WO2018010120A1

WO2018010120A1 - Method and apparatus for balancing vehicle safety control

Info

Publication number: WO2018010120A1
Application number: PCT/CN2016/089901
Authority: WO
Inventors: 尚艳燕
Original assignee: 尚艳燕
Priority date: 2016-07-13
Filing date: 2016-07-13
Publication date: 2018-01-18

Abstract

A method and apparatus for balancing vehicle safety control. The method for balancing vehicle safety control comprises: setting a current balancing vehicle as a slave balancing vehicle; establishing a communication connection with a teaching balancing vehicle; turning on the slave balancing vehicle in a self-balancing state; detecting the state of a driver; when the driver is in a state of being in position, reading a current operating mode of the teaching balancing vehicle; and controlling the posture of the slave balancing vehicle to be consistent with the operating mode.

Description

Balance car safety control method and device

[Technical Field]

The present invention relates to the field of balance vehicle control, and more particularly to a method and apparatus for safety control of a balance vehicle.

【Background technique】

Electric balance car, also called balance 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.

There are two types of electric balance vehicles in the prior art. One type has an operating lever on the vehicle body, and the user stands on the pedal platform of the electric balance vehicle to operate the operating lever to advance, retreat and stop. 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". The existing balance car only needs to operate completely according to the driver's operation signal, and as a beginner, the driving habit is very confusing, which makes the balance car uncontrollable and even dangerous.

[Summary of the Invention]

The technical problem to be solved by the present invention is to provide a balance car safety control method and apparatus for improving the speed of a novice driver.

The object of the present invention is achieved by the following technical solutions:

According to an aspect of the invention, a safety vehicle control method for a balance vehicle is disclosed, comprising:

Set the current balance car as a slave balance car;

Establish a communication connection with the teaching balance car;

Start the subordinate balance car to enter the self-balancing state;

Detecting driver status;

Reading the current operating mode of the teaching balance car when the driver is in the in-position state;

The attitude of controlling the slave balance car is consistent with the operation mode.

Further, the method for controlling the posture of the slave balance vehicle to be consistent with the operation mode further includes:

Detect whether the posture of the subordinate balance car is consistent with the running mode; when the slave is in equilibrium, the slave balance car starts; otherwise, it stops running and maintains the self-balancing state, issues a voice prompt, and feeds back the error information back to the teaching balance car. Only when the operation of the slave balance vehicle conforms to the operation mode, that is, when the driver controls the slave balance vehicle to reach the predetermined posture, the balance vehicle is started to ensure the safety of the driver.

Further, the balance vehicle safety control method further includes: when the slave balance vehicle and the teaching balance vehicle are disconnected from the communication connection abnormally, the slave balance vehicle enters the stop self-balancing mode and issues a voice alarm. Through the language prompt, the driver can be constantly reminded to correct the posture. In addition, as long as the vehicle is stopped and self-balanced, even if the driver operates incorrectly, it is not easy to fall off the vehicle and ensure the safety of the driver.

Detecting the driver's weight information;

When the weight information exceeds the preset value, the maximum travel speed is lowered, and feedback is returned to the mobile intelligent terminal to correct the operation mode. Since the weight of the teaching balance car and the subordinate balance car driver cannot be the same, for people with abnormal weight, the parameters need to be corrected to better match the actual situation of the driver.

Further, the method for detecting a driver state further includes:

The driver state is detected by the weight data of the pedal; when the weight data exceeds the preset interval, the cargo mode is activated;

Calculate the safe driving speed based on the weight data;

Control the slave balance car to run at a constant speed at a safe driving speed.

Further, the method for controlling the uniform running of the subordinate balance car according to the safe driving speed further comprises: calculating the distance between the subordinate balance car and the teaching balance car in real time, and controlling the distance between the subordinate balance car and the teaching balance car to be kept within a preset distance, when detecting When the slave balance car is running at a safe driving speed, the distance between the balance car slave and the teaching balance car continues to increase, and an alarm message is issued.

Further, the slave balance vehicle includes a vehicle body and a pedal assembly disposed on the vehicle body. The pedal assembly includes pressure sensors respectively corresponding to the two legs; the method for detecting the state of the driver includes:

Calculate the pressure difference between the two feet and the weight of the driver based on the measured values of the two pressure sensors.

The driver's status is judged based on the ratio of the pressure difference between the two feet and the weight.

Further, 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 less than the first threshold, determining the driver In the state of being in place.

Further, the balance car safety control method further includes:

Record driver's weight and driving habits to generate driving mode data;

Feed the driving mode data back to the teaching balance car.

According to another aspect of the present invention, the present invention discloses a balance vehicle safety control apparatus, including:

Means for setting the current balance car as a slave balance car;

Means for establishing a communication connection with a teaching balance vehicle;

Means for initiating the slave balance car to enter a self-balancing state;

Means for detecting the state of the driver;

Means for reading the current operating mode of the teaching balance vehicle when the driver is in the in-position state;

A device for controlling the posture of the slave balance vehicle in accordance with the operation mode.

Compared with the prior art, the technical effect of the invention is that the balance car is a new type of transportation tool, and many novices need to spend more time to master their driving skills, but once the balance car senses the pressure, it will start, resulting in a lot of The person just stepped on one foot and the other foot did not move. The balance car first moved, making many newcomers very unsuitable. In addition, after stepping on, due to the lack of manipulation, it is likely that the pedal is stepped heavily, the angle of inclination is too large, and the acceleration of the balance car is too large, which makes it easy for the driver to fall. The invention establishes a communication connection with other balance vehicles, and sets the machine as a subordinate balance car. Other balance vehicles controlled by skilled driving experience are used as teaching balance vehicles, so that the subordinate balance vehicles follow the teaching balance car movement, so that the novice can quickly find the manipulation. Feeling, avoiding the unfamiliar operation or tension of the novice causes the balance car to get out of control, providing a novice adaptation process for the novice. In addition, the slave balance car starts to enter the self-balancing state, ensuring the driver Can get on the train smoothly.

[Description of the Drawings]

1 is a schematic view of a safety control method for a balance car of the present invention;

2 is a schematic view of a safety control device for a balance car of the present invention.

【detailed description】

Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as a process or method depicted as a flowchart. Although the flowcharts describe various operations as a sequential process, many of the operations can be implemented in parallel, concurrently or concurrently. In addition, the order of operations can be rearranged. The process may be terminated when its operation is completed, but may also have additional steps not included in the figures. The processing may correspond to methods, functions, procedures, subroutines, subroutines, and the like.

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. Wherein, 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 where 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, and a VPN network. Wait.

It should be noted that the user equipment, the network equipment, the network, and the like are merely examples, and other existing or future possible computer equipment or networks, such as those applicable to the present invention, are also included in the scope of the present invention. It is included here by reference.

The methods discussed below, some of which are illustrated by flowcharts, can be implemented in hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to carry out the necessary tasks can be stored in a machine or computer readable medium, such as a storage medium. The processor(s) can perform the necessary tasks.

The specific structural and functional details disclosed are merely representative and are for the purpose of describing exemplary embodiments of the invention. The present invention may, however, be embodied in many alternative forms and should not be construed as being limited only to the embodiments set forth herein.

It should be understood that although the terms "first," "second," etc. may be used herein to describe the various elements, these elements should not be limited by these terms. These terms are used only to distinguish one unit from another. For example, a first unit could be termed a second unit, and similarly a second unit could be termed a first unit, without departing from the scope of the exemplary embodiments. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

It will be understood that when a unit is referred to as "connected" or "coupled" to another unit, it can be directly connected or coupled to the other unit, or an intermediate unit can be present. In contrast, when a unit is referred to as being "directly connected" or "directly coupled" to another unit, there is no intermediate unit. Other words used to describe the relationship between the elements should be interpreted in a similar manner (eg, "between" and "directly between", "and". Than "and... directly adjacent", etc.).

The terminology used herein is for the purpose of describing the particular embodiments, As used herein, the singular forms "a" It is also intended to include plural. It is also to be understood that the terms "comprising" and """ Other features, integers, steps, operations, units, components, and/or combinations thereof.

It should also be noted that, in some alternative implementations, the functions/acts noted may occur in a different order than that illustrated in the drawings. For example, two figures shown in succession may in fact be executed substantially concurrently or sometimes in the reverse order, depending on the function/acts involved.

The present invention will be further described below with reference to the accompanying drawings 1, 2 and the preferred embodiments.

According to an aspect of the invention, the embodiment discloses a method for controlling safety of a balance vehicle, comprising:

Set the current balance car as a slave balance car;

Establish a communication connection with the teaching balance car;

Start the subordinate balance car to enter the self-balancing state;

Detecting driver status;

Optionally, the method for controlling the posture of the slave balancing vehicle to be consistent with the operation mode further includes:

Optionally, the balance car safety control method further includes: when the slave balance car and the teaching balance car are abnormally disconnected from the communication connection, the slave balance car enters the stop self-balancing mode and issues a voice alarm. Through the language prompt, the driver can be constantly reminded to correct the posture. In addition, as long as the vehicle is stopped and self-balanced, even if the driver operates incorrectly, it is not easy to fall off the vehicle and ensure the safety of the driver.

Detecting the driver's weight information;

When the weight information exceeds the preset value, the maximum driving speed is lowered and fed back to the mobile intelligent terminal. Correct the operating mode. Since the weight of the teaching balance car and the subordinate balance car driver cannot be the same, for people with abnormal weight, the parameters need to be corrected to better match the actual situation of the driver.

Optionally, the method for detecting a driver status further includes:

Calculate the safe driving speed based on the weight data;

Optionally, the method for controlling the uniform running of the subordinate balance car according to the safe driving speed further comprises: calculating the distance between the subordinate balance car and the teaching balance car in real time, and controlling the distance between the subordinate balance car and the teaching balance car to be kept within a preset distance, when detecting When the subordinate balance car is running at a safe driving speed, the distance between the balance car subordinate and the teaching balance car continues to increase, and an alarm message is issued.

The teaching balance car is a skilled driver, which can allow a higher running speed, while the slave balancing car is a novice, and its safe driving speed is lower than the maximum driving speed set by the balance car. When the driving balance car speed is too large Yes, the subordinate balance car can't keep up. At this time, it needs to be reminded in time, so that the teaching balance car can speed down in time to ensure the teaching effect.

Optionally, the slave balance vehicle includes a vehicle body, and a pedal assembly disposed on the vehicle body, the pedal assembly includes a pressure sensor respectively corresponding to the two foot plates; and the method for detecting a driver state includes:

Optionally, 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 less than the first threshold, determining driving The member is in the state of being in position.

Optionally, the balance car safety control method further includes:

Record driver's weight and driving habits to generate driving mode data;

Feed the driving mode data back to the teaching balance car.

According to another aspect of the present invention, the present invention also discloses a balance vehicle safety control device, including:

Setting device 10: for setting the current balance car as a slave balance car;

The communication device 20 is configured to establish a communication connection with the teaching balance vehicle;

Balance device 30: used to start the slave balance car into a self-balancing state;

Detecting device 40: for detecting a driver state;

The reading device 50 is configured to read the current running mode of the teaching balance vehicle when the driver is in the in-position state;

Control device 60: for controlling the attitude of the slave balance vehicle to be consistent with the operation mode.

The balance vehicle safety control device of the present invention can be used to implement the balance car safety control method of the present invention.

As a new type of transportation tool, many newcomers need to spend more time to master their driving skills, but once the balance car senses the pressure, it will start, causing many people to step on one foot and the other foot has not yet Move, the balance car will move first, so many newcomers are very unsuitable. In addition, after stepping on, due to the lack of manipulation, it is likely that the pedal is stepped heavily, the angle of inclination is too large, and the acceleration of the balance car is too large, which makes it easy for the driver to fall. The invention establishes a communication connection with other balance vehicles, and sets the machine as a subordinate balance car. Other balance vehicles controlled by skilled driving experience are used as teaching balance vehicles, so that the subordinate balance vehicles follow the teaching balance car movement, so that the novice can quickly find the manipulation. Feeling, avoiding the unfamiliar operation or tension of the novice causes the balance car to get out of control, providing a novice adaptation process for the novice. In addition, the subordinate balance car starts to enter the self-balancing state, ensuring that the driver can get on the train smoothly.

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

A method for controlling safety of a balance vehicle, comprising:

Set the current balance car as a slave balance car;

Establish a communication connection with the teaching balance car;

Start the subordinate balance car to enter the self-balancing state;

Detecting driver status;

Reading the current operating mode of the teaching balance car when the driver is in the in-position state;

The attitude of controlling the slave balance car is consistent with the operation mode.
The balance vehicle safety control method according to claim 1, wherein the method for controlling the attitude of the slave balance vehicle to be consistent with the operation mode further comprises:

Detect whether the posture of the subordinate balance car is consistent with the running mode; when the slave is in equilibrium, the slave balance car starts; otherwise, it stops running and maintains the self-balancing state, issues a voice prompt, and feeds back the error information back to the teaching balance car.
The balance vehicle safety control method according to claim 1, wherein the balance vehicle safety control method further comprises: when the slave balance vehicle and the teaching balance vehicle are abnormally disconnected from the communication connection, the slave balance vehicle enters the stop self-balancing mode, A voice alarm is issued.
The balance vehicle safety control method according to claim 1, wherein the method for controlling the attitude of the slave balance vehicle to be consistent with the operation mode further comprises:

Detecting the driver's weight information;

When the weight information exceeds the preset value, the maximum travel speed is lowered, and feedback is returned to the mobile intelligent terminal to correct the operation mode.
The balance vehicle safety control method according to claim 1, wherein the method for detecting a driver state further comprises:

The driver state is detected by the weight data of the pedal; when the weight data exceeds the preset interval, the cargo mode is activated;

Calculate the safe driving speed based on the weight data;

Control the slave balance car to run at a constant speed at a safe driving speed.
The balance vehicle safety control method according to claim 5, wherein the method for controlling the slave balance vehicle to run at a constant speed according to the safe travel speed further comprises: calculating the distance between the slave balance vehicle and the teaching balance vehicle in real time, and controlling the slave balance vehicle and the teaching balance vehicle. The distance is kept within the preset distance. When the slave balance vehicle is detected to operate at a safe driving speed, the distance between the balancing vehicle slave and the teaching balance vehicle continues to increase, and an alarm message is issued.
The balance vehicle safety control method according to claim 1, wherein the slave balance vehicle includes a vehicle body, and a pedal assembly provided on the vehicle body, the pedal assembly including pressure sensors respectively corresponding to the two leg plates; Methods for detecting driver status include:

Calculate the pressure difference between the two feet and the weight of the driver based on the measured values of the two pressure sensors.

The driver's status is judged based on the ratio of the pressure difference between the two feet and the weight.
The balance vehicle safety control method according to claim 7, wherein the pressure sensor includes a first sensor corresponding to the forefoot, and a second pressure sensor corresponding to the rear heel; when the first sensor and the second sensor measure When the difference is less than the first threshold, it is determined that the driver is in the in-position state.
The balance vehicle safety control method according to claim 7, wherein the balance vehicle safety control method further comprises:

Record driver's weight and driving habits to generate driving mode data;

Feed the driving mode data back to the teaching balance car.
A balance vehicle safety control device, comprising:

Means for setting the current balance car as a slave balance car;

Means for establishing a communication connection with a teaching balance vehicle;

Means for initiating the slave balance car to enter a self-balancing state;

Means for detecting the state of the driver;

Means for reading the current operating mode of the teaching balance vehicle when the driver is in the in-position state;

A device for controlling the posture of the slave balance vehicle in accordance with the operation mode.