WO2018006297A1 - 一种平衡车转向控制方法和平衡车 - Google Patents

一种平衡车转向控制方法和平衡车 Download PDF

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Publication number
WO2018006297A1
WO2018006297A1 PCT/CN2016/088834 CN2016088834W WO2018006297A1 WO 2018006297 A1 WO2018006297 A1 WO 2018006297A1 CN 2016088834 W CN2016088834 W CN 2016088834W WO 2018006297 A1 WO2018006297 A1 WO 2018006297A1
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balance
control method
vehicle
sensor
steering control
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PCT/CN2016/088834
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English (en)
French (fr)
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尚艳燕
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尚艳燕
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Priority to PCT/CN2016/088834 priority Critical patent/WO2018006297A1/zh
Publication of WO2018006297A1 publication Critical patent/WO2018006297A1/zh

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00Bicycles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K21/00Steering devices

Definitions

  • the present invention relates to the field of balance vehicle control, and more particularly to a balance vehicle steering control method and a balance vehicle.
  • 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 using the servo control system, accurately drive the motor to adjust accordingly to maintain the balance of the system.
  • the technical problem to be solved by the present invention is to provide a balance car that can realize steering without using a rotating shaft.
  • a balance steering steering control method including the steps of:
  • the balance car steering is controlled according to the ratio of the pressure difference between the feet and the weight.
  • the pressure sensor includes a first sensor corresponding to the forefoot and a second pressure sensor corresponding to the rear heel; and when the difference between the measured values of the first sensor and the second sensor is greater than the first threshold, the balance car is controlled Stop running.
  • the difference between the measured values of the first sensor and the second sensor is too large, indicating that the driver leans forward or backward, which is easy to fall. For safety reasons, the control balance car stops running.
  • the balance vehicle is started.
  • the two pressure sensors correspond to two feet respectively. If the difference is too large, the driver has stepped on one foot, but the other foot has not yet stabilized, so it is not suitable to start. In addition, for the same pressure sensor, if the difference between the first sensor and the second sensor is too large, it means that the foot is not standing. In combination with the two conditions, it is safe and secure to start the balance car only when the driver is standing on the balance car with both feet and standing. This also reduces the difficulty of driving and is convenient for beginners to get started.
  • the steering control method further includes: recording driver's weight and driving habits, and generating driving mode data; when the balancing vehicle is started, first measuring weights by two pressure sensors, and then comparing with the stored records, selecting matching Driving mode.
  • the maximum speed of the balance vehicle is lowered.
  • the child is lighter in weight, and it is recognized by the child whether the child is driving or not. The child is driven to reduce the speed and ensure safety.
  • the first control signal is acquired into the load mode, and the balance vehicle calculates the safe travel speed according to the measured weight data, and then runs at a constant speed according to the safe travel speed.
  • the uniform operation simplifies the operation and is safe for driving.
  • the balance car runs by navigation according to a preset line.
  • navigating GPS, Beidou, Galileo, etc.
  • the second control signal sent by the controller enters the load mode, and the balance vehicle calculates the safe travel speed according to the measured weight data, and the actual running speed of the balance vehicle is lower than the safe travel speed;
  • the technical solution has a unique follow-up mode, and is connected with a mobile phone, a wristband, etc. through Bluetooth, and the balance car follows the walking when the person walks. There is no need for complicated route planning and navigation, and because of the “leading path”, the operation reliability is higher, and it can be applied to various complicated environments and roads, and the application scenario of the balance vehicle object is significantly improved.
  • the balance brake is controlled.
  • the measured value of the pressure sensor is instantaneous, indicating that the driver has a more aggressive behavior in the car, which is not conducive to the safe operation of the balance car. Therefore, for the sake of safety, the balance car brake is controlled.
  • the present invention discloses a balance vehicle including a vehicle body and a pedal assembly disposed on the vehicle body, the pedal assembly including pressure sensors respectively corresponding to the two foot plates;
  • the pressure sensor includes a first sensor corresponding to the forefoot and a second pressure sensor corresponding to the rear heel;
  • the balance vehicle further includes a controller coupled to the first sensor and the second pressure sensor; the controller includes:
  • a device for controlling the steering of a balance car according to the ratio of the pressure difference between the feet and the weight is provided.
  • the technical effect of the present invention is that the balance car detects the pressure of the foot plate through the pressure sensor, and judges the driving intention of the driver from the change of the foot plate pressure, so that the balance car steering control can be realized without the rotating shaft.
  • the driver's weight is different, and the pressure generated by the same tilt angle is also different.
  • the present invention controls the steering by the ratio of the pressure difference between the two feet and the weight, which can offset the interference caused by the different weights, and can be realized for people of different weights. Precise steering control.
  • FIG. 1 is a schematic structural view of a balance car of the present invention
  • FIG. 2 is a schematic diagram of the principle of the controller of the present invention.
  • FIG. 3 is a schematic view of a steering wheel steering control method of the present invention.
  • Mobile smart terminals such as smartphones, tablets, wearables or smart glasses
  • computers AI (artificial intelligence), robots, VR (virtual reality), AR (augmented reality), smart home devices or smart
  • the industrial control device or the like may each perform a predetermined process such as numerical calculation and/or logic calculation by executing a predetermined program or instruction, which may include a processor and a memory, and the processor executes a pre-stored survival instruction in the memory to perform predetermined processing.
  • the process is either performed by a hardware such as an ASIC, an FPGA, or a DSP, or a combination of the two.
  • Computer devices include, but are not limited to, servers, personal computers, notebook computers, tablets, smart phones, and the like.
  • the network device includes, but is not limited to, a single network server, a server group composed of multiple network servers, or a cloud computing-based cloud composed of a large number of computers or network servers, wherein the cloud computing is a kind of distributed computing, A super virtual computer consisting of a group of loosely coupled computers.
  • the computer device can be operated separately to implement the present invention, and can also access the network and implement the present invention by interacting with other computer devices in the network.
  • the network in which the computer device is located includes, but is not limited to, the Internet, a wide area network, a metropolitan area network, a local area network, a VPN network, and the like.
  • the user equipment, the network equipment, the network, and the like are merely examples, and other existing or future computer equipment or networks may be applicable to the present invention, and should also be included in the present invention. Within the scope of protection, and is included here by reference.
  • the present invention discloses a balance vehicle comprising a vehicle body 10 and a pedal assembly 20 disposed on the vehicle body, the pedal assembly including pressure sensors 21 respectively corresponding to the two foot plates; the pressure sensor including a first sensor 22 corresponding to the forefoot, and a second pressure sensor 23 corresponding to the rear heel; the balance vehicle further includes a controller 30 coupled to the first sensor and the second pressure sensor; the controller comprising:
  • Measuring device 31 calculating the pressure difference between the two feet and the weight of the driver according to the measured values of the two pressure sensors;
  • Steering device 32 The balance car steering is controlled according to the ratio of the pressure difference between the two feet and the weight.
  • the control method of the balance vehicle can refer to the implementation of the balance steering control method.
  • the embodiment further discloses a balance vehicle steering control method, the balance vehicle includes a vehicle body, and a pedal assembly disposed on the vehicle body, the pedal assembly including pressure sensors respectively corresponding to the two legs; the steering control The method includes the steps of:
  • the balance car steering is controlled according to the ratio of the pressure difference between the feet and the weight.
  • the pressure sensor includes a first sensor corresponding to the forefoot, and a second pressure sensor corresponding to the rear heel; when the difference between the measured values of the first sensor and the second sensor is greater than the first threshold, the balance is controlled The car stopped running.
  • the difference between the measured values of the first sensor and the second sensor is too large, indicating that the driver leans forward or backward, which is easy to fall. For safety reasons, the control balance car stops running.
  • the balance vehicle when the difference between the two pressure sensor measurement values is less than the second threshold, and the difference between the first sensor and the second sensor measurement value of each pressure sensor is less than the third threshold, the balance vehicle is started.
  • the two pressure sensors correspond to two feet respectively. If the difference is too large, the driver has stepped on one foot. But the other foot has not stood still, so it is not suitable to start. In addition, for the same pressure sensor, if the difference between the first sensor and the second sensor is too large, it means that the foot is not standing. In combination with the two conditions, it is safe and secure to start the balance car only when the driver is standing on the balance car with both feet and standing. This also reduces the difficulty of driving and is convenient for beginners to get started.
  • the steering control method further includes: recording driver's weight and driving habits, and generating driving mode data; when the balancing vehicle is started, first measuring weight by two pressure sensors, and then comparing with the stored records, selecting matching Driving mode.
  • the maximum speed of the balance vehicle is reduced.
  • the child is lighter in weight, and it is recognized by the child whether the child is driving or not.
  • the child is driven to reduce the speed and ensure safety.
  • the first control signal is acquired into the load mode, and the balance vehicle calculates the safe travel speed according to the measured weight data, and then runs at a constant speed according to the safe travel speed.
  • the uniform operation simplifies the operation and is safe for driving. This can be achieved by adding a mode switch on the balance car or by wireless setting.
  • the balance car runs by navigation according to a preset line.
  • navigating GPS, Beidou, Galileo, etc.
  • the navigation mode is especially suitable for management specifications and operating environments such as open freight yards.
  • the second control signal sent by the controller enters the load mode, and the balance vehicle calculates the safe travel speed according to the measured weight data, and the actual running speed of the balance vehicle is lower than the safe travel speed;
  • the technical solution has a unique follow-up mode, and is connected with a mobile phone, a wristband, etc. through Bluetooth, and the balance car follows the walking when the person walks. There is no need for complicated route planning and navigation, and because of the “leading path”, the operation reliability is higher, and it can be applied to various complicated environments and roads, and the application scenario of the balance vehicle object is significantly improved.
  • Bluetooth is an electromagnetic wave, so you can use the electromagnetic wave principle to measure distance.
  • the distance between the transmitting position and the receiving position can be reflected by a mirror in the middle. Ranging according to the transmission time and reception time, of course, this method is not used on the computer. And the error is about +/-1M. According to the speed of time and propagation.
  • Bluetooth can be sent to waves of different wavelengths at the same time, and the corresponding processing can be obtained after receiving, because the simultaneous shooting is performed, and the different waves view the phase of the checking after receiving. Then some complicated calculations are performed. If the two wavelengths coincide with each other, the distance must be an integer multiple of the least common multiple of the wavelength. The more precise the wavelength, the more precise it is like the principle of a laser rangefinder.
  • the balance brake is controlled when the measured value of the pressure sensor instantaneously increases.
  • the measured value of the pressure sensor is instantaneous, indicating that the driver has a more aggressive behavior in the car, which is not conducive to the safe operation of the balance car. Therefore, for the sake of safety, the balance car brake is controlled.
  • the technical effect of the present invention is that the balance car detects the pressure of the foot plate through the pressure sensor, and judges the driving intention of the driver from the change of the foot plate pressure, so that the balance car steering control can be realized without the rotating shaft.
  • the driver's weight is different, and the pressure generated by the same tilt angle is also different.
  • the present invention controls the steering by the ratio of the pressure difference between the two feet and the weight, which can offset the interference caused by the different weights, and can be realized for people of different weights. Precise steering control.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

一种平衡车转向控制方法和平衡车。平衡车包括车体(10),以及设置在车体(10)上的踏板组件(20),踏板组件(20)包括分别与两脚板对应的压力传感器(21)。转向控制方法包括步骤:根据两个压力传感器(21)的测量值计算双脚压差和驾驶人员的体重;根据双脚压差和体重的比率控制平衡车转向。

Description

一种平衡车转向控制方法和平衡车 【技术领域】
本发明涉及平衡车控制领域,更具体的说,涉及一种平衡车转向控制方法和平衡车。
【背景技术】
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,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。
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”。现有带“脚控”的平衡车中间需要转轴,使得左右踏板分别围绕转轴转动,通过踏板转动的角度来实现转向。由于转轴的存在,使得平衡车结构复杂,且空间受限,不利于平衡车的轻薄化。
【发明内容】
本发明所要解决的技术问题是提供一种不使用转轴即可实现转向的平衡车。
本发明的目的是通过以下技术方案来实现的:
根据本发明的一个方面,本发明公开了一种平衡车转向控制方法,所述平衡车包括车体,以及设置在车体上的踏板组件,所述踏板组件包括分别与两脚板对应的压力传感器;所述转向控制方法包括步骤:
根据两个压力传感器的测量值计算双脚压差和驾驶人员的体重,
根据双脚压差和体重的比率控制平衡车转向。
进一步的,所述压力传感器包括与前脚掌对应的第一传感器,以及与后脚跟对应的第二压力传感器;当第一传感器和第二传感器测量值的差值大于第一阈值时,控制平衡车停止运行。第一传感器和第二传感器测量值的差值太大,说明驾驶员前倾或后倾比较厉害,这样很容易摔倒,安全起见,控制平衡车停止运行。
进一步的,当两个压力传感器测量值差值小于第二阈值,且每个压力传感器的第一传感器和第二传感器测量值的差值小于第三阈值时,启动平衡车。两个压力传感器分别对应两个脚,如果差值过大,说明驾驶员一只脚已经踩上去了,但另外一只脚还没有站稳,因此不宜启动。另外,对于同一压力传感器,如果第一传感器和第二传感器测量的差值太大,也说明脚没站好。综合两个条件,只有驾驶员两只脚都站上平衡车,且站稳的情况下启动平衡车,才是安全稳妥的。这样也降低了驾驶难度,方便初学者上手。
进一步的,所述转向控制方法还包括:记录驾驶员的体重和驾驶习惯,生成驾驶模式数据;当平衡车启动时,先通过两个压力传感器测量体重,然后跟存储的记录比较,选择匹配的驾驶模式。
进一步的,当测量的体重数据小于预设的第四阈值时,降低平衡车的最高时速。小孩体重比较轻,通过体重识别是否小孩驾驶,小孩驾驶要降低时速,确保安全。
进一步的,获取第一控制信号进入载物模式,平衡车根据测量的重量数据计算安全行驶速度,然后按该安全行驶速度匀速运行。载物的情况下,由于缺乏驾驶者控制,匀速运行简化操作,有利于行驶安全。
进一步的,所述平衡车通过导航按预设的线路运行。通过导航(GPS、北斗、伽利略等都可以)可以预先规划路线,让平衡车按预定路线行走。
进一步的,获取控制器发出的第二控制信号进入载物模式,平衡车根据测量的重量数据计算安全行驶速度,平衡车的实际运行速度低于该安全行驶速度;
实时计算平衡车跟控制器的距离,控制平衡车跟控制器的距离保持在预设 距离内,当检测到平衡车按安全行驶速度运行时,平衡车和控制器的距离仍然持续拉大,发出告警信息。本技术方案独创跟随模式,通过蓝牙跟手机、手环等连接,人走动时平衡车跟随走动。无须复杂的路线规划、导航,且由于有人“带路”,运行可靠性更高,且可以适用于各种复杂的环境和路道,显著提高了平衡车载物的应用场景。
进一步的,当压力传感器的测量值瞬时增大时,控制平衡车刹车。压力传感器的测量值瞬时,说明驾驶员在车上有比较剧烈的举动,不利于平衡车的安全运行,因此,为了安全起见,控制平衡车刹车。
根据本发明的另一个方面,本发明公开了一种平衡车,所述平衡车包括车体,以及设置在车体上的踏板组件,所述踏板组件包括分别与两脚板对应的压力传感器;所述压力传感器包括与前脚掌对应的第一传感器,以及与后脚跟对应的第二压力传感器;所述平衡车还包括与第一传感器和第二压力传感器耦合的控制器;所述控制器包括:
用于根据两个压力传感器的测量值计算双脚压差和驾驶人员的体重的装置,
用于根据双脚压差和体重的比率控制平衡车转向的装置。
与现有技术相比,本发明的技术效果是:平衡车通过压力传感器来检测脚板的压力,从脚板压力的变化来判断驾驶员的行驶意图,因此无需转轴也可以实现平衡车转向控制。另外,驾驶员体重不同,同样的倾斜角度所产生的压力也不同,本发明通过双脚压差和体重的比率来控制转向,可以抵消体重不同所造成的干扰,对于不同体重的人都能实现精确的转向控制。
【附图说明】
图1是本发明平衡车结构示意图;
图2是本发明控制器原理示意图;
图3是本发明平衡车转向控制方法示意图。
其中:10、车体;20、踏板组件;21、压力传感器;22、第一传感器;23、第二传感器;30、控制器;31、测量装置;32、转向装置。
【具体实施方式】
在更加详细地讨论示例性实施例之前应当提到的是,一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各项操作描述成顺序的处理,但是其中的许多操作可以被并行地、并发地或者同时实施。此外,各项操作的顺序可以被重新安排。当其操作完成时所述处理可以被终止,但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。
在上下文中所称移动智能终端(如智能手机、平板电脑、穿戴设备或智能眼镜)、计算机、AI(人工智能)、机器人、VR(虚拟现实)、AR(增强现实)、智能家居设备或智能工业控制设备等等均可以通过运行预定程序或指令来执行数值计算和/或逻辑计算等预定处理过程,其可以包括处理器与存储器,由处理器执行在存储器中预存的存续指令来执行预定处理过程,或是由ASIC、FPGA、DSP等硬件执行预定处理过程,或是由上述二者组合来实现。计算机设备包括但不限于服务器、个人电脑、笔记本电脑、平板电脑、智能手机等。
网络设备包括但不限于单个网络服务器、多个网络服务器组成的服务器组或基于云计算(Cloud Computing)的由大量计算机或网络服务器构成的云,其中,云计算是分布式计算的一种,由一群松散耦合的计算机集组成的一个超级虚拟计算机。其中,所述计算机设备可单独运行来实现本发明,也可接入网络并通过与网络中的其他计算机设备的交互操作来实现本发明。其中,所述计算机设备所处的网络包括但不限于互联网、广域网、城域网、局域网、VPN网络等。
需要说明的是,所述用户设备、网络设备和网络等仅为举例,其他现有的或今后可能出现的计算机设备或网络如可适用于本发明,也应包含在本发明保 护范围以内,并以引用方式包含于此。
后面所讨论的方法(其中一些通过流程图示出)可以通过硬件、软件、固件、中间件、微代码、硬件描述语言或者其任意组合来实施。当用软件、固件、中间件或微代码来实施时,用以实施必要任务的程序代码或代码段可以被存储在机器或计算机可读介质(比如存储介质)中。(一个或多个)处理器可以实施必要的任务。
这里所公开的具体结构和功能细节仅仅是代表性的,并且是用于描述本发明的示例性实施例的目的。但是本发明可以通过许多替换形式来具体实现,并且不应当被解释成仅仅受限于这里所阐述的实施例。
应当理解的是,虽然在这里可能使用了术语“第一”、“第二”等等来描述各个单元,但是这些单元不应当受这些术语限制。使用这些术语仅仅是为了将一个单元与另一个单元进行区分。举例来说,在不背离示例性实施例的范围的情况下,第一单元可以被称为第二单元,并且类似地第二单元可以被称为第一单元。这里所使用的术语“和/或”包括其中一个或更多所列出的相关联项目的任意和所有组合。
应当理解的是,当一个单元被称为“连接”或“耦合”到另一单元时,其可以直接连接或耦合到所述另一单元,或者可以存在中间单元。与此相对,当一个单元被称为“直接连接”或“直接耦合”到另一单元时,则不存在中间单元。应当按照类似的方式来解释被用于描述单元之间的关系的其他词语(例如“处于。。。之间”相比于“直接处于。。。之间”,“与。。。邻近”相比于“与。。。直接邻近”等等)。
这里所使用的术语仅仅是为了描述具体实施例而不意图限制示例性实施例。除非上下文明确地另有所指,否则这里所使用的单数形式“一个”、“一项”还意图包括复数。还应当理解的是,这里所使用的术语“包括”和/或“包含”规定所陈述的特征、整数、步骤、操作、单元和/或组件的存在,而不排除存在或添加一个或更多其他特征、整数、步骤、操作、单元、组件和/或其组合。
还应当提到的是,在一些替换实现方式中,所提到的功能/动作可以按照不同于附图中标示的顺序发生。举例来说,取决于所涉及的功能/动作,相继示出的两幅图实际上可以基本上同时执行或者有时可以按照相反的顺序来执行。
下面结合附图1至图3和较佳的实施例对本发明作进一步说明。。
本发明公开了一种平衡车,所述平衡车包括车体10,以及设置在车体上的踏板组件20,所述踏板组件包括分别与两脚板对应的压力传感器21;所述压力传感器包括与前脚掌对应的第一传感器22,以及与后脚跟对应的第二压力传感器23;所述平衡车还包括与第一传感器和第二压力传感器耦合的控制器30;所述控制器包括:
测量装置31:根据两个压力传感器的测量值计算双脚压差和驾驶人员的体重;
转向装置32:根据双脚压差和体重的比率控制平衡车转向。
该平衡车的控制方法可以参考平衡车转向控制方法的实施方式。
本实施方式还公开的一种平衡车转向控制方法,所述平衡车包括车体,以及设置在车体上的踏板组件,所述踏板组件包括分别与两脚板对应的压力传感器;所述转向控制方法包括步骤:
根据两个压力传感器的测量值计算双脚压差和驾驶人员的体重,
根据双脚压差和体重的比率控制平衡车转向。
可选的,所述压力传感器包括与前脚掌对应的第一传感器,以及与后脚跟对应的第二压力传感器;当第一传感器和第二传感器测量值的差值大于第一阈值时,控制平衡车停止运行。第一传感器和第二传感器测量值的差值太大,说明驾驶员前倾或后倾比较厉害,这样很容易摔倒,安全起见,控制平衡车停止运行。
可选的,当两个压力传感器测量值差值小于第二阈值,且每个压力传感器的第一传感器和第二传感器测量值的差值小于第三阈值时,启动平衡车。两个压力传感器分别对应两个脚,如果差值过大,说明驾驶员一只脚已经踩上去了, 但另外一只脚还没有站稳,因此不宜启动。另外,对于同一压力传感器,如果第一传感器和第二传感器测量的差值太大,也说明脚没站好。综合两个条件,只有驾驶员两只脚都站上平衡车,且站稳的情况下启动平衡车,才是安全稳妥的。这样也降低了驾驶难度,方便初学者上手。
可选的,所述转向控制方法还包括:记录驾驶员的体重和驾驶习惯,生成驾驶模式数据;当平衡车启动时,先通过两个压力传感器测量体重,然后跟存储的记录比较,选择匹配的驾驶模式。
可选的,当测量的体重数据小于预设的第四阈值时,降低平衡车的最高时速。小孩体重比较轻,通过体重识别是否小孩驾驶,小孩驾驶要降低时速,确保安全。当然,为了测量准确,还可以同时测量驾驶人员的身高进行综合判断。
可选的,获取第一控制信号进入载物模式,平衡车根据测量的重量数据计算安全行驶速度,然后按该安全行驶速度匀速运行。载物的情况下,由于缺乏驾驶者控制,匀速运行简化操作,有利于行驶安全。通过平衡车上增加模式切换开关或通过无线设置的方式都可以实现。
可选的,所述平衡车通过导航按预设的线路运行。通过导航(GPS、北斗、伽利略等都可以)可以预先规划路线,让平衡车按预定路线行走。导航模式特别适用于开放式货场等管理规范、运行有序的环境。
可选的,获取控制器发出的第二控制信号进入载物模式,平衡车根据测量的重量数据计算安全行驶速度,平衡车的实际运行速度低于该安全行驶速度;
实时计算平衡车跟控制器的距离,控制平衡车跟控制器的距离保持在预设距离内,当检测到平衡车按安全行驶速度运行时,平衡车和控制器的距离仍然持续拉大,发出告警信息。本技术方案独创跟随模式,通过蓝牙跟手机、手环等连接,人走动时平衡车跟随走动。无须复杂的路线规划、导航,且由于有人“带路”,运行可靠性更高,且可以适用于各种复杂的环境和路道,显著提高了平衡车载物的应用场景。在此模式下,基本上驾驶人员操控平衡车可以运行的环境,载物状态下的平衡车都能适用,应用场景更宽泛。平衡车和控制器的实 时测距有多种方式可以实现,以下以蓝牙测距进行举例说明。
蓝牙是一种电磁波的,所以可以使用电磁波原理测距。发射位置与接收位置的距离,可以中间有一个镜子进行反射的。根据发射时间与接收时间进行测距,当然,这种方法用不到电脑上的。且误差是+/-1M左右。按时间与传播的速度得出的。
另外一种方式,可以让蓝牙同时发身不同波长的波,接收后可以得到相应的处理,因为是同时发射击,而不同波在接收后查看其查关的相位。然后进行一些复杂的计算,如果其两个波长又时相位重合,则这个距离一定是波长最小公倍数的整数倍。波长越多越精确,类似激光测距仪的原理的,这样更精确。
可选的,当压力传感器的测量值瞬时增大时,控制平衡车刹车。压力传感器的测量值瞬时,说明驾驶员在车上有比较剧烈的举动,不利于平衡车的安全运行,因此,为了安全起见,控制平衡车刹车。
与现有技术相比,本发明的技术效果是:平衡车通过压力传感器来检测脚板的压力,从脚板压力的变化来判断驾驶员的行驶意图,因此无需转轴也可以实现平衡车转向控制。另外,驾驶员体重不同,同样的倾斜角度所产生的压力也不同,本发明通过双脚压差和体重的比率来控制转向,可以抵消体重不同所造成的干扰,对于不同体重的人都能实现精确的转向控制。
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。

Claims (10)

  1. 一种平衡车转向控制方法,其中,所述平衡车包括车体,以及设置在车体上的踏板组件,所述踏板组件包括分别与两脚板对应的压力传感器;所述转向控制方法包括步骤:
    根据两个压力传感器的测量值计算双脚压差和驾驶人员的体重,
    根据双脚压差和体重的比率控制平衡车转向。
  2. 根据权利要求1所述的平衡车转向控制方法,其中,所述压力传感器包括与前脚掌对应的第一传感器,以及与后脚跟对应的第二压力传感器;当第一传感器和第二传感器测量值的差值大于第一阈值时,控制平衡车停止运行。
  3. 根据权利要求2所述的平衡车转向控制方法,其中,当两个压力传感器测量值差值小于第二阈值,且每个压力传感器的第一传感器和第二传感器测量值的差值小于第三阈值时,启动平衡车。
  4. 根据权利要求1所述的平衡车转向控制方法,其中,所述转向控制方法还包括:记录驾驶员的体重和驾驶习惯,生成驾驶模式数据;当平衡车启动时,先通过两个压力传感器测量体重,然后跟存储的记录比较,选择匹配的驾驶模式。
  5. 根据权利要求1所述的平衡车转向控制方法,其中,当测量的体重数据小于预设的第四阈值时,降低平衡车的最高时速。
  6. 根据权利要求1所述的平衡车转向控制方法,其中,获取第一控制信号进入载物模式,平衡车根据测量的重量数据计算安全行驶速度,然后按该安全行驶速度匀速运行。
  7. 根据权利要求6所述的平衡车转向控制方法,其中,所述平衡车通过导航按预设的线路运行。
  8. 根据权利要求1所述的平衡车转向控制方法,其中,获取控制器发出的第二控制信号进入载物模式,平衡车根据测量的重量数据计算安全行驶速度, 平衡车的实际运行速度低于该安全行驶速度;
    实时计算平衡车跟控制器的距离,控制平衡车跟控制器的距离保持在预设距离内,当检测到平衡车按安全行驶速度运行时,平衡车和控制器的距离仍然持续拉大,发出告警信息。
  9. 根据权利要求1所述的平衡车转向控制方法,其中,当压力传感器的测量值瞬时增大时,控制平衡车刹车。
  10. 一种平衡车,其中,所述平衡车包括车体,以及设置在车体上的踏板组件,所述踏板组件包括分别与两脚板对应的压力传感器;所述压力传感器包括与前脚掌对应的第一传感器,以及与后脚跟对应的第二压力传感器;所述平衡车还包括与第一传感器和第二压力传感器耦合的控制器;所述控制器包括:
    用于根据两个压力传感器的测量值计算双脚压差和驾驶人员的体重的装置,
    用于根据双脚压差和体重的比率控制平衡车转向的装置。
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