WO2018018815A1 - 平衡车的控制方法和装置 - Google Patents

平衡车的控制方法和装置 Download PDF

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Publication number
WO2018018815A1
WO2018018815A1 PCT/CN2016/107707 CN2016107707W WO2018018815A1 WO 2018018815 A1 WO2018018815 A1 WO 2018018815A1 CN 2016107707 W CN2016107707 W CN 2016107707W WO 2018018815 A1 WO2018018815 A1 WO 2018018815A1
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WO
WIPO (PCT)
Prior art keywords
parameter
balance
state
control
balance car
Prior art date
Application number
PCT/CN2016/107707
Other languages
English (en)
French (fr)
Inventor
哈晓琳
勇幸
张晓彤
林尚泉
Original Assignee
北京小米移动软件有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京小米移动软件有限公司 filed Critical 北京小米移动软件有限公司
Priority to RU2017107569A priority Critical patent/RU2673203C2/ru
Priority to KR1020197006024A priority patent/KR102225275B1/ko
Priority to JP2017504355A priority patent/JP6689818B2/ja
Publication of WO2018018815A1 publication Critical patent/WO2018018815A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/12—Recording operating variables ; Monitoring of operating variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
    • B62J25/04—Floor-type foot rests
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/20—Cycle computers as cycle accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/42—Sensor arrangements; Mounting thereof characterised by mounting
    • B62J45/421—Sensor arrangements; Mounting thereof characterised by mounting at the pedal crank
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/16—Single-axle vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
    • B60Y2200/126—Scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present disclosure relates to the field of mobile communication technologies, and in particular, to a control method and apparatus for a balance vehicle.
  • the balance car also known as the electric balance car, is a new type of short-distance vehicle.
  • the balance car is equipped with an acceleration sensor and a gyroscope to control the balance car according to the posture of the body.
  • the balance car When the center of gravity of the user standing on the balance car pedal is monitored, the balance car is controlled to accelerate; when the user's body center of gravity is monitored, the balance car is controlled to decelerate.
  • the center of gravity is inclined backward and the imbalance of the human body causes the fall, especially when the speed of the balance car is fast, the human body is inclined more easily. Causes an imbalance.
  • the embodiments of the present disclosure provide a control method and a device end of a balance vehicle.
  • the technical solution is as follows:
  • a control method of a balance vehicle comprising: acquiring a first state of a parameter input by a user by balancing a vehicle pedal; and when the first state indicates that the parameter occurs Changing, controlling the balance car operation in accordance with the change.
  • the parameter comprises at least one of the following: a pressure parameter, a contact area parameter between the user's foot and the balancer pedal.
  • the parameter comprising the contact area parameter
  • the method further includes:
  • the obtaining the first state of the parameter input by the user by balancing the pedal of the vehicle includes:
  • the first state of the contact area parameter is acquired.
  • the parameter comprising the pressure parameter
  • the method further includes:
  • the obtaining the first state of the parameter input by the user by balancing the pedal of the vehicle includes:
  • the third state indicates that the contact area parameter changes
  • the first state of the pressure parameter is acquired.
  • the first state indicates that the parameter changes
  • the balancing vehicle operation is controlled according to the change, including:
  • the balance car operation is controlled according to the change.
  • the balancing vehicle operation is controlled according to the change, including at least one of the following:
  • the balance vehicle deceleration is controlled according to the reduced value
  • the balance car acceleration is controlled according to the increased value.
  • the parameter comprising the contact area parameter
  • the balancing vehicle operation is controlled according to the change, including at least one of the following:
  • the balance car is decelerated according to the reduced value of the parameter
  • the balance car acceleration is controlled according to the reduced value of the parameter.
  • the method further comprises:
  • the balance car is controlled to maintain the current speed when the first state indicates that the parameter is the same as before the change occurred.
  • a control apparatus for a balance vehicle comprising: a first acquisition module configured to acquire a first state of a parameter input by a user through a balance pedal; first control And a module configured to control the balance vehicle operation according to the change when the first state indicates that the parameter changes.
  • the parameter comprises at least one of the following: a pressure parameter, a contact area parameter between the user's foot and the balancer pedal.
  • the parameter comprising the contact area parameter
  • the device also includes:
  • a second acquiring module configured to acquire a second state of the pressure parameter
  • the first acquiring module includes:
  • the first obtaining unit is configured to acquire the first state of the contact area parameter when the second state indicates that the pressure parameter changes.
  • the parameter comprising the pressure parameter
  • the device also includes:
  • a third acquiring module configured to acquire a third state of the contact area parameter
  • the first acquiring module includes:
  • the second obtaining unit is configured to acquire the first state of the pressure parameter when the third state indicates that the contact area parameter changes.
  • the first control module includes:
  • control unit configured to control the balance vehicle operation according to the change when the first state indicates that the parameter changes, and the change value of the parameter is greater than a threshold.
  • control unit comprising:
  • a first control subunit configured to control the balance vehicle deceleration according to the decrease value when a decrease value of the parameter is greater than a first threshold
  • the second control subunit is configured to control the balance car acceleration according to the increase value when an increase value of the parameter is greater than a second threshold.
  • the parameter comprising the contact area parameter
  • the control unit includes:
  • a third control subunit configured to: when the first state indicates that the user's forefoot is raised, controlling the balance car to deceler according to a decrease value of the parameter;
  • the fourth control subunit is configured to control the balance car acceleration according to the reduced value of the parameter when the first state indicates that the user's rear heel is raised.
  • the device further comprising:
  • the second control module is configured to control the balance vehicle to maintain the current speed when the first state indicates that the parameter is the same as before the change occurs.
  • a control apparatus for a balance vehicle comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to :
  • the balance car operation is controlled according to the change.
  • FIG. 1 is a flow chart showing a method of controlling a balance vehicle according to an exemplary embodiment.
  • FIG. 2 is a flow chart showing a method of controlling a balance vehicle according to another exemplary embodiment.
  • FIG. 3 is a flowchart of a method of controlling a balance vehicle according to another exemplary embodiment.
  • FIG. 4 is a block diagram of a control device for a balance vehicle, according to an exemplary embodiment.
  • FIG. 5 is a block diagram of a control device for a balance vehicle, according to another exemplary embodiment.
  • FIG. 6 is a block diagram of a control device for a balance vehicle, according to another exemplary embodiment.
  • FIG. 7 is a block diagram of a control device for a balance vehicle, according to another exemplary embodiment.
  • FIG. 8 is a block diagram of a control device for a balance vehicle, according to another exemplary embodiment.
  • FIG. 9 is a block diagram of a control device for a balance vehicle, according to another exemplary embodiment.
  • FIG. 10 is a block diagram of a control device for a balance vehicle, according to another exemplary embodiment.
  • FIG. 11 is a block diagram of a control device 1100 for a balance vehicle, according to an exemplary embodiment.
  • FIG. 1 is a flowchart of a method for controlling a balance vehicle according to an exemplary embodiment. As shown in FIG. 1, the control method of the balance vehicle includes the following steps.
  • step 101 a first state of a parameter input by the user through the balance car pedal is obtained.
  • the parameter includes at least one of the following: a pressure parameter, a contact area parameter between the user's foot and the balancer pedal.
  • the user in the process of using the balance car, the user can control the operation of the balance car through the foot.
  • step 102 when the first state indicates that the parameter changes, the balance car operation is controlled according to the change.
  • the first state indication parameter when the first state indication parameter changes, it may further determine whether the parameter change value is greater than a threshold value, and if the parameter change value is greater than the threshold value, Then control the balance car operation according to the change.
  • the threshold is a threshold for balancing the change value of the parameter preset in the vehicle.
  • the parameter changes the parameter value of the parameter may be changed from small to large, or the parameter value of the parameter may be changed from large to small, and usually the control mode of the balance car is different.
  • the control is performed according to the reduced value. Balance the car to slow down.
  • the balance car can be decelerated according to the magnitude of the reduction value.
  • the speed value reduced by the truck is greater.
  • the contact area between the foot and the balance car can be obtained, and when the user is monitored to lift the forefoot, the foot can be monitored between the balance and the balance car.
  • the contact area is reduced.
  • the user can decelerate the balance car, thereby avoiding the occurrence of imbalance of the human body caused by the backward tilting of the center of gravity, thereby improving the safety of the balance car.
  • the parameter value of the monitored parameter when the parameter value of the monitored parameter becomes larger, it may be further determined whether the increased value of the parameter is greater than a second threshold, and if the increased value of the parameter is greater than the second threshold, according to the increase The value controls the balance car to accelerate.
  • the balance car can be acceleratedly controlled according to the magnitude of the increase value, and the larger the increase value, the greater the speed value added by the balance car.
  • the distribution of the pressure parameters on the balance pedal can be analyzed.
  • the pressure value of the heel of the pedal is increased, it can be further determined whether the increase value is greater than the The second threshold, if the increase value is greater than the second threshold, the balance car is controlled to accelerate according to the increase value, thereby facilitating the user to control the acceleration of the balance car through the two feet.
  • first threshold and the second threshold are both preset thresholds in the balance vehicle, and the first threshold and the second threshold may be the same or different, which is not limited in this embodiment.
  • control method of the balance car of the embodiment in the process of controlling the balance car operation, the user can control the acceleration or deceleration of the balance car by changing the state of the balance car, which is convenient.
  • the user controls the balance car through the two feet, which can avoid the occurrence of imbalance of the human body caused by the backward tilting of the center of gravity, thereby improving the safety of the balance car.
  • the control method of the balance vehicle obtained by the embodiment obtains the first state of the parameter input by the user through the balance pedal when the user uses the balance vehicle, and when the first state indicates that the parameter changes,
  • the balance car operation is controlled according to the change, thereby realizing the control of the balance car according to the change of the parameters in the balance car pedal, and the user is convenient to control the speed of the balance car through the two feet, thereby improving the safety of driving.
  • the method further includes: controlling the balance vehicle to maintain the current speed when the first state indication parameter is the same as before the change occurs.
  • the contact area between the foot obtained in the balance car and the balance pedal is obtained.
  • the contact area obtained is B, in accordance with
  • the contact area is changed from B to A.
  • the value of the contact area parameter can be determined to be the same as before the change.
  • the current speed of the balance vehicle can be obtained, and the balance car can be controlled to maintain the current speed.
  • FIG. 2 is a flowchart of a method of controlling a balance vehicle according to another exemplary embodiment. As shown in FIG. 2, the control method of the balance vehicle may include the following steps:
  • step 201 a second state of the pressure parameter input by the user through the balance car pedal is obtained.
  • a plurality of pressure sensors can be installed on the pedal of the balance car, and the pressure data collected by the plurality of pressure sensors can be collected during the process of using the balance car by the user. Analyze and determine the state of the pressure parameters in the balance pedal based on the analysis results.
  • step 202 when the second state indicates that the pressure parameter changes, the first state of the contact area parameter is obtained.
  • the state of the pressure parameter in the balance pedal can be monitored.
  • the pressure parameter can be determined to change.
  • the operation of the balance car is controlled to obtain the first state of the contact area parameter input by the user through the balance pedal.
  • step 203 when the first state indicates that the contact area parameter changes, the balance car operation is controlled according to the change.
  • the change value of the contact area parameter may be further determined to be greater than Threshold, if the change value of the contact area parameter is greater than the threshold, the balance car operation is controlled according to the change.
  • the threshold is a threshold for balancing the change value of the contact area parameter in the vehicle.
  • the balance car deceleration is controlled according to the reduced value of the parameter. That is, when the first state indicates that the user's forefoot is raised, the balance car deceleration is controlled according to the reduced value of the contact area parameter.
  • the balance car can be decelerated according to the magnitude of the reduction value, and the larger the reduction value, the larger the speed value reduced by the balance car.
  • the contact area between the foot and the balance car can be obtained, and when the user is monitored to lift the forefoot, the foot can be monitored between the balance and the balance car.
  • the contact area is reduced.
  • the balance car is decelerated according to the reduced value of the contact area, thereby enabling the user to decelerate the balance car by changing the state of the feet on the balance pedal, thereby avoiding the center of gravity caused by the backward tilt Later, the imbalance of the human body occurs, which further improves the safety of the balance car.
  • the balance car acceleration is controlled according to the reduced value of the parameter. That is to say, when the first indication state indicates that the user's rear heel is raised, the control balance vehicle is accelerated according to the decrease of the contact area parameter.
  • the balance vehicle can be acceleratedly controlled according to the magnitude of the reduction value, and the larger the reduction value, the larger the speed value reduced by the balance vehicle.
  • the contact area between the foot and the balance car can be obtained, and when the user is monitored to lift the rear heel, the foot can be monitored between the balance and the balance car.
  • the contact area is reduced, at this time,
  • the balance car acceleration can be controlled according to the reduced value of the contact area, thereby enabling the user to accelerate the balance car by changing the state of the feet on the balance pedal, thereby avoiding the occurrence of the imbalance of the human body caused by the backward tilting of the center of gravity. , thereby improving the safety of the balance car.
  • the control method of the balance car of this embodiment acquires the second state of the pressure parameter input by the user through the balance car pedal during the operation of controlling the balance car, and indicates that the pressure parameter occurs in the second state.
  • the first state of the contact area parameter is obtained, and when the first state indicates that the contact area parameter changes, the balance car is controlled according to the change, thereby the user can realize the pair by changing the state of the balance car
  • the control of the balance car operation facilitates the user to control the balance car through the two feet, which can avoid the occurrence of imbalance of the human body caused by the backward tilting of the center of gravity, thereby improving the safety of the balance car.
  • FIG. 3 is a flowchart of a method of controlling a balance vehicle according to another exemplary embodiment. As shown in FIG. 3, the control method of the balance vehicle may include the following steps:
  • step 301 a third state of the contact area parameter input by the user through the balance car pedal is obtained.
  • the contact area parameter of the user's foot on the pedal can be obtained through the contact sensor on the pedal, and the contact area data collected by the contact sensor is analyzed, and according to the analysis result.
  • the state of the contact area parameter input by the user through the balance pedal is determined.
  • step 302 when the third state indicates that the contact area parameter changes, the first state of the pressure parameter is acquired.
  • the state of the contact area parameter in the balance pedal can be monitored.
  • the contact area parameter can be determined to change.
  • the first state of the pressure parameter input by the user through the balance car pedal can be obtained.
  • step 303 when the first state indicates that the pressure parameter has changed, the balance car operation is controlled according to the change.
  • the first state of the pressure parameter After obtaining the first state of the pressure parameter, it may be determined whether the first state indicates that the pressure parameter changes, and when it is determined that the first state indicates that the pressure parameter changes, it may further determine whether the change value of the pressure parameter is greater than a threshold, if the pressure If the change value of the parameter is greater than the threshold, the balance car operation is controlled according to the change.
  • the threshold is a threshold for balancing the change value of the pressure parameter in the vehicle.
  • the change of the value of the pressure parameter at the forefoot recorded in the balance vehicle pedal may be further acquired, specifically, if the balance is acquired If the value of the pressure parameter at the forefoot recorded in the vehicle pedal becomes smaller, it may be further determined whether the decrease value of the pressure parameter is further determined to be greater than a fifth threshold, and if the decrease value of the pressure parameter is greater than the fifth threshold, The reduced value controls the balance car to slow down.
  • the balance car can be decelerated according to the magnitude of the reduction value, and the larger the reduction value, the larger the speed value reduced by the balance car.
  • the change of the value of the pressure parameter at the forefoot recorded in the balance vehicle pedal may be further acquired, specifically, if acquired If the value of the pressure parameter at the forefoot recorded in the balance pedal is increased, it may be further determined whether the increase value of the pressure parameter is further greater than a sixth threshold, and if the increase value of the pressure parameter is greater than the sixth threshold, The balance car acceleration is controlled according to the increased value.
  • the deceleration control can be performed on the balance car according to the magnitude of the increase value, and the larger the increase value, the larger the speed value reduced by the balance car.
  • the distribution of the pressure parameters on the balance pedal can be analyzed.
  • the pressure value of the forefoot on the pedal is increased, it can be further determined whether the increase value is greater than The fourth threshold value, if the increase value is greater than the fourth threshold value, controls the balance car to accelerate according to the increase value, thereby facilitating the user to control the acceleration of the balance car through the foot.
  • first threshold and the second threshold are both preset thresholds in the balance vehicle, and the first threshold and the second threshold may be the same or different, which is not limited in this embodiment.
  • the control method of the balance car of this embodiment acquires the third state of the contact area parameter input by the user through the balance car pedal during the operation of controlling the balance car, and indicates the contact area in the third state.
  • the first state of the pressure parameter is acquired, and when the first state indicates that the pressure parameter changes, the balance car is controlled according to the change, thereby the user can change the state of the balance car by changing the state of the balance
  • the control of the balance car operation facilitates the user to control the balance car through the two feet, which can avoid the occurrence of imbalance of the human body caused by the backward tilting of the center of gravity, thereby improving the safety of the balance car.
  • FIG. 4 is a block diagram of a control device for a balance vehicle, according to an exemplary embodiment. As shown in FIG. 4, the control device of the balance vehicle includes:
  • the first obtaining module 100 is configured to acquire a first state of a parameter input by the user through the balance car pedal.
  • the parameter includes at least one of the following: a pressure parameter, a contact area parameter between the user's foot and the balancer pedal.
  • the first control module 200 is configured to control the balance vehicle operation according to the change when the first state indication parameter changes.
  • FIG. 5 is a block diagram of a control device for a balance vehicle according to another exemplary embodiment.
  • the device may further include :
  • the second obtaining module 300 is configured to acquire a second state of the pressure parameter
  • the foregoing first obtaining module 100 may include:
  • the first obtaining unit 110 is configured to acquire the first state of the contact area parameter when the second state indicates that the pressure parameter changes.
  • FIG. 6 is a block diagram of a control device for a balance car according to another exemplary embodiment.
  • the device may further include:
  • the third obtaining module 400 is configured to acquire a third state of the contact area parameter
  • the foregoing first obtaining module 100 may include:
  • the second obtaining unit 120 is configured to acquire the first state of the pressure parameter when the third state indicates that the contact area parameter changes.
  • FIG. 7 is a block diagram of a control device for a balance vehicle according to another exemplary embodiment.
  • the first control module 200 may include:
  • the control unit 210 is configured to control the balance vehicle operation according to the change when the first state indication parameter changes and the change value of the parameter is greater than the threshold.
  • control unit 210 in the device embodiment shown in FIG. 7 may also be included in the device embodiment shown in FIG. 5 and FIG. 6, and the disclosure is not limited thereto.
  • FIG. 8 is a block diagram of a control device for a balance vehicle according to another exemplary embodiment.
  • the control unit 210 includes:
  • the first control subunit 211 is configured to control the balance car deceleration according to the decrease value when the decrease value of the parameter is greater than the first threshold;
  • the second control subunit 212 is configured to control the balance car acceleration according to the increase value when the increase value of the parameter is greater than the second threshold.
  • FIG. 9 is a block diagram of a control device for a balance vehicle according to another exemplary embodiment.
  • the control unit 210 may include:
  • the third control subunit 213 is configured to, when the first state indicates that the forefoot of the user is raised, to control the deceleration of the balance vehicle according to the reduced value of the parameter;
  • the fourth control subunit 214 is configured to control the balance car acceleration according to the reduced value of the parameter when the first state indicates that the user's rear heel is raised.
  • FIG. 10 is a block diagram of a control device for a balance car according to another exemplary embodiment.
  • the device may further include:
  • the second control module 500 is configured to control the balance vehicle to maintain the current speed when the first status indication parameter is the same as before the change occurs.
  • the structure of the second control module 500 in the device embodiment shown in FIG. 10 may also be included in the device embodiment shown in FIG. 5 to FIG. 9 , and the disclosure is not limited thereto.
  • control device for the balance vehicle obtains the first state of the parameter input by the user through the balance pedal when the user uses the balance vehicle, and when the first state indicates that the parameter changes, Control the balance car operation according to the change, thereby realizing the control of the balance car according to the change of the parameters in the balance car pedal, which is convenient to use
  • the user controls the speed of the balance car through the two feet, which improves the safety of driving.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located in one place. Or it can be distributed to multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the objectives of the present disclosure. Those of ordinary skill in the art can understand and implement without any creative effort.
  • FIG. 11 is a block diagram of a control device 1110 for a balance vehicle, according to an exemplary embodiment.
  • apparatus 1100 can include one or more of the following components: processing component 1102, memory 1104, power component 1106, multimedia component 1108, audio component 1110, input/output (I/O) interface 1112, sensor component 1114, And a communication component 1116.
  • Processing component 1102 typically controls the overall operation of device 1100, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 1102 can include one or more processors 1120 to execute instructions to perform all or part of the steps of the above described methods.
  • processing component 1102 can include one or more modules to facilitate interaction between component 1102 and other components.
  • the processing component 1102 can include a multimedia module to facilitate interaction between the multimedia component 1108 and the processing component 1102.
  • Memory 1104 is configured to store various types of data to support operation at device 1100. Examples of such data include instructions for any application or method operating on device 1100, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 1104 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk or Optical Disk.
  • Power component 1106 provides power to various components of device 1100.
  • Power component 1106 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 1100.
  • the multimedia component 1108 includes a screen between the device 1100 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can sense not only the boundaries of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 1108 includes a front camera and/or a rear camera. When the device 1100 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 1110 is configured to output and/or input an audio signal.
  • the audio component 1110 includes a microphone (MIC) that is configured to receive an external audio signal when the device 1100 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 1104 or transmitted via communication component 1116.
  • the audio component 1110 also includes a speaker for outputting an audio signal.
  • the I/O interface 1112 provides an interface between the processing component 1102 and a peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 1114 includes one or more sensors for providing a status assessment of various aspects to device 1100.
  • the sensor assembly 1114 can detect an open/closed state of the device 1100, the relative positioning of the components, such as a display and a keypad of the device 1100, and the sensor component 1114 can also detect a change in position of a component of the device 1100 or device 1100, the user The presence or absence of contact with device 1100, device 1100 orientation or acceleration/deceleration and temperature change of device 1100.
  • Sensor assembly 1114 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor assembly 1114 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor assembly 1114 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 1116 is configured to facilitate wired or wireless communication between device 1100 and other devices.
  • the device 1100 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 1116 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • communication component 1116 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • apparatus 1100 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 1104 comprising instructions executable by processor 1120 of apparatus 1100 to perform the above method.
  • the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • a non-transitory computer readable storage medium when the instructions in the storage medium are executed by a processor of the balancer, enabling the balance vehicle to perform a method of controlling the balance vehicle, the method comprising:
  • the balance car operation is controlled according to the change.

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Abstract

一种平衡车的控制方法和装置，其中该方法包括：获取使用者通过平衡车踏板输入的参数的第一状态；当所述第一状态指示所述参数发生变化，根据所述变化控制所述平衡车运行。该平衡车的控制方法和装置方便用户通过双脚对平衡车的车速进行控制，提高了行驶的安全性。

Description

平衡车的控制方法和装置
本申请基于申请号为201610619170.7、申请日为2016年07月29日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及移动通信技术领域，尤其涉及一种平衡车的控制方法和装置。
背景技术
平衡车又称电动平衡车，是目前新兴的一种短距离交通工具。
平衡车内部设置有加速传感器和陀螺仪，可以根据身体的姿势控制平衡车。在监控到站在平衡车踏板上的用户的身体重心向前时，控制平衡车进行加速；在监控到用户的身体重心后倾时，控制平衡车进行减速。然而，在通过身体后仰控制平衡车减速的过程中，容易出现重心向后倾幅度较大而人体失衡导致摔倒情况的发生，特别是当平衡车的速度较快时，人体后仰更容易导致失衡。
发明内容
为克服相关技术中存在的问题，本公开实施例提供了一种平衡车的控制方法和装置端。所述技术方案如下：
根据本公开实施例的第一方面，提供一种平衡车的控制方法，所述方法包括：获取使用者通过平衡车踏板输入的参数的第一状态；当所述第一状态指示所述参数发生变化，根据所述变化控制所述平衡车运行。
如上所述的方法，所述参数包括以下至少一项：压力参数、使用者脚部与所述平衡车踏板之间的接触面积参数。
如上所述的方法，所述参数包括所述接触面积参数；
所述方法还包括：
获取所述压力参数的第二状态；
所述获取使用者通过平衡车踏板输入的参数的第一状态，包括：
当所述第二状态指示所述压力参数发生变化，获取所述接触面积参数的第一状态。
如上所述的方法，所述参数包括所述压力参数；
所述方法还包括：
获取所述接触面积参数的第三状态；
所述获取使用者通过平衡车踏板输入的参数的第一状态，包括：
当所述第三状态指示所述接触面积参数发生变化，获取所述压力参数的第一状态。
如上所述的方法，所述当所述第一状态指示所述参数发生变化，根据所述变化控制所述平衡车运行，包括：
当所述第一状态指示所述参数发生变化，且所述参数的变化值大于阈值，根据所述变化控制所述平衡车运行。
如上所述的方法，所述当所述第一状态指示所述参数发生变化，且所述参数的变化值大于阈值，根据所述变化控制所述平衡车运行，包括以下至少一项：
当所述参数的减小值大于第一阈值，根据所述减小值控制所述平衡车减速；
当所述参数的增大值大于第二阈值，根据所述增大值控制所述平衡车加速。
如上所述的方法，所述参数包括所述接触面积参数；
所述当所述第一状态指示所述参数发生变化，且所述参数的变化值大于阈值，根据所述变化控制所述平衡车运行，包括以下至少一项：
当所述第一状态指示所述使用者的前脚掌抬起，根据所述参数的减小值控制所述平衡车减速；
当所述第一状态指示所述使用者的后脚跟抬起，根据所述参数的减小值控制所述平衡车加速。
如上所述的方法，在所述根据所述变化控制所述平衡车运行之后，所述方法还包括：
当所述第一状态指示所述参数与发生所述变化前相同，控制所述平衡车保持当前速度。
根据本公开实施例的第二方面，提供一种平衡车的控制装置，所述装置包括：第一获取模块，被配置为获取使用者通过平衡车踏板输入的参数的第一状态；第一控制模块，被配置为在所述第一状态指示所述参数发生变化时，根据所述变化控制所述平衡车运行。
如上所述的装置，所述参数包括以下至少一项：压力参数、使用者脚部与所述平衡车踏板之间的接触面积参数。
如上所述的装置，所述参数包括所述接触面积参数；
所述装置还包括：
第二获取模块，被配置为获取所述压力参数的第二状态；
所述第一获取模块，包括：
第一获取单元，被配置为在所述第二状态指示所述压力参数发生变化时，获取所述接触面积参数的第一状态。
如上所述的装置，所述参数包括所述压力参数；
所述装置还包括：
第三获取模块，被配置为获取所述接触面积参数的第三状态；
所述第一获取模块，包括：
第二获取单元，被配置为在所述第三状态指示所述接触面积参数发生变化时，获取所述压力参数的第一状态。
如上所述的装置，所述第一控制模块，包括：
控制单元，被配置为在所述第一状态指示所述参数发生变化，且所述参数的变化值大于阈值时，根据所述变化控制所述平衡车运行。
如上所述的装置，所述控制单元，包括：
第一控制子单元，被配置为在所述参数的减小值大于第一阈值时，根据所述减小值控制所述平衡车减速；
第二控制子单元，被配置为在所述参数的增大值大于第二阈值时，根据所述增大值控制所述平衡车加速。
如上所述的装置，所述参数包括所述接触面积参数；
所述控制单元，包括：
第三控制子单元，被配置为当所述第一状态指示所述使用者的前脚掌抬起，根据所述参数的减小值控制所述平衡车减速；
第四控制子单元，被配置为当所述第一状态指示所述使用者的后脚跟抬起，根据所述参数的减小值控制所述平衡车加速。
如上所述的装置，所述装置还包括：
第二控制模块，被配置为在所述第一状态指示所述参数与发生所述变化前相同时，控制所述平衡车保持当前速度。
根据本公开实施例的第三方面，提供一种平衡车的控制装置，该平衡车的控制装置包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为：
获取使用者通过平衡车踏板输入的参数的第一状态；
当所述第一状态指示所述参数发生变化，根据所述变化控制所述平衡车运行。
本公开实施例提供的技术方案可以包括以下有益效果：
在使用者使用平衡车的过程中，获取使用者通过平衡车踏板输入的参数的第一状态，并在第一状态指示参数发生变化时，根据变化控制平衡车运行，由此，根据平衡车踏板中的参数的变化实现了对平衡车的控制，方便用户通过双脚对平衡车的车速进行控制，提高了行驶的安全性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起被配置为解释本公开的原理。
图1是根据一示例性实施例示出的一种平衡车的控制方法的流程图。
图2是根据另一示例性实施例示出的一种平衡车的控制方法的流程图。
图3是根据另一示例性实施例示出的一种平衡车的控制方法的流程图。
图4是根据一示例性实施例示出的一种平衡车的控制装置的框图。
图5是根据另一示例性实施例示出的一种平衡车的控制装置的框图。
图6是根据另一示例性实施例示出的一种平衡车的控制装置的框图。
图7是根据另一示例性实施例示出的一种平衡车的控制装置的框图。
图8是根据另一示例性实施例示出的一种平衡车的控制装置的框图。
图9是根据另一示例性实施例示出的一种平衡车的控制装置的框图。
图10是根据另一示例性实施例示出的一种平衡车的控制装置的框图。
图11是根据一示例性实施例示出的一种平衡车的控制装置1100的框图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
本公开实施例提供一种平衡车的控制方法，本实施例以该平衡车的控制方法应用于平衡车中，该实施例以平衡车具有踏板为例进行描述。参考图1，图1是根据一示例性实施例示出的一种平衡车的控制方法的流程图。如图1所示，该平衡车的控制方法包括以下几个步骤。
在步骤101中，获取使用者通过平衡车踏板输入的参数的第一状态。
其中，参数包括以下至少一项：压力参数、使用者脚部与平衡车踏板之间的接触面积参数。
也就是说，在使用平衡车的过程中，使用者可通过脚部对平衡车的运行进行控制。
在步骤102中，当第一状态指示参数发生变化，根据变化控制平衡车运行。
在使用者使用平衡车的过程中，为了可以准确对平衡车的运行进行控制，在第一状态指示参数发生变化时，可进一步判断参数的变化值是否大于阈值，如果参数的变化值大于阈值，则根据变化控制平衡车运行。
其中，阈值是平衡车中预先设置参数的变化值的阈值。
其中，需要理解的是，参数发生变化，可以是参数的参数值由小变大，也可以是参数的参数值由大变小，通常不同变化对平衡车的控制方式不同。
作为一种示例性的实施方式，在监控到参数的参数值变小时，可进一步判断参数的减小值是否大于第一阈值，如果参数的减小值大于第一阈值，则根据减小值控制平衡车减速。
其中，需要说明的是，可根据减小值的大小对平衡车进行减速控制，减小值越大，平 衡车所减的速度值越大。
例如，在使用者使用具有两个踏板的平衡车的过程中，可获取脚部与平衡车之间的接触面积，当监控到用户抬起前脚掌时，可监控到脚部与平衡车之间的接触面积减少，此时，可进一步判断所减少的接触面积的减小值是否大于第一阈值，如果该减小值大于第一阈值，则根据减小值控制平衡车减速，由此，使得用户通过改变平衡车踏板上双脚的状态即可对平衡车减速，可避免后仰导致重心向后而造成人体失衡情况的发生，进而提高了平衡车的安全性。
作为另一种示例性的实施方式，在监控到参数的参数值变大时，可进一步判断参数的增大值是否大于第二阈值，如果参数的增大值大于第二阈值，则根据增大值控制平衡车加速。
其中，需要理解的是，可根据增大值的大小对平衡车进行加速控制，增大值越大，平衡车所增加的速度值越大。
例如，在使用者使用平衡车的过程中，可对平衡车踏板上的压力参数的分布情况进行分析，当监控到踏板上脚后跟的压力值变大时，可进一步判断该增大值是否大于第二阈值，如果增大值大于第二阈值，则根据增大值控制平衡车进行加速，由此，方便了用户通过双脚对平衡车的加速进行控制。
其中，需要理解的是，第一阈值和第二阈值均是平衡车中预先设置的阈值，第一阈值和第二阈值的大小可以相同，也可以不同，该实施例对此不作限定。
综上可以看出，该实施例的平衡车的控制方法，在控制平衡车运行的过程中，使用者可通过改变双脚在平衡车的状态实现对平衡车的加速或者减速进行控制，方便了用户通过双脚对平衡车进行控制，可避免后仰导致重心向后而造成人体失衡情况的发生，进而提高了平衡车的安全性。
综上，本实施例提供的平衡车的控制方法，在使用者使用平衡车的过程中，获取使用者通过平衡车踏板输入的参数的第一状态，并在第一状态指示参数发生变化时，根据变化控制平衡车运行，由此，根据平衡车踏板中的参数的变化实现了对平衡车的控制，方便用户通过双脚对平衡车的车速进行控制，提高了行驶的安全性。
基于上述实施例的基础上，在根据变化控制平衡车运行之后，还可以包括：当第一状态指示参数与发生变化前相同，控制平衡车保持当前速度。
例如，在使用者使用平衡车的过程中，假设开始时使用者将脚部全部置于平衡车的踏板上，此时，平衡车中所获取到的脚部与平衡车踏板之间的接触面积为A，如果为了使得对平衡车进行减速，使用者抬起了自己的前脚掌，通过比较可确定脚部与踏板之间的接触面积变小，假设所获取到的接触面积为B，在根据该变化对平衡车进行减速的过程中，在平衡车的速度达到使用者所需要的速度后，使用者可将前脚掌再次落在平衡车上，此时，脚部与平衡车踏板之间的接触面积由B变为A，根据第一状态可确定接触面积参数的值与发生变化前相同，此时，可获取平衡车的当前速度，并控制平衡车保持当前速度运行。
本公开实施例提供一种平衡车的控制方法，本实施例以该平衡车的控制方法应用于平衡车中，该实施例以平衡车具有踏板为例进行描述。参考图2，图2是根据另一示例性实施例示出的一种平衡车的控制方法的流程图。如图2所示，该平衡车的控制方法可以包括如下几个步骤：
在步骤201中，获取使用者通过平衡车踏板输入的压力参数的第二状态。
为了使得用户可通过双脚对平衡车的运行进行控制，可在平衡车的踏板上安装多个压力传感器，在使用者使用平衡车的过程中，可对多个压力传感器所采集到的压力数据进行分析，并根据分析结果确定平衡车踏板中压力参数的状态。
在步骤202中，当第二状态指示压力参数发生变化，获取接触面积参数的第一状态。
在使用者使用平衡车的过程中，可对平衡车踏板中的压力参数的状态进行监控，当监控到平衡车踏板中的压力参数的状态发生变化时，可确定压力参数发生变化，为了可以对平衡车的运行进行控制，可获取使用者通过平衡车踏板输入的接触面积参数的第一状态。
在步骤203中，当第一状态指示接触面积参数发生变化，根据变化控制平衡车运行。
在获取接触面积参数的第一状态后，可判断第一状态是否指示接触面积参数发生变化，并在判断出第一状态指示接触面积参数发生变化时，可进一步判断接触面积参数的变化值是否大于阈值，如果接触面积参数的变化值大于阈值，则根据变化控制平衡车运行。
其中，阈值是平衡车中预先设置接触面积参数的变化值的阈值。
作为一种示例性的实施方式，当第一状态指示使用者的前脚掌抬起，根据参数的减小值控制平衡车减速。也就是说，在第一状态指示使用者的前脚掌抬起时，根据接触面积参数的减小值控制平衡车减速。
其中，需要说明的是，可根据减小值的大小对平衡车进行减速控制，减小值越大，平衡车所减的速度值越大。
例如，在使用者使用具有两个踏板的平衡车的过程中，可获取脚部与平衡车之间的接触面积，当监控到用户抬起前脚掌时，可监控到脚部与平衡车之间的接触面积减少，此时，则根据接触面积的减小值控制平衡车减速，由此，使得用户通过改变平衡车踏板上双脚的状态即可对平衡车减速，可避免后仰导致重心向后而造成人体失衡情况的发生，进而提高了平衡车的安全性。
作为一种示例性的实施方式，当第一状态指示使用者的后脚跟抬起，根据参数的减小值控制平衡车加速。也就是说，在第一指示状态指示使用者的后脚跟抬起时，根据接触面积参数的减小至控制平衡车加速。
其中，需要说明的是，可根据减小值的大小对平衡车进行加速控制，减小值越大，平衡车所减的速度值越大。
例如，在使用者使用具有两个踏板的平衡车的过程中，可获取脚部与平衡车之间的接触面积，当监控到用户抬起后脚跟时，可监控到脚部与平衡车之间的接触面积减少，此时， 可根据接触面积的减小值控制平衡车加速，由此，使得用户通过改变平衡车踏板上双脚的状态即可对平衡车加速，可避免后仰导致重心向后而造成人体失衡情况的发生，进而提高了平衡车的安全性。
综上可以看出，该实施例的平衡车的控制方法，在控制平衡车运行的过程中，获取使用者通过平衡车踏板输入的压力参数的第二状态，并在第二状态指示压力参数发生变化时，获取接触面积参数的第一状态，并在第一状态指示接触面积参数发生变化时，根据变化对平衡车进行控制，由此，使用者可通过改变双脚在平衡车的状态实现对平衡车运行的控制，方便了用户通过双脚对平衡车进行控制，可避免后仰导致重心向后而造成人体失衡情况的发生，进而提高了平衡车的安全性。
本公开实施例提供一种平衡车的控制方法，本实施例以该平衡车的控制方法应用于平衡车中，该实施例以平衡车具有踏板为例进行描述。参考图3，图3是根据另一示例性实施例示出的一种平衡车的控制方法的流程图。如图3所示，该平衡车的控制方法可以包括如下几个步骤：
在步骤301中，获取使用者通过平衡车踏板输入的接触面积参数的第三状态。
在使用者使用平衡车的过程中，可通过踏板上的接触传感器获取使用者的脚部在踏板上的接触面积参数，并通过对接触传感器所采集到的接触面积数据进行分析，以及根据分析结果确定使用者通过平衡车踏板输入的接触面积参数的状态。
在步骤302中，当第三状态指示接触面积参数发生变化，获取压力参数的第一状态。
在使用者使用平衡车的过程中，可对平衡车踏板中的接触面积参数的状态进行监控，当监控到平衡车踏板中的接触面积参数的状态发生变化时，可确定接触面积参数发生变化，为了可以对平衡车的运行进行准确控制，此时，可获取使用者通过平衡车踏板输入的压力参数的第一状态。
在步骤303中，当第一状态指示压力参数发生变化，根据变化控制平衡车运行。
在获取压力参数的第一状态后，可判断第一状态是否指示压力参数发生变化，并在判断出第一状态指示压力参数发生变化时，可进一步判断压力参数的变化值是否大于阈值，如果压力参数的变化值大于阈值，则根据变化控制平衡车运行。
其中，阈值是平衡车中预先设置压力参数的变化值的阈值。
作为一种示例性的实施方式，在第一状态指示压力参数发生变化时，可进一步获取平衡车踏板中所记录的前脚掌处的压力参数的值的变化情况，具体而言，如果获取到平衡车踏板中所记录的前脚掌处的压力参数的值变小，则可进一步判断可进一步判断压力参数的减小值是否大于第五阈值，如果压力参数的减小值大于第五阈值，则根据减小值控制平衡车减速。
其中，需要说明的是，可根据减小值的大小对平衡车进行减速控制，减小值越大，平衡车所减的速度值越大。
作为另一种示例性的实施方式，在第一状态指示压力参数发生变化时，可进一步获取平衡车踏板中所记录的前脚掌处的压力参数的值的变化情况，具体而言，如果获取到平衡车踏板中所记录的前脚掌处的压力参数的值变大，则可进一步判断可进一步判断压力参数的增大值是否大于第六阈值，如果压力参数的增大值大于第六阈值，则根据增大值控制平衡车加速。
其中，需要理解的是，可根据增大值的大小对平衡车进行减速控制，增大值越大，平衡车所减的速度值越大。
例如，在使用者使用平衡车的过程中，可对平衡车踏板上的压力参数的分布情况进行分析，当监控到踏板上前脚掌的压力值变大时，可进一步判断该增大值是否大于第四阈值，如果增大值大于第四阈值，则根据增大值控制平衡车进行加速，由此，方便了用户通过脚对平衡车的加速进行控制。
其中，需要理解的是，第一阈值和第二阈值均是平衡车中预先设置的阈值，第一阈值和第二阈值的大小可以相同，也可以不同，该实施例对此不作限定。
综上可以看出，该实施例的平衡车的控制方法，在控制平衡车运行的过程中，获取使用者通过平衡车踏板输入的接触面积参数的第三状态，并在第三状态指示接触面积参数发生变化时，获取压力参数的第一状态，并在第一状态指示压力参数发生变化时，根据变化对平衡车进行控制，由此，使用者可通过改变双脚在平衡车的状态实现对平衡车运行的控制，方便了用户通过双脚对平衡车进行控制，可避免后仰导致重心向后而造成人体失衡情况的发生，进而提高了平衡车的安全性。
下述为本公开装置实施例，可以被配置为执行本公开方法实施例。对于本公开装置实施例中未披露的细节，请参照本公开方法实施例。
本公开实施例提供一种平衡车的控制装置，本实施例以该平衡车的控制装置应用于平衡车中，该平衡车的控制装置可以通过软件、硬件或者两者的结合实现，该实施例以平衡车具有踏板为例进行描述。图4是根据一示例性实施例示出的一种平衡车的控制装置的框图。如图4所示，该平衡车的控制装置包括：
第一获取模块100，被配置为获取使用者通过平衡车踏板输入的参数的第一状态。
其中，参数包括以下至少一项：压力参数、使用者脚部与平衡车踏板之间的接触面积参数。
第一控制模块200，被配置为在第一状态指示参数发生变化时，根据变化控制平衡车运行。
图5是根据另一示例性实施例示出的一种平衡车的控制装置的框图，在图4所示的基础上，如图5所示，在参数为接触面积参数时，上述装置还可以包括：
第二获取模块300，被配置为获取压力参数的第二状态；
如图5所示，上述第一获取模块100可以包括：
第一获取单元110，被配置为在第二状态指示压力参数发生变化时，获取接触面积参数的第一状态。
图6是根据另一示例性实施例示出的一种平衡车的控制装置的框图，在图4所示的基础上，如图6所示，在参数为压力参数时，上述装置还可以包括：
第三获取模块400，被配置为获取接触面积参数的第三状态；
其中，如图6所示，上述第一获取模块100可以包括：
第二获取单元120，被配置为在第三状态指示接触面积参数发生变化时，获取压力参数的第一状态。
图7是根据另一示例性实施例示出的一种平衡车的控制装置的框图，在图4所示的基础上，如图7所示，第一控制模块200可以包括：
控制单元210，被配置为在第一状态指示参数发生变化，且参数的变化值大于阈值时，根据变化控制平衡车运行。
其中，需要说明的是，上述图7所示的装置实施例中的控制单元210的结构也可以包含在图5和图6所示的装置实施例中，对此本公开不作限定。
图8是根据另一示例性实施例示出的一种平衡车的控制装置的框图，在图7所示的基础上，如图8所示，控制单元210，包括：
第一控制子单元211，被配置为在参数的减小值大于第一阈值时，根据减小值控制平衡车减速；
第二控制子单元212，被配置为在参数的增大值大于第二阈值时，根据增大值控制平衡车加速。
图9是根据另一示例性实施例示出的一种平衡车的控制装置的框图，在图7所示的基础上，如图9所示，在参数为接触面积参数时，上述控制单元210可以包括：
第三控制子单元213，被配置为当第一状态指示使用者的前脚掌抬起，根据参数的减小值控制平衡车减速；
第四控制子单元214，被配置为当第一状态指示使用者的后脚跟抬起，根据参数的减小值控制平衡车加速。
图10是根据另一示例性实施例示出的一种平衡车的控制装置的框图，在图4所示的基础上，如图10所示，上述装置还可以包括：
第二控制模块500，被配置为在第一状态指示参数与发生变化前相同时，控制平衡车保持当前速度。
其中，需要说明的是，上述图10所示的装置实施例中的第二控制模块500的结构也可以包含在图5至图9所示的装置实施例中，对此本公开不作限定。
综上，本实施例提供的平衡车的控制装置，在使用者使用平衡车的过程中，获取使用者通过平衡车踏板输入的参数的第一状态，并在第一状态指示参数发生变化时，根据变化控制平衡车运行，由此，根据平衡车踏板中的参数的变化实现了对平衡车的控制，方便用 户通过双脚对平衡车的车速进行控制，提高了行驶的安全性。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本公开方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
本公开实施例提供一种平衡车的控制装置，本实施例以该平衡车的控制装置应用于平衡车中，该实施例以平衡车具有踏板为例进行描述。参考图11，图11是根据一示例性实施例示出的一种平衡车的控制装置1110的框图。
参照图11，装置1100可以包括以下一个或多个组件：处理组件1102，存储器1104，电源组件1106，多媒体组件1108，音频组件1110，输入/输出(I/O)的接口1112，传感器组件1114，以及通信组件1116。
处理组件1102通常控制装置1100的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件1102可以包括一个或多个处理器1120来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件1102可以包括一个或多个模块，便于处理组件1102和其他组件之间的交互。例如，处理组件1102可以包括多媒体模块，以方便多媒体组件1108和处理组件1102之间的交互。
存储器1104被配置为存储各种类型的数据以支持在装置1100的操作。这些数据的示例包括用于在装置1100上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器1104可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件1106为装置1100的各种组件提供电力。电源组件1106可以包括电源管理系统，一个或多个电源，及其他与为装置1100生成、管理和分配电力相关联的组件。
多媒体组件1108包括在装置1100和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件1108包括一个前置摄像头和/或后置摄像头。当装置1100处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件1110被配置为输出和/或输入音频信号。例如，音频组件1110包括一个麦克风(MIC)，当装置1100处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器1104或经由通信组件1116发送。在一些实施例中，音频组件1110还包括一个扬声器，用于输出音频信号。
I/O接口1112为处理组件1102和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件1114包括一个或多个传感器，用于为装置1100提供各个方面的状态评估。例如，传感器组件1114可以检测到装置1100的打开/关闭状态，组件的相对定位，例如组件为装置1100的显示器和小键盘，传感器组件1114还可以检测装置1100或装置1100一个组件的位置改变，用户与装置1100接触的存在或不存在，装置1100方位或加速/减速和装置1100的温度变化。传感器组件1114可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件1114还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件1114还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件1116被配置为便于装置1100和其他设备之间有线或无线方式的通信。装置1100可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件1116经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，通信组件1116还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置1100可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器1104，上述指令可由装置1100的处理器1120执行以完成上述方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
一种非临时性计算机可读存储介质，当存储介质中的指令由平衡车的处理器执行时，使得平衡车能够执行一种平衡车的控制方法，方法包括：
获取使用者通过平衡车踏板输入的参数的第一状态；
当第一状态指示参数发生变化，根据变化控制平衡车运行。
需要说明的是，前述对平衡车的控制方法实施例的解释说明也适用于该实施例的平衡 车的控制装置，其实现原理类似，此处不再赘述。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (17)

  1. 一种平衡车的控制方法，其特征在于，包括：
    获取使用者通过平衡车踏板输入的参数的第一状态；
    当所述第一状态指示所述参数发生变化，根据所述变化控制所述平衡车运行。
  2. 如权利要求1所述的方法，其特征在于，所述参数包括以下至少一项：压力参数、使用者脚部与所述平衡车踏板之间的接触面积参数。
  3. 如权利要求2所述的方法，其特征在于，所述参数包括所述接触面积参数；
    所述方法还包括：
    获取所述压力参数的第二状态；
    所述获取使用者通过平衡车踏板输入的参数的第一状态，包括：
    当所述第二状态指示所述压力参数发生变化，获取所述接触面积参数的第一状态。
  4. 如权利要求2所述的方法，其特征在于，所述参数包括所述压力参数；
    所述方法还包括：
    获取所述接触面积参数的第三状态；
    所述获取使用者通过平衡车踏板输入的参数的第一状态，包括：
    当所述第三状态指示所述接触面积参数发生变化，获取所述压力参数的第一状态。
  5. 如权利要求2至4中任一项所述的方法，其特征在于，所述当所述第一状态指示所述参数发生变化，根据所述变化控制所述平衡车运行，包括：
    当所述第一状态指示所述参数发生变化，且所述参数的变化值大于阈值，根据所述变化控制所述平衡车运行。
  6. 如权利要求5所述的方法，其特征在于，所述当所述第一状态指示所述参数发生变化，且所述参数的变化值大于阈值，根据所述变化控制所述平衡车运行，包括以下至少一项：
    当所述参数的减小值大于第一阈值，根据所述减小值控制所述平衡车减速；
    当所述参数的增大值大于第二阈值，根据所述增大值控制所述平衡车加速。
  7. 如权利要求5所述的方法，其特征在于，所述参数包括所述接触面积参数；
    所述当所述第一状态指示所述参数发生变化，且所述参数的变化值大于阈值，根据所述变化控制所述平衡车运行，包括以下至少一项：
    当所述第一状态指示所述使用者的前脚掌抬起，根据所述参数的减小值控制所述平衡车减速；
    当所述第一状态指示所述使用者的后脚跟抬起，根据所述参数的减小值控制所述平衡车加速。
  8. 如权利要求1所述的方法，其特征在于，在所述根据所述变化控制所述平衡车运行之后，所述方法还包括：
    当所述第一状态指示所述参数与发生所述变化前相同，控制所述平衡车保持当前速 度。
  9. 一种平衡车的控制装置，其特征在于，包括：
    第一获取模块，被配置为获取使用者通过平衡车踏板输入的参数的第一状态；
    第一控制模块，被配置为在所述第一状态指示所述参数发生变化时，根据所述变化控制所述平衡车运行。
  10. 如权利要求9所述的装置，其特征在于，所述参数包括以下至少一项：压力参数、使用者脚部与所述平衡车踏板之间的接触面积参数。
  11. 如权利要求10所述的装置，其特征在于，所述参数包括所述接触面积参数；
    所述装置还包括：
    第二获取模块，被配置为获取所述压力参数的第二状态；
    所述第一获取模块，包括：
    第一获取单元，被配置为在所述第二状态指示所述压力参数发生变化时，获取所述接触面积参数的第一状态。
  12. 如权利要求10所述的装置，其特征在于，所述参数包括所述压力参数；
    所述装置还包括：
    第三获取模块，被配置为获取所述接触面积参数的第三状态；
    所述第一获取模块，包括：
    第二获取单元，被配置为在所述第三状态指示所述接触面积参数发生变化时，获取所述压力参数的第一状态。
  13. 如权利要求10至12中任一项所述的装置，其特征在于，所述第一控制模块，包括：
    控制单元，被配置为在所述第一状态指示所述参数发生变化，且所述参数的变化值大于阈值时，根据所述变化控制所述平衡车运行。
  14. 如权利要求13所述的装置，其特征在于，所述控制单元，包括：
    第一控制子单元，被配置为在所述参数的减小值大于第一阈值时，根据所述减小值控制所述平衡车减速；
    第二控制子单元，被配置为在所述参数的增大值大于第二阈值时，根据所述增大值控制所述平衡车加速。
  15. 如权利要求13所述的装置，其特征在于，所述参数包括所述接触面积参数；
    所述控制单元，包括：
    第三控制子单元，被配置为当所述第一状态指示所述使用者的前脚掌抬起，根据所述参数的减小值控制所述平衡车减速；
    第四控制子单元，被配置为当所述第一状态指示所述使用者的后脚跟抬起，根据所述参数的减小值控制所述平衡车加速。
  16. 如权利要求9所述的装置，其特征在于，所述装置还包括：
    第二控制模块，被配置为在所述第一状态指示所述参数与发生所述变化前相同时，控制所述平衡车保持当前速度。
  17. 一种平衡车的控制装置，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    获取使用者通过平衡车踏板输入的参数的第一状态；
    当所述第一状态指示所述参数发生变化，根据所述变化控制所述平衡车运行。
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