  • Detecting a width of the obstacle determining an end of the electric balance vehicle that is closer to the obstacle, and generating a travel route.
  • the method further comprises: after generating the travel route, prompting the travel route according to a preset manner.
  • the preset manner includes: blinking the electric balance vehicle to bypass the obstacle one more recently The side signal light vibrates the electric balance vehicle closer to at least one of the components on the side of the obstacle.
  • the method further comprises: after generating the travel route, marking the obstacle roadblock coordinates on the travel route, forming an obstacle map, and sharing the obstacle map to a communication electric communication with the same Balance the car.
  • the method further comprises: collecting an image of the obstacle, network-identifying the obstacle characteristic, and determining the traveling route according to the obstacle characteristic.
  • the method further comprises: combining the obstacle map with the road map to determine whether the obstacle is located on the road, and if the obstacle is located on the road, marking the obstacle to the obstacle On the map; if the obstacle is located outside the road, the obstacle is not marked on the obstacle map.
  • the method further comprises: determining whether the obstacle is in a motion state, and if the obstacle is in a motion state, not marking the obstacle on the obstacle map; if the obstacle is in a static state, Mark the obstacle on the obstacle map.
  • the present invention discloses a control device for an electric balance vehicle, wherein the control device includes:
  • a height detecting device for detecting a height of an item in front of the electric balance vehicle traveling
  • An identification device for identifying the item if the height of the item exceeds a preset value, identifying the item as an obstacle;
  • a speed reducing device for controlling the electric balance vehicle to perform deceleration
  • a width detecting device for detecting a width of the obstacle
  • a generating device is used to generate a travel route.
  • control device further includes:
  • a collecting device configured to collect an image of the obstacle, network-identify the obstacle characteristic, and determine the traveling route according to the obstacle characteristic
  • a prompting device configured to prompt the traveling route according to a preset manner, the preset manner comprising: blinking the electric balance vehicle closer to a signal light on a side of the obstacle, and vibrating the electric balance vehicle closer to the winding At least one of the components on one side of the obstacle;
  • An marking device for marking the obstacle roadblock coordinates on the travel route, forming an obstacle map, and sharing the obstacle map to a communication electric balance vehicle that communicates therewith,
  • Combining the device combining the obstacle map with the road map, determining whether the obstacle is located on the road, and if the obstacle is located on the road, marking the obstacle to the obstacle map; The obstacle is located outside the road, and the obstacle is not marked on the obstacle map;
  • a judging device configured to determine whether the obstacle is in a motion state, and if the obstacle is in a motion state, the obstacle is not marked on the obstacle map; if the obstacle is in a static state, the obstacle is Mark the object on the obstacle map.
  • the existing balance car is inconvenient for the user to continue to travel if encountering an obstacle during the traveling process.
  • the technical effect of the present invention is that the electric balance car of the present invention first encounters an item during the traveling process. Detecting the height of the item to determine whether the item belongs to an obstacle; when the item height is higher than the preset value, the item is identified as an obstacle, then the electric balance car is not easy to pass directly from the obstacle, thereby controlling the electric balance car to prevent the driving of the deceleration Collision and injury to the user.
  • the present invention collects an image of the obstacle, further identifies the characteristics of the obstacle, and then further determines the travel route of the electric balance vehicle according to the characteristics of the obstacle, thus giving the user multiple choices.
  • the invention also prompts the travel route by a preset manner to ensure that the user can accurately travel.
  • the invention also marks the obstacle as a roadblock coordinate, forms an obstacle map, and shares the communication electric balance vehicle with the communication, thereby facilitating the communication electric balance vehicle to learn the latest road information according to the travel route and the obstacle map, thereby facilitating the driving. .
  • FIG. 1 is a schematic flow chart of a method for controlling an electric balance vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of a method for controlling an electric balance vehicle according to Embodiment 2 of the present invention
  • FIG 3 is a schematic view of a control device for an electric balance vehicle according to a third embodiment of the present invention.
  • 101 height detecting device; 102, identifying device; 103, speed reducing device; 104, width detecting device; 105, determining device; 106, generating device.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • a plurality means two or more unless otherwise stated.
  • the term “comprises” and its variations are intended to cover a non-exclusive inclusion.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • Connected, or integrally connected can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • the specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • FIG. 1 is a schematic flowchart diagram of a method for controlling an electric balance vehicle according to an embodiment of the present invention.
  • the control method of the electric balance vehicle includes the following steps:
  • S103 Detect a width of the obstacle, determine an end of the electric balance vehicle that is closer to the obstacle, and generate a travel route.
  • step S101 the electric balance vehicle of the present embodiment first detects the height of the item when it encounters an item during traveling, and determines whether the item belongs to an obstacle.
  • step S102 when the item height is higher than the preset value, the item is identified as an obstacle, and the electric balance car is not easily passed directly from the obstacle, thereby controlling the electric balance car to perform deceleration running to prevent the user from being injured by the collision.
  • the electric balance car can pass directly from the item, and the electric balance car can be controlled to accelerate through the driving process, or can be decelerated, of course, the speed is not It is also possible to change.
  • step S103 detecting the width of the obstacle and detecting the distance between the electric balance vehicle and the two ends of the obstacle, and then determining the end of the electric balance vehicle that is closer to the obstacle to generate a traveling route, so that the electric balance vehicle can According to the generated travel route, the obstacle is driven, and during the travel, the electric balance vehicle travels toward the end of the electric balance vehicle closer to the obstacle, and the user is more convenient and quick to pass the obstacle.
  • the generated travel route can be displayed on a display screen. If the electric balance vehicle does not have a display screen, an electronic product can be wirelessly connected to the electric balance vehicle, and the electric balance vehicle displays the travel route to the electronic device. On the product, it is convenient for users to watch.
  • the existing balance car is inconvenient for the user to continue to travel if encountering an obstacle during the traveling process.
  • the electric balance car of the embodiment first detects the height of the article when the article is encountered during the traveling, and determines the article. Whether it is an obstacle; when the height of the item is higher than the preset value, the item is identified as an obstacle, then The electric balance car is not easy to pass directly from the obstacle, thereby controlling the electric balance car to decelerate to prevent the user from being injured by the collision.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • FIG. 2 is a schematic flowchart diagram of a method for controlling an electric balance vehicle according to Embodiment 2 of the present invention, and the method for controlling the electric balance vehicle includes the following steps:
  • S203 Detect a width of the obstacle, determine an end of the electric balance vehicle that is closer to the obstacle, and generate a travel route;
  • S204 Collect an image of the obstacle, identify the obstacle characteristic by networking, and determine the travel route according to the obstacle characteristic;
  • S205 prompting the travel route according to a preset manner, the preset manner includes: blinking the electric balance vehicle to bypass the signal light on the side of the obstacle, and vibrating the electric balance vehicle to bypass the electric balance vehicle At least one of the components on one side of the obstacle;
  • S206 label the obstacle roadblock coordinates on the travel route, form an obstacle map, and share the obstacle map to a communication electric balance vehicle that communicates with the obstacle map;
  • the obstacle map is combined with the road map to determine whether the obstacle is located on the road, and if the obstacle is located on the road, the obstacle is marked on the obstacle map; The object is located outside the road, and the obstacle is not marked on the obstacle map;
  • determining whether the obstacle is in a motion state, and if the obstacle is in a motion state The obstacle is not marked on the obstacle map; if the obstacle is at rest, the obstacle is marked on the obstacle map.
  • step S201 the electric balance vehicle of the present embodiment first detects the height of the article when it encounters an item during traveling, and determines whether the article belongs to an obstacle.
  • step S202 when the item height is higher than the preset value, the item is identified as an obstacle, and the electric balance car is not easily passed directly from the obstacle, thereby controlling the electric balance car to perform deceleration running to prevent the user from being injured by the collision.
  • the electric balance car can pass directly from the item, and the electric balance car can be controlled to accelerate through the driving process, or can be decelerated, of course, the speed is not It is also possible to change.
  • step S203 detecting the width of the obstacle and detecting the distance between the electric balance vehicle and the two ends of the obstacle, and then determining the end of the electric balance vehicle closer to the obstacle to generate a traveling route, so that the electric balance vehicle can According to the generated travel route, the obstacle is driven, and during the travel, the electric balance vehicle travels toward the end of the electric balance vehicle closer to the obstacle, and the user is more convenient and quick to pass the obstacle.
  • the generated travel route can be displayed on a display screen. If the electric balance vehicle does not have a display screen, an electronic product can be wirelessly connected to the electric balance vehicle, and the electric balance vehicle displays the travel route to the electronic device. On the product, it is convenient for users to watch.
  • step S204 an image of the obstacle is acquired, the obstacle characteristic is networked, and the travel route is determined according to the obstacle characteristic.
  • the characteristics of the obstacle are further identified, and then the travel route of the electric balance vehicle is further determined according to the characteristics of the obstacle, thus giving the user multiple choices.
  • the characteristics of the obstacle may be the shape, material, combination, and the like of the obstacle.
  • the electric balance vehicle is controlled to decelerate, and the obstacle is continued to travel; if the obstacle is a soft material, it passes directly through the obstacle.
  • the electric balance car is controlled to decelerate, and the obstacle is continued to travel; if the obstacle is a small pile of loose sand, Then pass directly through the obstacle.
  • Other obstacle characteristics are not exemplified herein.
  • step S205 the travel route is prompted according to a preset manner, and the preset manner includes: blinking the electric balance vehicle to bypass the signal light on the side of the obstacle, and vibrating the electric balance vehicle more closely. At least one of the components on one side of the obstacle is arranged.
  • the prompting method preferably used in this embodiment is a signal light on one side of the flashing electric balance vehicle, and the signal light on the side is located on the same side of the electric balance vehicle closer to the obstacle when the electric balance vehicle is not bypassing the obstacle, that is, When the electric balance vehicle bypasses the obstacle, the flashing signal light is located outside. This ensures that the user can pass accurately.
  • step S206 the obstacle roadblock coordinates are marked on the travel route to form an obstacle map, and the obstacle map is shared to the communication electric balance vehicle that communicates with the communication route; thereby facilitating communication of the electric balance vehicle according to the travel Routes and obstacle maps get the latest road information and travel.
  • the obstacle map is combined with the road map to determine whether the obstacle is located on the road, and if the obstacle is located on the road, the obstacle is marked on the obstacle map; The object is located outside the road and the obstacle is not marked on the obstacle map.
  • the road map may be a Baidu map, a Gaud map or other road map.
  • the driving route is planned under the limited conditions of the road.
  • the traditional road map has given the boundary of the road, that is, the boundary of the road is equivalent to the obstacle, but the road map cannot mark the obstacles existing in the road, so the combination of the two can make the driving route more operable. , more secure.
  • determining whether the obstacle is in a motion state if the obstacle is in a motion state, not marking the obstacle on the obstacle map; if the obstacle is in a static state, marking the obstacle to On the obstacle map.
  • steps S201 to S203 can participate in steps S101 to S103 of the embodiment.
  • the steps S204 to S206 of the second embodiment can be separately combined into the embodiment to be combined into a new embodiment, and the sequence is not prioritized.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • FIG. 3 is a schematic diagram of a control device for an electric balance vehicle according to a third embodiment of the present invention.
  • the control device includes:
  • a height detecting device 101 configured to detect a height of a front item in the electric balance vehicle traveling
  • the identification device 102 is configured to identify the item: if the height of the item exceeds a preset value, identify the item as an obstacle;
  • a speed reducing device 103 for controlling the electric balance vehicle to perform deceleration
  • a width detecting device 104 configured to detect a width of the obstacle
  • a determining device 105 configured to determine an end of the electric balance vehicle that is closer to the obstacle
  • a generating device 106 is configured to generate a travel route.
  • the electric balance vehicle of the embodiment first detects the height of the article when the article is encountered during the traveling, and detects the article by the height detecting device to determine whether the article belongs to the obstacle.
  • the identifying device recognizes that the article is an obstacle, and then the electric balancing vehicle is not easily passed directly from the obstacle, thereby controlling the electric balancing vehicle through the deceleration device to perform the deceleration driving to prevent the collision.
  • the electric balance car can pass directly from the item, and the electric balance car can be controlled to accelerate through during the driving process, and can also be decelerated.
  • the electric balance car can pass the obstacle according to the generated travel route.
  • the generated travel route can be displayed on a display screen. If the electric balance vehicle does not have a display screen, an electronic product can be wirelessly connected to the electric balance vehicle, and the electric balance vehicle displays the travel route to the electronic device. On the product, it is convenient for users to watch.
  • the control device further includes:
  • a collecting device configured to collect an image of the obstacle, and network-identify the obstacle characteristic according to The obstacle characteristic determines the travel route; further identifies the characteristics of the obstacle, and then further determines the travel route of the electric balance vehicle according to the characteristics of the obstacle, thus giving the user multiple choices.
  • the characteristics of the obstacle may be the shape, material, combination, and the like of the obstacle.
  • the electric balance vehicle is controlled to decelerate, and the obstacle is continued to travel; if the obstacle is a soft material, it passes directly through the obstacle.
  • the electric balance car is controlled to decelerate, and the obstacle is continued to travel; if the obstacle is a small pile of loose sand, Then pass directly through the obstacle.
  • Other obstacle characteristics are not exemplified herein.
  • a prompting device configured to prompt the traveling route according to a preset manner, the preset manner comprising: blinking the electric balance vehicle closer to a signal light on a side of the obstacle, and vibrating the electric balance vehicle closer to the winding At least one of the components on the side of the obstacle;
  • the prompting method preferably used in the embodiment is a signal light on one side of the flashing electric balance vehicle, and the signal light on the side is located in the electric when the electric balance vehicle does not bypass the obstacle
  • the balance car is on the same side of the side closer to the obstacle, that is, when the electric balance car bypasses the obstacle, the flashing signal light is located outside. This ensures that the user can pass accurately.
  • An marking device configured to mark the obstacle barrier coordinates on the travel route, form an obstacle map, and share the obstacle map to a communication electric balance vehicle that communicates with the communication route, thereby facilitating communication of the electric balance vehicle according to the travel Routes and obstacle maps get the latest road information and travel.
  • the road map may be a Baidu map, a Gaud map or other road map.
  • the driving route is planned under the limited conditions of the road.
  • the traditional road map has given the boundary of the road, that is, the boundary of the road is equivalent to the obstacle, but the road map cannot mark the obstacles existing in the road, so the combination of the two can make the driving route more operable. , more secure.
  • a judging device configured to determine whether the obstacle is in a motion state, and if the obstacle is in a motion state, the obstacle is not marked on the obstacle map; if the obstacle is in a static state, the obstacle is Mark the object on the obstacle map.
  • the process of determining whether the obstacle is moving may be based on: determining a state of the obstacle according to a picture of the obstacle; and if the state of the obstacle is stationary, measuring between the electric balance vehicle and the obstacle a distance; if the state of the obstacle is a motion; measuring a distance between the electric balance vehicle and the obstacle according to a preset first time interval.
  • the measuring the distance between the electric balance vehicle and the obstacle includes:
  • the distance between the electric balance vehicle and the obstacle is calculated based on the duration of the timing and the propagation speed of the ultrasonic waves in the air.
  • the ultrasonic wave is emitted from the position of the electric balance vehicle, and the ultrasonic wave propagates in the air, and immediately returns to the obstacle when it hits the obstacle, and then receives the returned ultrasonic wave from the position of the electric balance vehicle.
  • the image of the obstacle in front of the electric balance vehicle is obtained, and the state of the obstacle is determined according to the picture of the obstacle, which specifically includes:
  • a picture of two obstacles is continuously taken, wherein the continuous shooting has a certain time interval. Compare two images, if the obstacles in the two pictures are in the picture If the distance between other reference objects does not change, the state of the obstacle is static; if the distance between the obstacles in the two pictures and other reference objects in the picture changes, the status of the obstacle is indicated. For sports.
  • the ultrasonic wave is cyclically transmitted according to a preset second time interval, and timing is started; the second time interval is greater than the first time interval;
  • an ultrasonic wave is emitted to determine whether there is an obstacle in front of the electric balance vehicle. Since the ultrasonic wave will return when it encounters an obstacle in the air, if the returned ultrasonic wave is received within the preset time threshold, it means that there is an obstacle in front of the electric balance car. If the obstacle is not received, it means electric There is no obstacle in front of the balance car, or the distance between the front obstacles is far away, which does not pose a threat to the electric balance car.
  • the prior art is a passive detection obstacle, which requires real-time detection and calculation, a large amount of calculation, and a complicated algorithm.
  • the invention firstly determines the height of the object, first excludes an object that the electric balance car can directly pass, and for the obstacle that the electric balance car cannot pass, the technical solution of the present invention only calculates the width of the article, and does not need the shape of the component obstacle and Size, algorithm is simple, and the amount of calculation is small.
  • the present invention can update the newly discovered obstacles to the obstacle map in real time for reference by themselves and other electric balance vehicles. As the data is accumulated, the obstacles and planned driving routes will be more and more accurate and self-growth. The ability to be more intelligent and avoid unnecessary double counting.

Abstract

Disclosed is a control method of an electric balance scooter, the method comprising the following steps of: detecting the height of an object in front of the electric balance scooter in the travelling process of the electric balance scooter (S101); if the height of the object exceeds a pre-set value, identifying the object as a barrier, and controlling the electric balance scooter to slow down (S102); and detecting the width of the barrier, determining the end, close to the barrier, of the electric balance scooter, and generating a travelling path (S103). In this way, the electric balance scooter can pass by the barrier according to the generated travelling path, and the electric balance scooter drives towards the end, close to the electric balance scooter, of the barrier in the travelling process, so as to pass by the barrier more conveniently and rapidly.

Description

一种电动平衡车的控制方法和控制装置Control method and control device for electric balance car 【技术领域】[Technical Field]
本发明涉及自动控制领域，更具体的说，涉及一种电动平衡车控制方法及控制装置。The present invention relates to the field of automatic control, and more particularly to an electric balance vehicle control method and control device.
【背景技术】【Background technique】
电动平衡车，又叫体感车、思维车，其运作原理主要是建立在一种被称为“动态稳定”的基本原理上，利用车体内部的陀螺仪和加速度传感器，来检测车体姿态的变化，并利用伺服控制系统，精确地驱动电机进行相应的调整，以保持系统的平衡。Electric balance car, also known as body car, thinking car, its operation principle is mainly based on a basic principle called "dynamic stability", using the gyroscope and acceleration sensor inside the car body to detect the posture of the car body. Change and use the servo control system to accurately drive the motor to adjust accordingly to maintain the balance of the system.
现有的电动平衡车一般有两种，一种是车体上具有一个操作杆；使用者站在电动平衡车的脚踏平台上对操作杆进行操作，从而前进、后退及停止，这样的控制也称“手控”。另一种是车体由两部分组成，左部分和右部分之间通过转动机构实现相互转动，从而实现“脚控”。There are two types of existing electric balance vehicles, one is that there is an operating lever on the vehicle body; the user stands on the pedal platform of the electric balance vehicle to operate the operating lever, thereby advancing, retreating and stopping, such control Also known as "hand control." The other is that the car body is composed of two parts, and the left part and the right part are mutually rotated by the rotating mechanism, thereby realizing "foot control".
在前进或后退过程中，用户可以通过操作杆或转动机构来控制平衡车进行转弯。若平衡车的车轮的前方具有障碍物，将该车轮阻挡或卡住，给驾驶者带来危害。During the forward or reverse process, the user can control the balance car to make a turn by operating the lever or the rotating mechanism. If there is an obstacle in front of the wheel of the balance car, the wheel is blocked or jammed, posing a hazard to the driver.
【发明内容】[Summary of the Invention]
本发明所要解决的技术问题是提供一种便于电动平衡车行进的电动平衡车的控制方法和控制装置。The technical problem to be solved by the present invention is to provide a control method and a control device for an electric balance vehicle that facilitates the travel of an electric balance vehicle.
本发明的目的是通过以下技术方案来实现的：The object of the present invention is achieved by the following technical solutions:
根据本发明的一个方面：本发明公开一种电动平衡车的控制方法，其中，所述方法包括以下步骤：According to an aspect of the invention, a control method of an electric balance vehicle is disclosed, wherein the method comprises the following steps:
检测所述电动平衡车行进中前方物品的高度；Detecting a height of an item in front of the electric balance vehicle traveling;
若所述物品的高度超出预设值，将所述物品识别为障碍物、并控制所述电 动平衡车进行减速；If the height of the item exceeds a preset value, identifying the item as an obstacle and controlling the electricity Dynamic balance car to slow down;
检测所述障碍物的宽度，确定所述电动平衡车距离所述障碍物较近的一端，生成行进路线；Detecting a width of the obstacle, determining an end of the electric balance vehicle that is closer to the obstacle, and generating a travel route;
采集所述障碍物的图像，联网识别所述障碍物特性，根据所述障碍物特性确定所述行进路线；Collecting an image of the obstacle, identifying the obstacle characteristic by networking, and determining the travel route according to the obstacle characteristic;
按照预设方式提示所述行进路线，所述预设方式包括：闪烁所述电动平衡车更近绕行所述障碍物一侧的信号灯、震动所述电动平衡车更近绕行所述障碍物一侧的部件中的至少一种；Prompting the travel route according to a preset manner, the preset manner includes: blinking the electric balance vehicle to bypass the signal light on the side of the obstacle, and vibrating the electric balance vehicle to bypass the obstacle At least one of the components on one side;
在所述行进路线上标注所述障碍物路障坐标，形成障碍物地图，并将所述障碍物地图分享至与其通信的通信电动平衡车；Marking the obstacle barrier coordinates on the travel route, forming an obstacle map, and sharing the obstacle map to a communication electric balance vehicle that communicates therewith;
将所述障碍物地图与道路地图结合，判断所述障碍物是否位于道路上，若所述障碍物位于道路上，将所述障碍物标注到所述障碍物地图上；若所述障碍物位于道路外，不将所述障碍物标注到所述障碍物地图上；Combining the obstacle map with a road map to determine whether the obstacle is located on the road, and if the obstacle is located on the road, marking the obstacle to the obstacle map; if the obstacle is located Outside the road, the obstacle is not marked on the obstacle map;
判断所述障碍物是否处于运动状态，若所述障碍物处于运动状态，不将所述障碍物标注到障碍物地图上；若所述障碍物处于静止状态，将所述障碍物标注到障碍物地图上。Determining whether the obstacle is in a motion state, if the obstacle is in a motion state, not marking the obstacle on the obstacle map; if the obstacle is in a static state, marking the obstacle to the obstacle On the map.
根据本发明的另一个方面，本发明公开了一种电动平衡车的控制方法，其中，所述方法包括以下步骤：According to another aspect of the present invention, a control method of an electric balance vehicle is disclosed, wherein the method comprises the following steps:
检测所述电动平衡车行进中前方物品的高度；Detecting a height of an item in front of the electric balance vehicle traveling;
若所述物品的高度超出预设值，将所述物品识别为障碍物、并控制所述电动平衡车进行减速；If the height of the item exceeds a preset value, identifying the item as an obstacle and controlling the electric balance vehicle to decelerate;
检测所述障碍物的宽度，确定所述电动平衡车距离所述障碍物较近的一端，生成行进路线。Detecting a width of the obstacle, determining an end of the electric balance vehicle that is closer to the obstacle, and generating a travel route.
优选的，所述方法还包括：在生成所述行进路线后，按照预设方式提示所述行进路线。Preferably, the method further comprises: after generating the travel route, prompting the travel route according to a preset manner.
优选的，所述预设方式包括：闪烁所述电动平衡车更近绕行所述障碍物一 侧的信号灯、震动所述电动平衡车更近绕行所述障碍物一侧的部件中的至少一种。Preferably, the preset manner includes: blinking the electric balance vehicle to bypass the obstacle one more recently The side signal light vibrates the electric balance vehicle closer to at least one of the components on the side of the obstacle.
优选的，所述方法还包括：在生成所述行进路线后，在所述行进路线上标注所述障碍物路障坐标，形成障碍物地图，并将所述障碍物地图分享至与其通信的通信电动平衡车。Preferably, the method further comprises: after generating the travel route, marking the obstacle roadblock coordinates on the travel route, forming an obstacle map, and sharing the obstacle map to a communication electric communication with the same Balance the car.
优选的，所述方法还包括：采集所述障碍物的图像，联网识别所述障碍物特性，根据所述障碍物特性确定所述行进路线。Preferably, the method further comprises: collecting an image of the obstacle, network-identifying the obstacle characteristic, and determining the traveling route according to the obstacle characteristic.
优选的，所述方法还包括：将所述障碍物地图与道路地图结合，判断所述障碍物是否位于道路上，若所述障碍物位于道路上，将所述障碍物标注到所述障碍物地图上；若所述障碍物位于道路外，不将所述障碍物标注到所述障碍物地图上。Preferably, the method further comprises: combining the obstacle map with the road map to determine whether the obstacle is located on the road, and if the obstacle is located on the road, marking the obstacle to the obstacle On the map; if the obstacle is located outside the road, the obstacle is not marked on the obstacle map.
优选的，所述方法还包括：判断所述障碍物是否处于运动状态，若所述障碍物处于运动状态，不将所述障碍物标注到障碍物地图上；若所述障碍物处于静止状态，将所述障碍物标注到障碍物地图上。Preferably, the method further comprises: determining whether the obstacle is in a motion state, and if the obstacle is in a motion state, not marking the obstacle on the obstacle map; if the obstacle is in a static state, Mark the obstacle on the obstacle map.
根据本发明的又一个方面，本发明公开了一种电动平衡车的控制装置，其中，所述控制装置包括：According to still another aspect of the present invention, the present invention discloses a control device for an electric balance vehicle, wherein the control device includes:
高度检测装置，用于检测所述电动平衡车行进中前方物品的高度；a height detecting device for detecting a height of an item in front of the electric balance vehicle traveling;
识别装置，用于识别所述物品：若所述物品的高度超出预设值，将所述物品识别为障碍物；An identification device for identifying the item: if the height of the item exceeds a preset value, identifying the item as an obstacle;
减速装置，控制所述电动平衡车进行减速的装置；a speed reducing device for controlling the electric balance vehicle to perform deceleration;
宽度检测装置，用于检测所述障碍物的宽度；a width detecting device for detecting a width of the obstacle;
确定装置，用于确定所述电动平衡车距离所述障碍物较近的一端；Determining means for determining an end of the electric balance car that is closer to the obstacle;
生成装置，用于生成行进路线。A generating device is used to generate a travel route.
优选的，所述控制装置还包括：Preferably, the control device further includes:
采集装置，用于采集所述障碍物的图像，联网识别所述障碍物特性，根据所述障碍物特性确定所述行进路线； a collecting device, configured to collect an image of the obstacle, network-identify the obstacle characteristic, and determine the traveling route according to the obstacle characteristic;
提示装置，用于按照预设方式提示所述行进路线，所述预设方式包括：闪烁所述电动平衡车更近绕行所述障碍物一侧的信号灯、震动所述电动平衡车更近绕行所述障碍物一侧的部件中的至少一种；a prompting device, configured to prompt the traveling route according to a preset manner, the preset manner comprising: blinking the electric balance vehicle closer to a signal light on a side of the obstacle, and vibrating the electric balance vehicle closer to the winding At least one of the components on one side of the obstacle;
标注装置，用于在所述行进路线上标注所述障碍物路障坐标，形成障碍物地图，并将所述障碍物地图分享至与其通信的通信电动平衡车，An marking device for marking the obstacle roadblock coordinates on the travel route, forming an obstacle map, and sharing the obstacle map to a communication electric balance vehicle that communicates therewith,
结合装置，将所述障碍物地图与道路地图结合，判断所述障碍物是否位于道路上，若所述障碍物位于道路上，将所述障碍物标注到所述障碍物地图上；若所述障碍物位于道路外，不将所述障碍物标注到所述障碍物地图上；Combining the device, combining the obstacle map with the road map, determining whether the obstacle is located on the road, and if the obstacle is located on the road, marking the obstacle to the obstacle map; The obstacle is located outside the road, and the obstacle is not marked on the obstacle map;
判断装置，用于判断所述障碍物是否处于运动状态，若所述障碍物处于运动状态，不将所述障碍物标注到障碍物地图上；若所述障碍物处于静止状态，将所述障碍物标注到障碍物地图上。a judging device, configured to determine whether the obstacle is in a motion state, and if the obstacle is in a motion state, the obstacle is not marked on the obstacle map; if the obstacle is in a static state, the obstacle is Mark the object on the obstacle map.
现有的平衡车在行进过程中如果遇到障碍物就不方便用户继续行进，与现有技术相比，本发明的技术效果是：本发明的电动平衡车在行进过程中遇到物品时先检测物品高度，确定物品是否属于障碍物；当物品高度高于预设值时，识别物品为障碍物，那么电动平衡车就不易从障碍物上直接通过，从而控制电动平衡车进行减速行驶防止因碰撞而使用户受伤。进而检测障碍物的宽度，并检测电动平衡车与障碍物两端之间的距离，然后，确定电动平衡车距离障碍物较近的一端，生成行进路线，这样电动平衡车就可以根据生成的行进路线通过障碍物，在行进过程中，电动平衡车向障碍物较靠近电动平衡车的一端行驶，更加方便和快速的用户通过障碍物。The existing balance car is inconvenient for the user to continue to travel if encountering an obstacle during the traveling process. Compared with the prior art, the technical effect of the present invention is that the electric balance car of the present invention first encounters an item during the traveling process. Detecting the height of the item to determine whether the item belongs to an obstacle; when the item height is higher than the preset value, the item is identified as an obstacle, then the electric balance car is not easy to pass directly from the obstacle, thereby controlling the electric balance car to prevent the driving of the deceleration Collision and injury to the user. Further detecting the width of the obstacle and detecting the distance between the electric balance vehicle and the two ends of the obstacle, and then determining the end of the electric balance vehicle that is closer to the obstacle to generate a travel route, so that the electric balance vehicle can follow the generated travel The route passes through the obstacle. During the travel, the electric balance car travels toward the end of the electric balance car closer to the obstacle, making it easier and faster for the user to pass the obstacle.
另外，本发明采集障碍物的图像，进一步识别障碍物的特性，然后，根据障碍物的特性进一步确定电动平衡车的行进路线，这样就给用户多重的选择。In addition, the present invention collects an image of the obstacle, further identifies the characteristics of the obstacle, and then further determines the travel route of the electric balance vehicle according to the characteristics of the obstacle, thus giving the user multiple choices.
本发明还通过预设方式提示行进路线，确保用户能够准确的通行。The invention also prompts the travel route by a preset manner to ensure that the user can accurately travel.
本发明还将障碍物标注成路障坐标，形成障碍物地图，分享给与其通信的通信电动平衡车，从而就方便通信电动平衡车根据行进路线及障碍物地图了解到最新的道路信息，进而方便行驶。 The invention also marks the obstacle as a roadblock coordinate, forms an obstacle map, and shares the communication electric balance vehicle with the communication, thereby facilitating the communication electric balance vehicle to learn the latest road information according to the travel route and the obstacle map, thereby facilitating the driving. .
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【附图说明】[Description of the Drawings]
图1是本发明实施例一电动平衡车的控制方法的流程示意图；1 is a schematic flow chart of a method for controlling an electric balance vehicle according to an embodiment of the present invention;
图2是本发明实施例二电动平衡车的控制方法的流程示意图；2 is a schematic flow chart of a method for controlling an electric balance vehicle according to Embodiment 2 of the present invention;
图3是本发明实施例三电动平衡车的控制装置的示意图。3 is a schematic view of a control device for an electric balance vehicle according to a third embodiment of the present invention.
其中：101、高度检测装置；102、识别装置；103、减速装置；104、宽度检测装置；105、确定装置；106、生成装置。Wherein: 101, height detecting device; 102, identifying device; 103, speed reducing device; 104, width detecting device; 105, determining device; 106, generating device.
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【具体实施方式】【detailed description】
下面结合附图和较佳的实施例对本发明作进一步说明。The invention will now be further described with reference to the drawings and preferred embodiments.
在本发明的描述中，需要理解的是，术语“中心”、“横向”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。另外，术语“包括”及其任何变形，意图在于覆盖不排他的包含。In the description of the present invention, it is to be understood that the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship of the "bottom", "inside", "outside" and the like is based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of describing the present invention and simplifying the description, and does not indicate or imply the indicated device. Or the components must have a particular orientation, are constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention. Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may include one or more of the features either explicitly or implicitly. In the description of the present invention, "a plurality" means two or more unless otherwise stated. In addition, the term "comprises" and its variations are intended to cover a non-exclusive inclusion.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。 In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components. The specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
实施例一：Embodiment 1:
下面参考图1描述本发明实施例一电动平衡车的控制方法。A control method of an electric balance vehicle according to an embodiment of the present invention will be described below with reference to FIG.
如图1所示为本发明实施例一电动平衡车的控制方法的流程示意图，所述电动平衡车的控制方法包括以下步骤：FIG. 1 is a schematic flowchart diagram of a method for controlling an electric balance vehicle according to an embodiment of the present invention. The control method of the electric balance vehicle includes the following steps:
S101：检测所述电动平衡车行进中前方物品的高度；S101: detecting a height of an item in front of the electric balance vehicle traveling;
S102：若所述物品的高度超出预设值，将所述物品识别为障碍物、并控制所述电动平衡车进行减速；S102: if the height of the item exceeds a preset value, identify the item as an obstacle, and control the electric balance vehicle to perform deceleration;
S103：检测所述障碍物的宽度，确定所述电动平衡车距离所述障碍物较近的一端，生成行进路线。S103: Detect a width of the obstacle, determine an end of the electric balance vehicle that is closer to the obstacle, and generate a travel route.
在步骤S101中，本实施例的电动平衡车在行进过程中遇到物品时先检测物品高度，确定物品是否属于障碍物。In step S101, the electric balance vehicle of the present embodiment first detects the height of the item when it encounters an item during traveling, and determines whether the item belongs to an obstacle.
在步骤S102中，当物品高度高于预设值时，识别物品为障碍物，那么电动平衡车就不易从障碍物上直接通过，从而控制电动平衡车进行减速行驶防止因碰撞而使用户受伤。当然，若物品的高度低于预设值，识别物品不是障碍物，那么电动平衡车可直接从物品上通过，在行驶过程中可以控制电动平衡车加速通过，也可以减速通过，当然，速度不变通过也可以。In step S102, when the item height is higher than the preset value, the item is identified as an obstacle, and the electric balance car is not easily passed directly from the obstacle, thereby controlling the electric balance car to perform deceleration running to prevent the user from being injured by the collision. Of course, if the height of the item is lower than the preset value and the identification item is not an obstacle, the electric balance car can pass directly from the item, and the electric balance car can be controlled to accelerate through the driving process, or can be decelerated, of course, the speed is not It is also possible to change.
在步骤S103中，检测障碍物的宽度，并检测电动平衡车与障碍物两端之间的距离，然后，确定电动平衡车距离障碍物较近的一端，生成行进路线，这样电动平衡车就可以根据生成的行进路线通过障碍物，在行进过程中，电动平衡车向障碍物较靠近电动平衡车的一端行驶，更加方便和快速的用户通过障碍物。在本实施例中，生成的行进路线可以显示到一显示屏上，若电动平衡车上不具备显示屏，可以采用一电子产品无线连接到电动平衡车上，电动平衡车将行进路线显示到电子产品上，进而方便用户观看。In step S103, detecting the width of the obstacle and detecting the distance between the electric balance vehicle and the two ends of the obstacle, and then determining the end of the electric balance vehicle that is closer to the obstacle to generate a traveling route, so that the electric balance vehicle can According to the generated travel route, the obstacle is driven, and during the travel, the electric balance vehicle travels toward the end of the electric balance vehicle closer to the obstacle, and the user is more convenient and quick to pass the obstacle. In this embodiment, the generated travel route can be displayed on a display screen. If the electric balance vehicle does not have a display screen, an electronic product can be wirelessly connected to the electric balance vehicle, and the electric balance vehicle displays the travel route to the electronic device. On the product, it is convenient for users to watch.
现有的平衡车在行进过程中如果遇到障碍物就不方便用户继续行进，与现有技术相比，本实施例的电动平衡车在行进过程中遇到物品时先检测物品高度，确定物品是否属于障碍物；当物品高度高于预设值时，识别物品为障碍物，那 么电动平衡车就不易从障碍物上直接通过，从而控制电动平衡车进行减速行驶防止因碰撞而使用户受伤。进而检测障碍物的宽度，并检测电动平衡车与障碍物两端之间的距离，然后，确定电动平衡车距离障碍物较近的一端，生成行进路线，这样电动平衡车就可以根据生成的行进路线通过障碍物，在行进过程中，电动平衡车向障碍物较靠近电动平衡车的一端行驶，更加方便和快速的用户通过障碍物。The existing balance car is inconvenient for the user to continue to travel if encountering an obstacle during the traveling process. Compared with the prior art, the electric balance car of the embodiment first detects the height of the article when the article is encountered during the traveling, and determines the article. Whether it is an obstacle; when the height of the item is higher than the preset value, the item is identified as an obstacle, then The electric balance car is not easy to pass directly from the obstacle, thereby controlling the electric balance car to decelerate to prevent the user from being injured by the collision. Further detecting the width of the obstacle and detecting the distance between the electric balance vehicle and the two ends of the obstacle, and then determining the end of the electric balance vehicle that is closer to the obstacle to generate a travel route, so that the electric balance vehicle can follow the generated travel The route passes through the obstacle. During the travel, the electric balance car travels toward the end of the electric balance car closer to the obstacle, making it easier and faster for the user to pass the obstacle.
实施例二：Embodiment 2:
如图2所示为本发明实施例二电动平衡车的控制方法的流程示意图，所述电动平衡车的控制方法包括以下步骤：FIG. 2 is a schematic flowchart diagram of a method for controlling an electric balance vehicle according to Embodiment 2 of the present invention, and the method for controlling the electric balance vehicle includes the following steps:
S201：检测所述电动平衡车行进中前方物品的高度；S201: detecting a height of an item in front of the electric balance vehicle traveling;
S202：若所述物品的高度超出预设值，将所述物品识别为障碍物、并控制所述电动平衡车进行减速；S202: if the height of the item exceeds a preset value, identify the item as an obstacle, and control the electric balance vehicle to perform deceleration;
S203：检测所述障碍物的宽度，确定所述电动平衡车距离所述障碍物较近的一端，生成行进路线；S203: Detect a width of the obstacle, determine an end of the electric balance vehicle that is closer to the obstacle, and generate a travel route;
S204：采集所述障碍物的图像，联网识别所述障碍物特性，根据所述障碍物特性确定所述行进路线；S204: Collect an image of the obstacle, identify the obstacle characteristic by networking, and determine the travel route according to the obstacle characteristic;
S205：按照预设方式提示所述行进路线，所述预设方式包括：闪烁所述电动平衡车更近绕行所述障碍物一侧的信号灯、震动所述电动平衡车更近绕行所述障碍物一侧的部件中的至少一种；S205: prompting the travel route according to a preset manner, the preset manner includes: blinking the electric balance vehicle to bypass the signal light on the side of the obstacle, and vibrating the electric balance vehicle to bypass the electric balance vehicle At least one of the components on one side of the obstacle;
S206：在所述行进路线上标注所述障碍物路障坐标，形成障碍物地图，并将所述障碍物地图分享至与其通信的通信电动平衡车；S206: label the obstacle roadblock coordinates on the travel route, form an obstacle map, and share the obstacle map to a communication electric balance vehicle that communicates with the obstacle map;
其中，将所述障碍物地图与道路地图结合，判断所述障碍物是否位于道路上，若所述障碍物位于道路上，将所述障碍物标注到所述障碍物地图上；若所述障碍物位于道路外，不将所述障碍物标注到所述障碍物地图上；Wherein the obstacle map is combined with the road map to determine whether the obstacle is located on the road, and if the obstacle is located on the road, the obstacle is marked on the obstacle map; The object is located outside the road, and the obstacle is not marked on the obstacle map;
其中，判断所述障碍物是否处于运动状态，若所述障碍物处于运动状态， 不将所述障碍物标注到障碍物地图上；若所述障碍物处于静止状态，将所述障碍物标注到障碍物地图上。Wherein, determining whether the obstacle is in a motion state, and if the obstacle is in a motion state, The obstacle is not marked on the obstacle map; if the obstacle is at rest, the obstacle is marked on the obstacle map.
在步骤S201中，本实施例的电动平衡车在行进过程中遇到物品时先检测物品高度，确定物品是否属于障碍物。In step S201, the electric balance vehicle of the present embodiment first detects the height of the article when it encounters an item during traveling, and determines whether the article belongs to an obstacle.
在步骤S202中，当物品高度高于预设值时，识别物品为障碍物，那么电动平衡车就不易从障碍物上直接通过，从而控制电动平衡车进行减速行驶防止因碰撞而使用户受伤。当然，若物品的高度低于预设值，识别物品不是障碍物，那么电动平衡车可直接从物品上通过，在行驶过程中可以控制电动平衡车加速通过，也可以减速通过，当然，速度不变通过也可以。In step S202, when the item height is higher than the preset value, the item is identified as an obstacle, and the electric balance car is not easily passed directly from the obstacle, thereby controlling the electric balance car to perform deceleration running to prevent the user from being injured by the collision. Of course, if the height of the item is lower than the preset value and the identification item is not an obstacle, the electric balance car can pass directly from the item, and the electric balance car can be controlled to accelerate through the driving process, or can be decelerated, of course, the speed is not It is also possible to change.
在步骤S203中，检测障碍物的宽度，并检测电动平衡车与障碍物两端之间的距离，然后，确定电动平衡车距离障碍物较近的一端，生成行进路线，这样电动平衡车就可以根据生成的行进路线通过障碍物，在行进过程中，电动平衡车向障碍物较靠近电动平衡车的一端行驶，更加方便和快速的用户通过障碍物。在本实施例中，生成的行进路线可以显示到一显示屏上，若电动平衡车上不具备显示屏，可以采用一电子产品无线连接到电动平衡车上，电动平衡车将行进路线显示到电子产品上，进而方便用户观看。In step S203, detecting the width of the obstacle and detecting the distance between the electric balance vehicle and the two ends of the obstacle, and then determining the end of the electric balance vehicle closer to the obstacle to generate a traveling route, so that the electric balance vehicle can According to the generated travel route, the obstacle is driven, and during the travel, the electric balance vehicle travels toward the end of the electric balance vehicle closer to the obstacle, and the user is more convenient and quick to pass the obstacle. In this embodiment, the generated travel route can be displayed on a display screen. If the electric balance vehicle does not have a display screen, an electronic product can be wirelessly connected to the electric balance vehicle, and the electric balance vehicle displays the travel route to the electronic device. On the product, it is convenient for users to watch.
在步骤S204中，采集所述障碍物的图像，联网识别所述障碍物特性，根据所述障碍物特性确定所述行进路线。在该步骤中，进一步识别障碍物的特性，然后，根据障碍物的特性进一步确定电动平衡车的行进路线，这样就给用户多重的选择。In step S204, an image of the obstacle is acquired, the obstacle characteristic is networked, and the travel route is determined according to the obstacle characteristic. In this step, the characteristics of the obstacle are further identified, and then the travel route of the electric balance vehicle is further determined according to the characteristics of the obstacle, thus giving the user multiple choices.
其中，障碍物的特性可以是障碍物的形状、材质、组合方式等等。The characteristics of the obstacle may be the shape, material, combination, and the like of the obstacle.
例如：若所述障碍物为硬质材料，控制所述电动平衡车进行减速，绕过所述障碍物继续行进；若所述障碍物为软质材料，则直接经过所述障碍物上通过。For example, if the obstacle is a hard material, the electric balance vehicle is controlled to decelerate, and the obstacle is continued to travel; if the obstacle is a soft material, it passes directly through the obstacle.
再例如：若所述障碍物为一成型的土块或泥石块，控制所述电动平衡车进行减速，绕过所述障碍物继续行进；若所述障碍物为一小堆松散的沙土，则直接经过所述障碍物上通过。其它障碍物特性在此不再一一举例说明。 For another example, if the obstacle is a shaped clod or mud block, the electric balance car is controlled to decelerate, and the obstacle is continued to travel; if the obstacle is a small pile of loose sand, Then pass directly through the obstacle. Other obstacle characteristics are not exemplified herein.
在步骤S205中，按照预设方式提示所述行进路线，所述预设方式包括：闪烁所述电动平衡车更近绕行所述障碍物一侧的信号灯、震动所述电动平衡车更近绕行所述障碍物一侧的部件中的至少一种。本实施例优选采用的提示方式是闪烁电动平衡车一侧的信号灯，该侧的信号灯在电动平衡车未绕行障碍物时，位于电动平衡车距离障碍物更近一侧的同一侧，也就是当电动电衡车绕行障碍物时，闪烁的信号灯位于外侧。从而确保用户能够准确的通行。In step S205, the travel route is prompted according to a preset manner, and the preset manner includes: blinking the electric balance vehicle to bypass the signal light on the side of the obstacle, and vibrating the electric balance vehicle more closely. At least one of the components on one side of the obstacle is arranged. The prompting method preferably used in this embodiment is a signal light on one side of the flashing electric balance vehicle, and the signal light on the side is located on the same side of the electric balance vehicle closer to the obstacle when the electric balance vehicle is not bypassing the obstacle, that is, When the electric balance vehicle bypasses the obstacle, the flashing signal light is located outside. This ensures that the user can pass accurately.
在步骤S206中，在所述行进路线上标注所述障碍物路障坐标，形成障碍物地图，并将所述障碍物地图分享至与其通信的通信电动平衡车；从而就方便通信电动平衡车根据行进路线及障碍物地图了解到最新的道路信息，进而方便行驶。In step S206, the obstacle roadblock coordinates are marked on the travel route to form an obstacle map, and the obstacle map is shared to the communication electric balance vehicle that communicates with the communication route; thereby facilitating communication of the electric balance vehicle according to the travel Routes and obstacle maps get the latest road information and travel.
其中，将所述障碍物地图与道路地图结合，判断所述障碍物是否位于道路上，若所述障碍物位于道路上，将所述障碍物标注到所述障碍物地图上；若所述障碍物位于道路外，不将所述障碍物标注到所述障碍物地图上。在本实施例中，道路地图可以是百度地图、高德地图或其他道路地图。Wherein the obstacle map is combined with the road map to determine whether the obstacle is located on the road, and if the obstacle is located on the road, the obstacle is marked on the obstacle map; The object is located outside the road and the obstacle is not marked on the obstacle map. In this embodiment, the road map may be a Baidu map, a Gaud map or other road map.
需要说明的是，在道路的限定条件下规划行车路线。传统的道路地图已经给出了道路的边界，即道路的边界等同于障碍物，但道路地图不可能把道路中存在的障碍物标示出来，因此两者结合，才能使行车路线更具有可操作性，安全程度更高。It should be noted that the driving route is planned under the limited conditions of the road. The traditional road map has given the boundary of the road, that is, the boundary of the road is equivalent to the obstacle, but the road map cannot mark the obstacles existing in the road, so the combination of the two can make the driving route more operable. , more secure.
其中，判断所述障碍物是否处于运动状态，若所述障碍物处于运动状态，不将所述障碍物标注到障碍物地图上；若所述障碍物处于静止状态，将所述障碍物标注到障碍物地图上。Wherein, determining whether the obstacle is in a motion state, if the obstacle is in a motion state, not marking the obstacle on the obstacle map; if the obstacle is in a static state, marking the obstacle to On the obstacle map.
此仅为几种标注地图的方式，还可以有其他的方式。This is just a few ways to label the map, there are other ways.
在本实施例二中，其中，步骤S201至S203可参加实施例一种的步骤S101至S103。其中，本实施例二的步骤S204至S206可以分别单独结合到实施例一种组合成新的实施例，以及其并不分先后顺序。In the second embodiment, steps S201 to S203 can participate in steps S101 to S103 of the embodiment. The steps S204 to S206 of the second embodiment can be separately combined into the embodiment to be combined into a new embodiment, and the sequence is not prioritized.
实施例三： Embodiment 3:
如图3所示为本发明实施例三电动平衡车的控制装置的示意图，所述控制装置包括：FIG. 3 is a schematic diagram of a control device for an electric balance vehicle according to a third embodiment of the present invention. The control device includes:
高度检测装置101，用于检测所述电动平衡车行进中前方物品的高度；a height detecting device 101, configured to detect a height of a front item in the electric balance vehicle traveling;
识别装置102，用于识别所述物品：若所述物品的高度超出预设值，将所述物品识别为障碍物；The identification device 102 is configured to identify the item: if the height of the item exceeds a preset value, identify the item as an obstacle;
减速装置103，控制所述电动平衡车进行减速的装置；a speed reducing device 103 for controlling the electric balance vehicle to perform deceleration;
宽度检测装置104，用于检测所述障碍物的宽度；a width detecting device 104, configured to detect a width of the obstacle;
确定装置105，用于确定所述电动平衡车距离所述障碍物较近的一端；a determining device 105, configured to determine an end of the electric balance vehicle that is closer to the obstacle;
生成装置106，用于生成行进路线。A generating device 106 is configured to generate a travel route.
本实施例的电动平衡车在行进过程中遇到物品时先检测物品高度，通过高度检测装置对物品进行检测，进而确定物品是否属于障碍物。The electric balance vehicle of the embodiment first detects the height of the article when the article is encountered during the traveling, and detects the article by the height detecting device to determine whether the article belongs to the obstacle.
当高度检测装置检测物品高度高于预设值时，识别装置识别物品为障碍物，那么电动平衡车就不易从障碍物上直接通过，从而通过减速装置控制电动平衡车进行减速行驶防止因碰撞而使用户受伤。当然，若物品的高度低于预设值，识别装置识别物品不是障碍物，那么电动平衡车可直接从物品上通过，在行驶过程中可以控制电动平衡车加速通过，也可以减速通过，当然，速度不变通过也可以。When the height detecting device detects that the height of the article is higher than a preset value, the identifying device recognizes that the article is an obstacle, and then the electric balancing vehicle is not easily passed directly from the obstacle, thereby controlling the electric balancing vehicle through the deceleration device to perform the deceleration driving to prevent the collision. Injury the user. Of course, if the height of the item is lower than the preset value and the identification device recognizes that the item is not an obstacle, the electric balance car can pass directly from the item, and the electric balance car can be controlled to accelerate through during the driving process, and can also be decelerated. Of course, It is also possible to pass the same speed.
通过宽度检测装置检测障碍物的宽度，并检测电动平衡车与障碍物两端之间的距离，然后，通过确定装置确定电动平衡车距离障碍物较近的一端，并通过生成装置生成行进路线，这样电动平衡车就可以根据生成的行进路线通过障碍物，在行进过程中，电动平衡车向障碍物较靠近电动平衡车的一端行驶，更加方便和快速的用户通过障碍物。在本实施例中，生成的行进路线可以显示到一显示屏上，若电动平衡车上不具备显示屏，可以采用一电子产品无线连接到电动平衡车上，电动平衡车将行进路线显示到电子产品上，进而方便用户观看。Detecting the width of the obstacle by the width detecting device, and detecting the distance between the electric balance vehicle and the two ends of the obstacle, and then determining, by the determining device, the end of the electric balance vehicle that is closer to the obstacle, and generating the traveling route by the generating device, In this way, the electric balance car can pass the obstacle according to the generated travel route. During the traveling process, the electric balance car travels toward the end of the electric balance car closer to the obstacle, and the user is more convenient and quick to pass the obstacle. In this embodiment, the generated travel route can be displayed on a display screen. If the electric balance vehicle does not have a display screen, an electronic product can be wirelessly connected to the electric balance vehicle, and the electric balance vehicle displays the travel route to the electronic device. On the product, it is convenient for users to watch.
所述控制装置还包括：The control device further includes:
采集装置，用于采集所述障碍物的图像，联网识别所述障碍物特性，根据 所述障碍物特性确定所述行进路线；进一步识别障碍物的特性，然后，根据障碍物的特性进一步确定电动平衡车的行进路线，这样就给用户多重的选择。a collecting device, configured to collect an image of the obstacle, and network-identify the obstacle characteristic according to The obstacle characteristic determines the travel route; further identifies the characteristics of the obstacle, and then further determines the travel route of the electric balance vehicle according to the characteristics of the obstacle, thus giving the user multiple choices.
其中，障碍物的特性可以是障碍物的形状、材质、组合方式等等。The characteristics of the obstacle may be the shape, material, combination, and the like of the obstacle.
例如：若所述障碍物为硬质材料，控制所述电动平衡车进行减速，绕过所述障碍物继续行进；若所述障碍物为软质材料，则直接经过所述障碍物上通过。For example, if the obstacle is a hard material, the electric balance vehicle is controlled to decelerate, and the obstacle is continued to travel; if the obstacle is a soft material, it passes directly through the obstacle.
再例如：若所述障碍物为一成型的土块或泥石块，控制所述电动平衡车进行减速，绕过所述障碍物继续行进；若所述障碍物为一小堆松散的沙土，则直接经过所述障碍物上通过。其它障碍物特性在此不再一一举例说明。For another example, if the obstacle is a shaped clod or mud block, the electric balance car is controlled to decelerate, and the obstacle is continued to travel; if the obstacle is a small pile of loose sand, Then pass directly through the obstacle. Other obstacle characteristics are not exemplified herein.
提示装置，用于按照预设方式提示所述行进路线，所述预设方式包括：闪烁所述电动平衡车更近绕行所述障碍物一侧的信号灯、震动所述电动平衡车更近绕行所述障碍物一侧的部件中的至少一种；本实施例优选采用的提示方式是闪烁电动平衡车一侧的信号灯，该侧的信号灯在电动平衡车未绕行障碍物时，位于电动平衡车距离障碍物更近一侧的同一侧，也就是当电动电衡车绕行障碍物时，闪烁的信号灯位于外侧。从而确保用户能够准确的通行。a prompting device, configured to prompt the traveling route according to a preset manner, the preset manner comprising: blinking the electric balance vehicle closer to a signal light on a side of the obstacle, and vibrating the electric balance vehicle closer to the winding At least one of the components on the side of the obstacle; the prompting method preferably used in the embodiment is a signal light on one side of the flashing electric balance vehicle, and the signal light on the side is located in the electric when the electric balance vehicle does not bypass the obstacle The balance car is on the same side of the side closer to the obstacle, that is, when the electric balance car bypasses the obstacle, the flashing signal light is located outside. This ensures that the user can pass accurately.
标注装置，用于在所述行进路线上标注所述障碍物路障坐标，形成障碍物地图，并将所述障碍物地图分享至与其通信的通信电动平衡车，从而就方便通信电动平衡车根据行进路线及障碍物地图了解到最新的道路信息，进而方便行驶。An marking device, configured to mark the obstacle barrier coordinates on the travel route, form an obstacle map, and share the obstacle map to a communication electric balance vehicle that communicates with the communication route, thereby facilitating communication of the electric balance vehicle according to the travel Routes and obstacle maps get the latest road information and travel.
结合装置，将所述障碍物地图与道路地图结合，判断所述障碍物是否位于道路上，若所述障碍物位于道路上，将所述障碍物标注到所述障碍物地图上；若所述障碍物位于道路外，不将所述障碍物标注到所述障碍物地图上；在本实施例中，道路地图可以是百度地图、高德地图或其他道路地图。Combining the device, combining the obstacle map with the road map, determining whether the obstacle is located on the road, and if the obstacle is located on the road, marking the obstacle to the obstacle map; The obstacle is located outside the road, and the obstacle is not marked on the obstacle map; in this embodiment, the road map may be a Baidu map, a Gaud map or other road map.
需要说明的是，在道路的限定条件下规划行车路线。传统的道路地图已经给出了道路的边界，即道路的边界等同于障碍物，但道路地图不可能把道路中存在的障碍物标示出来，因此两者结合，才能使行车路线更具有可操作性，安全程度更高。 It should be noted that the driving route is planned under the limited conditions of the road. The traditional road map has given the boundary of the road, that is, the boundary of the road is equivalent to the obstacle, but the road map cannot mark the obstacles existing in the road, so the combination of the two can make the driving route more operable. , more secure.
判断装置，用于判断所述障碍物是否处于运动状态，若所述障碍物处于运动状态，不将所述障碍物标注到障碍物地图上；若所述障碍物处于静止状态，将所述障碍物标注到障碍物地图上。a judging device, configured to determine whether the obstacle is in a motion state, and if the obstacle is in a motion state, the obstacle is not marked on the obstacle map; if the obstacle is in a static state, the obstacle is Mark the object on the obstacle map.
判断障碍物是否运动的过程，可以根据以下内容：根据所述障碍物的图片判断所述障碍物的状态；若所述障碍物的状态为静止，测量电动平衡车与所述障碍物之间的距离；若所述障碍物的状态为运动；根据预设的第一时间间隔循环测量电动平衡车与所述障碍物之间的距离。The process of determining whether the obstacle is moving may be based on: determining a state of the obstacle according to a picture of the obstacle; and if the state of the obstacle is stationary, measuring between the electric balance vehicle and the obstacle a distance; if the state of the obstacle is a motion; measuring a distance between the electric balance vehicle and the obstacle according to a preset first time interval.
其中，所述测量电动平衡车与所述障碍物之间的距离，具体包括：The measuring the distance between the electric balance vehicle and the obstacle includes:
发射超声波，并开始计时；Launch an ultrasonic wave and start timing;
在接收到返回的超声波时，停止计时；Stop timing when receiving the returned ultrasonic wave;
根据计时的时长和超声波在空气中的传播速度，计算电动平衡车与所述障碍物之间的距离。The distance between the electric balance vehicle and the obstacle is calculated based on the duration of the timing and the propagation speed of the ultrasonic waves in the air.
需要说明的是，从电动平衡车所在位置发射超声波，超声波在空气中传播，途中碰到障碍物就立即返回来，再从电动平衡车所在位置接收返回的超声波。超声波在空气中的传播速度为340m/s，根据计时的时长t，就可以计算出电动平衡车与障碍物之间的距离s，s＝340t/2。It should be noted that the ultrasonic wave is emitted from the position of the electric balance vehicle, and the ultrasonic wave propagates in the air, and immediately returns to the obstacle when it hits the obstacle, and then receives the returned ultrasonic wave from the position of the electric balance vehicle. The propagation speed of the ultrasonic wave in the air is 340 m/s. According to the time t of the time, the distance s between the electric balance vehicle and the obstacle can be calculated, s=340t/2.
进一步地，所述获取电动平衡车前方的障碍物的图片，并根据所述障碍物的图片判断所述障碍物的状态，具体包括：Further, the image of the obstacle in front of the electric balance vehicle is obtained, and the state of the obstacle is determined according to the picture of the obstacle, which specifically includes:
连续拍摄两张所述障碍物的图片，并将两张图片中的障碍物的位置进行对比；Continuously taking pictures of two of the obstacles and comparing the positions of the obstacles in the two pictures;
若所述两张图片中的障碍物的位置未发生变化，则判定所述障碍物的状态为静止；If the position of the obstacle in the two pictures does not change, it is determined that the state of the obstacle is stationary;
若所述两张图片中的障碍物的位置发生变化，则判定所述障碍物的状态为运动。If the position of the obstacle in the two pictures changes, it is determined that the state of the obstacle is motion.
其中，在判断障碍物的状态时，会连续拍摄两张障碍物的图片，其中，连续拍摄具有一定的时间间隔。对比两张图片，若两张图片中的障碍物与图片中 其他参照物之间的距离没有发生变化，则说明该障碍物的状态为静止；若两张图片中的障碍物与图片中其他参照物之间的距离发生了变化，则说明该障碍物的状态为运动。Among them, when judging the state of the obstacle, a picture of two obstacles is continuously taken, wherein the continuous shooting has a certain time interval. Compare two images, if the obstacles in the two pictures are in the picture If the distance between other reference objects does not change, the state of the obstacle is static; if the distance between the obstacles in the two pictures and other reference objects in the picture changes, the status of the obstacle is indicated. For sports.
进一步地，根据预设的第二时间间隔循环发射超声波，并开始计时；所述第二时间间隔大于所述第一时间间隔；Further, the ultrasonic wave is cyclically transmitted according to a preset second time interval, and timing is started; the second time interval is greater than the first time interval;
当计时的时长达到预设的时间阈值时，检测是否接收到返回的超声波；When the duration of the timing reaches a preset time threshold, detecting whether the returned ultrasonic wave is received;
若接收到返回的超声波，则判定电动平衡车前方具有障碍物。When the returned ultrasonic wave is received, it is determined that there is an obstacle in front of the electric balance vehicle.
需要说明的是，每过一段预设的时间间隔，就会通过发射超声波来判断电动平衡车前方是否具有障碍物。由于超声波在空气中遇到障碍物就会返回，因此，在预设的时间阈值内，若接收到返回的超声波，则说明电动平衡车前方具有障碍物，若未接收到障碍物，则说明电动平衡车前方没有障碍物，或者前方障碍物距离较远，对电动平衡车不构成威胁。It should be noted that every time a predetermined time interval is elapsed, an ultrasonic wave is emitted to determine whether there is an obstacle in front of the electric balance vehicle. Since the ultrasonic wave will return when it encounters an obstacle in the air, if the returned ultrasonic wave is received within the preset time threshold, it means that there is an obstacle in front of the electric balance car. If the obstacle is not received, it means electric There is no obstacle in front of the balance car, or the distance between the front obstacles is far away, which does not pose a threat to the electric balance car.
现有技术是被动式探测障碍物，要实时探测、计算，运算量大，算法复杂。本发明先通过判断物体高度，先排除一部分电动平衡车可以直接越过的物体，而对于电动平衡车无法越过的障碍物，本发明技术方案也仅计算物品的宽度，不需要构件障碍物的形状和尺寸，算法简单，运算量很小。再者，本发明可以将新发现的障碍物实时更新到障碍物地图，供自己和其他电动平衡车参考，随着数据的积累，判断障碍物和规划行车路线会越来越准确，具备自成长的能力，智能化程度更高，且避免了不必要的重复计算。The prior art is a passive detection obstacle, which requires real-time detection and calculation, a large amount of calculation, and a complicated algorithm. The invention firstly determines the height of the object, first excludes an object that the electric balance car can directly pass, and for the obstacle that the electric balance car cannot pass, the technical solution of the present invention only calculates the width of the article, and does not need the shape of the component obstacle and Size, algorithm is simple, and the amount of calculation is small. Furthermore, the present invention can update the newly discovered obstacles to the obstacle map in real time for reference by themselves and other electric balance vehicles. As the data is accumulated, the obstacles and planned driving routes will be more and more accurate and self-growth. The ability to be more intelligent and avoid unnecessary double counting.
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。 The above is a further detailed description of the present invention in connection with the specific preferred embodiments, and the specific embodiments of the present invention are not limited to the description. It will be apparent to those skilled in the art that the present invention may be made without departing from the spirit and scope of the invention.

Claims (10)

  1. 一种电动平衡车的控制方法，其特征在于，所述方法包括以下步骤：A method for controlling an electric balance vehicle, characterized in that the method comprises the following steps:
    检测所述电动平衡车行进中前方物品的高度；Detecting a height of an item in front of the electric balance vehicle traveling;
    若所述物品的高度超出预设值，将所述物品识别为障碍物、并控制所述电动平衡车进行减速；If the height of the item exceeds a preset value, identifying the item as an obstacle and controlling the electric balance vehicle to decelerate;
    检测所述障碍物的宽度，确定所述电动平衡车距离所述障碍物较近的一端，生成行进路线；Detecting a width of the obstacle, determining an end of the electric balance vehicle that is closer to the obstacle, and generating a travel route;
    采集所述障碍物的图像，联网识别所述障碍物特性，根据所述障碍物特性确定所述行进路线；Collecting an image of the obstacle, identifying the obstacle characteristic by networking, and determining the travel route according to the obstacle characteristic;
    按照预设方式提示所述行进路线，所述预设方式包括：闪烁所述电动平衡车更近绕行所述障碍物一侧的信号灯、震动所述电动平衡车更近绕行所述障碍物一侧的部件中的至少一种；Prompting the travel route according to a preset manner, the preset manner includes: blinking the electric balance vehicle to bypass the signal light on the side of the obstacle, and vibrating the electric balance vehicle to bypass the obstacle At least one of the components on one side;
    在所述行进路线上标注所述障碍物路障坐标，形成障碍物地图，并将所述障碍物地图分享至与其通信的通信电动平衡车；Marking the obstacle barrier coordinates on the travel route, forming an obstacle map, and sharing the obstacle map to a communication electric balance vehicle that communicates therewith;
    将所述障碍物地图与道路地图结合，判断所述障碍物是否位于道路上，若所述障碍物位于道路上，将所述障碍物标注到所述障碍物地图上；若所述障碍物位于道路外，不将所述障碍物标注到所述障碍物地图上；Combining the obstacle map with a road map to determine whether the obstacle is located on the road, and if the obstacle is located on the road, marking the obstacle to the obstacle map; if the obstacle is located Outside the road, the obstacle is not marked on the obstacle map;
    判断所述障碍物是否处于运动状态，若所述障碍物处于运动状态，不将所述障碍物标注到障碍物地图上；若所述障碍物处于静止状态，将所述障碍物标注到障碍物地图上。Determining whether the obstacle is in a motion state, if the obstacle is in a motion state, not marking the obstacle on the obstacle map; if the obstacle is in a static state, marking the obstacle to the obstacle On the map.
  2. 一种电动平衡车的控制方法，其特征在于，所述方法包括以下步骤：A method for controlling an electric balance vehicle, characterized in that the method comprises the following steps:
    检测所述电动平衡车行进中前方物品的高度；Detecting a height of an item in front of the electric balance vehicle traveling;
    若所述物品的高度超出预设值，将所述物品识别为障碍物、并控制所述电动平衡车进行减速；If the height of the item exceeds a preset value, identifying the item as an obstacle and controlling the electric balance vehicle to decelerate;
    检测所述障碍物的宽度，确定所述电动平衡车距离所述障碍物较近的一端， 生成行进路线。Detecting a width of the obstacle, determining an end of the electric balance vehicle that is closer to the obstacle, Generate a route of travel.
  3. 如权利要求2所述的电动平衡车的控制方法，其特征在于，所述方法还包括：The method of controlling an electric balance vehicle according to claim 2, wherein the method further comprises:
    在生成所述行进路线后，按照预设方式提示所述行进路线。After the travel route is generated, the travel route is prompted in a preset manner.
  4. 如权利要求3所述的电动平衡车的控制方法，其特征在于，所述预设方式包括：The method of controlling an electric balance vehicle according to claim 3, wherein the preset manner comprises:
    闪烁所述电动平衡车更近绕行所述障碍物一侧的信号灯、震动所述电动平衡车更近绕行所述障碍物一侧的部件中的至少一种。The electric balance vehicle is blinked closer to at least one of a signal light on one side of the obstacle, and a member that vibrates the electric balance vehicle closer to the side of the obstacle.
  5. 如权利要求2至4任一项所述的电动平衡车的控制方法，其特征在于，所述方法还包括：The method of controlling an electric balance vehicle according to any one of claims 2 to 4, wherein the method further comprises:
    在生成所述行进路线后，在所述行进路线上标注所述障碍物路障坐标，形成障碍物地图，并将所述障碍物地图分享至与其通信的通信电动平衡车。After generating the travel route, the obstacle roadblock coordinates are marked on the travel route to form an obstacle map, and the obstacle map is shared to a communication electric balance vehicle that communicates therewith.
  6. 如权利要求2至4任一项所述的电动平衡车的控制方法，其特征在于，所述方法还包括：The method of controlling an electric balance vehicle according to any one of claims 2 to 4, wherein the method further comprises:
    采集所述障碍物的图像，联网识别所述障碍物特性，根据所述障碍物特性确定所述行进路线。An image of the obstacle is acquired, the obstacle characteristic is networked, and the travel route is determined according to the obstacle characteristic.
  7. 如权利要求5所述的电动平衡车的控制方法，其特征在于，所述方法还包括：The method of controlling an electric balance vehicle according to claim 5, wherein the method further comprises:
    将所述障碍物地图与道路地图结合，判断所述障碍物是否位于道路上，若所述障碍物位于道路上，将所述障碍物标注到所述障碍物地图上；若所述障碍物位于道路外，不将所述障碍物标注到所述障碍物地图上。Combining the obstacle map with a road map to determine whether the obstacle is located on the road, and if the obstacle is located on the road, marking the obstacle to the obstacle map; if the obstacle is located Outside the road, the obstacle is not marked on the obstacle map.
  8. 如权利要求5所述的电动平衡车的控制方法，其特征在于，所述方法还包括：The method of controlling an electric balance vehicle according to claim 5, wherein the method further comprises:
    判断所述障碍物是否处于运动状态，若所述障碍物处于运动状态，不将所述障碍物标注到障碍物地图上；Determining whether the obstacle is in a motion state, and if the obstacle is in a motion state, not marking the obstacle on the obstacle map;
    若所述障碍物处于静止状态，将所述障碍物标注到障碍物地图上。 If the obstacle is at rest, the obstacle is marked on the obstacle map.
  9. 一种电动平衡车的控制装置，其特征在于，所述控制装置包括：A control device for an electric balance vehicle, characterized in that the control device comprises:
    高度检测装置，用于检测所述电动平衡车行进中前方物品的高度；a height detecting device for detecting a height of an item in front of the electric balance vehicle traveling;
    识别装置，用于识别所述物品：若所述物品的高度超出预设值，将所述物品识别为障碍物；An identification device for identifying the item: if the height of the item exceeds a preset value, identifying the item as an obstacle;
    减速装置，控制所述电动平衡车进行减速的装置；a speed reducing device for controlling the electric balance vehicle to perform deceleration;
    宽度检测装置，用于检测所述障碍物的宽度；a width detecting device for detecting a width of the obstacle;
    确定装置，用于确定所述电动平衡车距离所述障碍物较近的一端；Determining means for determining an end of the electric balance car that is closer to the obstacle;
    生成装置，用于生成行进路线。A generating device is used to generate a travel route.
  10. 如权利要求9所述的电动平衡车的控制装置，其特征在于，所述控制装置还包括：The control device for an electric balance vehicle according to claim 9, wherein the control device further comprises:
    采集装置，用于采集所述障碍物的图像，联网识别所述障碍物特性，根据所述障碍物特性确定所述行进路线；a collecting device, configured to collect an image of the obstacle, network-identify the obstacle characteristic, and determine the traveling route according to the obstacle characteristic;
    提示装置，用于按照预设方式提示所述行进路线，所述预设方式包括：闪烁所述电动平衡车更近绕行所述障碍物一侧的信号灯、震动所述电动平衡车更近绕行所述障碍物一侧的部件中的至少一种；a prompting device, configured to prompt the traveling route according to a preset manner, the preset manner comprising: blinking the electric balance vehicle closer to a signal light on a side of the obstacle, and vibrating the electric balance vehicle closer to the winding At least one of the components on one side of the obstacle;
    标注装置，用于在所述行进路线上标注所述障碍物路障坐标，形成障碍物地图，并将所述障碍物地图分享至与其通信的通信电动平衡车，An marking device for marking the obstacle roadblock coordinates on the travel route, forming an obstacle map, and sharing the obstacle map to a communication electric balance vehicle that communicates therewith,
    结合装置，将所述障碍物地图与道路地图结合，判断所述障碍物是否位于道路上，若所述障碍物位于道路上，将所述障碍物标注到所述障碍物地图上；若所述障碍物位于道路外，不将所述障碍物标注到所述障碍物地图上；Combining the device, combining the obstacle map with the road map, determining whether the obstacle is located on the road, and if the obstacle is located on the road, marking the obstacle to the obstacle map; The obstacle is located outside the road, and the obstacle is not marked on the obstacle map;
    判断装置，用于判断所述障碍物是否处于运动状态，若所述障碍物处于运动状态，不将所述障碍物标注到障碍物地图上；若所述障碍物处于静止状态，将所述障碍物标注到障碍物地图上。 a judging device, configured to determine whether the obstacle is in a motion state, and if the obstacle is in a motion state, the obstacle is not marked on the obstacle map; if the obstacle is in a static state, the obstacle is Mark the object on the obstacle map.
PCT/CN2016/084695 2016-06-03 2016-06-03 Control method of electric balance scooter and control device WO2017206170A1 (en)

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