WO2022057075A1

WO2022057075A1 - Balance car alarm method and system, and balance car

Info

Publication number: WO2022057075A1
Application number: PCT/CN2020/129845
Authority: WO
Inventors: 臧传美
Original assignee: 浙江阿尔郎科技有限公司
Priority date: 2020-09-16
Filing date: 2020-11-18
Publication date: 2022-03-24
Also published as: CN112053540A

Abstract

A balance car alarm method and system, and a balance car. The balance car alarm method comprises: acquiring the running state and the running speed of a balance car (S101); according to the running state, comparing the running speed with a threshold value corresponding to the running state (S102); and according to the comparison result, generating an alarm instruction and sending the alarm instruction to a Bluetooth broadcasting module, such that the Bluetooth broadcasting module selects, according to the alarm instruction, a corresponding alarm voice for broadcasting (S103). The problem of the poor alarm effect in raising an alarm regarding the running state of a balance car by means of an external network and mobile phone software is solved, and the alarm effect for an abnormal running state of the balance car is improved.

Description

Balance car alarm method, system and balance car

technical field

The present application relates to the technical field of self-balancing vehicles, and in particular, to an alarm method and system for a self-balancing vehicle and a self-balancing vehicle.

Background technique

The operation principle of the balance car is mainly based on a basic principle called "dynamic stability", which is the automatic balance ability of the vehicle itself. The built-in precision solid-state gyroscope is used to judge the posture state of the body. And after the high-speed central microprocessor calculates the appropriate command, it drives the motor to achieve the effect of balance. The greater the load, the greater the driving kinetic energy, which has the characteristics of good environmental protection; It can work in narrow and large corner workplaces; the advantages of the balance car make it a fast, environmentally friendly, safe, comfortable, small and flexible green transportation, and it is a substitute for cars and bicycles in the future, and has a broad market. and economic benefits.

technical problem

In related technologies, when the balance car moves, there are often overspeed, low battery, reversing, etc. In order to drive safely, it is necessary to transmit alarm information to the occupants, such as overspeed alarm, low battery alarm, reversing alarm, etc., through the alarm information Prompt the occupant to know the running status of the vehicle in time; the traditional alarm system needs the help of external network and mobile phone software. When the balance car is overspeeding, low battery, reversing collision, etc., it will send the balance car running status to the occupant's mobile phone In the software, but because the occupant is driving the balance car, the occupant cannot turn on the mobile phone in time and know the current running status of the vehicle through the mobile phone software, which makes the alarm effect poor.

At present, there is a problem that the alarm effect is poor in the way of alarming the running state of the self-balancing vehicle by means of an external network and mobile phone software in the related art, and an effective solution has not yet been proposed.

technical solutions

The embodiments of the present application provide a balance vehicle alarm method, system, and balance vehicle, so as to at least solve the problem of poor alarm effect in the related art method of alarming the running state of the balance vehicle by means of an external network and mobile phone software.

In a first aspect, an embodiment of the present application provides an alarm method for a balance car, the method comprising:

Get the running status and running speed of the balance car;

According to the operating state, comparing the operating speed with a threshold corresponding to the operating state;

According to the comparison result, an alarm instruction is generated and sent to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction.

In some of the embodiments, the operating speed is compared with a threshold value corresponding to the operating state according to the operating state; according to the comparison result, an alarm instruction is generated and the alarm instruction is sent to the Bluetooth broadcast module, so that the The bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction, including: the running state includes a forward state and a backward state;

if the operating state is a forward state, comparing the operating speed with a forward speed threshold;

If the running speed is greater than the forward speed threshold, generate a first alarm instruction and send the first alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module broadcasts an overspeed alarm voice according to the first alarm instruction.

In some of these embodiments, if the operating speed is greater than the forward speed threshold, the control drive module reduces the operating speed of the self-balancing vehicle.

In some of these embodiments, if the operating state is the reverse state, comparing the operating speed to a reverse speed threshold;

If the running speed is greater than the backward speed threshold, a second alarm command is generated and sent to the Bluetooth broadcast module, so that the Bluetooth broadcast module broadcasts the reversing alarm voice according to the second alarm command.

In some of these embodiments, if the running speed is greater than the backward speed threshold, the control driving module maintains the running speed of the self-balancing vehicle, so that the running speed of the self-balancing vehicle does not increase any more.

In some of these embodiments, the method further includes:

Obtain the battery power of the balance car;

If the battery power is lower than the power threshold, generate a third alarm instruction and send the third alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module broadcasts the Abnormal battery alarm voice.

In some of the embodiments, the Bluetooth broadcast module includes a Bluetooth module and a sound playback module, and the Bluetooth module selects a corresponding alarm voice according to the alarm instruction to broadcast through the sound playback module.

In some of these embodiments, a power amplification module is further connected between the Bluetooth module and the sound playback module, and the power amplification module is used to increase the alarm transmitted by the Bluetooth module to the sound playback module voice signal.

In a second aspect, an embodiment of the present application provides a balance car alarm system, the system includes a control module, a detection module, and a Bluetooth broadcast module;

the detection module, connected with the control module, is used to detect the running state and running speed of the balance vehicle;

One end of the control module is connected with the detection module to obtain the running state and running speed of the balance car, and the other end is connected with the Bluetooth broadcast module; and according to the running state, the running speed is compared with the corresponding running state. The thresholds are compared to generate an alarm instruction according to the comparison result and send the alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction.

In a third aspect, an embodiment of the present application provides a balance car, including a wheel and a frame, and the balance car further includes a balance car provided on the frame or on the wheel for detecting the running state and running speed of the balance car a sensor, a processor connected to the sensor on the frame, and a Bluetooth broadcast module connected to the processor on the frame;

The processor obtains the running state and the running speed of the self-balancing vehicle through the sensor, and compares the running speed with a threshold corresponding to the running state according to the running state, so as to generate an alarm instruction according to the comparison result and send the The alarm instruction is sent to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction.

beneficial effect

Compared with the related art, the balance car alarm method, system and balance car provided by the embodiments of the present application, the method obtains the running state and the running speed of the balance car, and according to the running state, compares the running speed with the corresponding running state. The thresholds are compared, and according to the comparison result, an alarm instruction is generated and the alarm instruction is sent to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction, which solves the problem in the related art. With the help of the external network and mobile phone software to alarm the running state of the self-balancing vehicle, there is a problem of poor alarming effect, which improves the alarming effect of the self-balancing vehicle on the abnormal running state.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below in order to make other features, objects and advantages of the application more apparent.

Description of drawings

The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the attached image:

1 is a flowchart 1 of a balance vehicle alarm method according to an embodiment of the present application;

2 is a flowchart 1 of a method for alarming a balance car when the operating state is a forward state according to an embodiment of the present application;

FIG. 3 is a flowchart 2 of a balance car alarm method when the operating state is a forward state according to an embodiment of the present application;

4 is a flowchart 1 of a method for alarming a self-balancing vehicle when the operating state is a backward state according to an embodiment of the present application;

FIG. 5 is a second flowchart of a balance car alarm method when the operating state is a backward state according to an embodiment of the present application;

6 is a second flowchart of a balance vehicle alarm method according to an embodiment of the present application;

7 is a structural block diagram of a self-balancing vehicle alarm system according to an embodiment of the present application;

FIG. 8 is a preferred structural block diagram of a self-balancing vehicle alarm system according to an embodiment of the present application.

Embodiments of the present invention

In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, the present application can also be applied to the present application according to these drawings without any creative effort. other similar situations. In addition, it will also be appreciated that while such development efforts may be complex and lengthy, for those of ordinary skill in the art to which the present disclosure pertains, the techniques disclosed in this application Some changes in design, manufacture or production based on the content are only conventional technical means, and it should not be understood that the content disclosed in this application is not sufficient.

Reference in this application to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

Unless otherwise defined, the technical or scientific terms involved in this application shall have the usual meanings understood by those with ordinary skill in the technical field to which this application belongs. Words such as "a", "an", "an", "the" and the like mentioned in this application do not denote a quantitative limitation, and may denote the singular or the plural. The terms "comprising", "comprising", "having" and any variations thereof referred to in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or process comprising a series of steps or modules (units). The apparatus is not limited to the steps or units listed, but may further include steps or units not listed, or may further include other steps or units inherent to the process, method, product or apparatus. Words like "connected," "connected," "coupled," and the like referred to in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" referred to in this application refers to two or more. "And/or" describes the association relationship between associated objects, indicating that there can be three kinds of relationships. For example, "A and/or B" can mean that A exists alone, A and B exist at the same time, and B exists alone. The character "/" generally indicates that the associated objects are an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only to distinguish similar objects, and do not represent a specific order for the objects.

In the embodiments of the present application, sensors for detecting the running state and running speed of the wheels, such as Hall sensors, are provided on the balance car; With the help of external network and mobile phone software, situations such as speeding and reversing of the self-balancing scooter are sent to the mobile software. However, because the passenger is driving the self-balancing car, the passenger cannot turn on the mobile phone in time and know the current running status of the self-balancing car through the mobile software for the first time. Further, there is a problem that the alarm effect of the abnormal operating state of the self-balancing vehicle is poor; the self-balancing vehicle alarm method provided by the present application, by obtaining the operating state and the operating speed of the self-balancing vehicle, according to the operating state, the operating speed and the corresponding operating state threshold are carried out. Compare, according to the comparison result, generate an alarm command and send the alarm command to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm command, which solves the problem of using external network and mobile phone software in the related art. The method of alarming in the running state has the problem of poor alarming effect, which improves the alarming effect of the abnormal running state of the balance car.

This embodiment provides a method for alarming a self-balancing vehicle. FIG. 1 is a flowchart of a method for alarming a self-balancing vehicle according to an embodiment of the present application. As shown in FIG. 1 , the method includes the following steps:

Step S101, obtaining the running state and running speed of the self-balancing vehicle;

Step S102, according to the operating state, compare the operating speed with a threshold value corresponding to the operating state;

Step S103, according to the comparison result, generate an alarm instruction and send the alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction;

It should be noted that the thresholds in different operating states are different. According to the operating state, the operating speed is compared with the threshold value of the corresponding operating state, and the corresponding alarm command is generated according to the comparison result. It can be understood that the Bluetooth broadcast module pre-stores a variety of For the alarm voices corresponding to the alarm instructions, it should be further explained that the Bluetooth broadcast module may also have the function of broadcast sound here, for example, a Bluetooth speaker.

Through steps S101 to S103, the running state and running speed of the self-balancing vehicle are acquired in real time, and the running speed is compared with the threshold value corresponding to the running state, and an alarm instruction is generated according to the comparison result and sent to the Bluetooth broadcast module, and the Bluetooth broadcast module is based on the received alarm. The instruction selects the corresponding alarm voice to broadcast, so that the occupant who is driving the balance car can know the current status of the balance car through the broadcast voice at the first time, effectively completes the alarm of the abnormal running state of the balance car, and solves the problem of using external devices in related technologies. The way of alarming the running state of the self-balancing scooter by the network and mobile phone software has the problem of poor alarming effect, which improves the alarming effect of the abnormal running state of the self-balancing scooter.

In some of the embodiments, when the running state includes a forward state and a backward state, FIG. 2 is a flowchart of a balance car alarm method under the running state of the embodiment of the present application. The first is to compare the running speed with the corresponding running The thresholds of the states are compared; according to the comparison result, generating an alarm instruction and sending the alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction, including the following steps:

Step S201, if the running state is the forward state, compare the running speed with the forward speed threshold;

Among them, the more common balance car has two wheels, and one wheel can correspond to a Hall sensor. The Hall sensor is used to detect the running speed of the balance car. When the balance car is in the forward state, the operation of the two wheels can be The speed is compared with the forward speed threshold. The forward speed threshold can be 8km/h-10km/h, and the specific size of the forward speed threshold can be adjusted according to the use environment of the self-balancing vehicle or the user group.

Step S202, if the running speed is greater than the forward speed threshold, generate a first alarm instruction and send the first alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module broadcasts the overspeed alarm voice according to the first alarm instruction;

Among them, when the running speed of both wheels of the balance car reaches 8km/h-10km/h, the overspeed alarm voice can be broadcast. When the running speed of the balance car reaches 8km/h-10km/h for a period of time, the That is to say, if the overspeed continues, the overspeed alarm voice can be broadcast every unit time, for example, the unit time can be 3s.

Through steps S201 to S202, in the process of the passenger driving the self-balancing scooter, in the case that the running speed of the self-balancing car is greater than the forward speed threshold, the speeding alarm voice is broadcast, so that the passenger can know at the first time that the driving self-balancing car is currently overspeeding .

In some of the embodiments, FIG. 3 is a flow chart 2 of a method for alarming a self-balancing vehicle when the operating state is a forward state according to an embodiment of the present application, and the method further includes the following steps;

Step S301, if the running speed is greater than the forward speed threshold, control the drive module to reduce the running speed of the balance vehicle;

It should be noted that the driving module can be a mechanical device or an electric device that can adjust the running speed of the self-balancing vehicle. It should be further explained that the broadcasting of the overspeed alarm voice and the driving module reducing the running speed of the self-balancing vehicle can be synchronized. When the car is overspeeding, the alarm voice will be broadcast simultaneously and the running speed of the balance car will be reduced.

Through the above step S301, when the running speed of the self-balancing vehicle in the forward state is greater than the forward speed threshold, on the basis of broadcasting the overspeed alarm voice, take active measures to control the drive module to reduce the running speed of the self-balancing vehicle, on the one hand, avoid the environment in the outside noise or other The reason is that the effect of the broadcast alarm voice is not ideal.

In some of the embodiments, FIG. 4 is a flowchart 1 of a method for alarming a self-balancing vehicle when the operating state is a backward state according to an embodiment of the present application. As shown in FIG. 4 , the method further includes the following steps:

Step S401, if the running state is the backward state, compare the running speed with the backward speed threshold;

Among them, the backward speed threshold can be 3km/h, but the specific backward speed threshold can be adjusted according to the specific use environment of the balance scooter and the user group. It should be noted that the balance scooter will retreat at the moment when the balance scooter is stepped on. This situation is a normal situation. Therefore, when setting the size of the reverse speed threshold, this situation can be taken into consideration to avoid the false alarm of the balance bike. For example, the balance bike will balance the moment it is stepped on. If the vehicle is going backward, but the speed of the backward is generally not more than 2km/h, the backward speed threshold can be set to 3km/h, which can avoid the false alarm of the balance car to a certain extent; The Hall sensor detects the reversal of the motor to determine the back of the balance car.

Step S402, if the running speed is greater than the backward speed threshold, generate a second alarm command and send the second alarm command to the Bluetooth broadcast module, so that the Bluetooth broadcast module broadcasts the reversing alarm voice according to the second alarm command;

Through steps S401 to S402, when the occupant drives the self-balancing scooter, when the backward running speed of the balancing scooter is greater than the backward speed threshold, the reversing alarm voice is broadcast, which is convenient for reminding the occupant and surrounding personnel.

In some of the embodiments, FIG. 5 is a flowchart 2 of a method for alarming a self-balancing vehicle when the operating state is a backward state according to an embodiment of the present application. As shown in FIG. 5 , the method further includes the following steps:

Step S501 , if the running speed is greater than the backward speed threshold, the driving module is controlled to maintain the running speed of the self-balancing vehicle, so that the running speed of the self-balancing vehicle does not increase any more.

Through step S501, when the running speed of the self-balancing vehicle in the backward state is greater than the backward speed threshold, on the basis of broadcasting the overspeed alarm voice, active measures are taken to control the drive module to maintain the running speed of the self-balancing vehicle, so that the running speed of the self-balancing vehicle does not increase any more, Reduce the risk when the balance car is reversed.

In some of the embodiments, FIG. 6 is a second flowchart of a balance vehicle alarm method according to an embodiment of the present application. As shown in FIG. 2 , the method includes the following steps:

Step S601, obtaining the battery power of the balance car;

Wherein, the detection of the battery power can be estimated according to the current voltage of the battery, or the power of the entire battery can be estimated according to the voltage of each cell.

Step S602, if the battery power is lower than the power threshold, generate a third alarm instruction and send the third alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module broadcasts the abnormal power alarm voice according to the third alarm instruction;

It should be noted that the detection and alarm of the battery power is not carried out after the running state alarm is carried out. The detection and alarm of the battery power can be carried out simultaneously with the detection and alarm of the running state.

Through steps S601 to S602, when the current remaining power of the balance vehicle is less than the power threshold, an abnormal power alarm voice, that is, a low power prompt, is broadcast, which is convenient for reminding the occupants to charge in time.

In some of the embodiments, the Bluetooth broadcast module includes a Bluetooth module and a sound playback module. The Bluetooth module selects the corresponding alarm voice according to the alarm instruction to broadcast through the sound playback module, and the Bluetooth module also has the function of wirelessly connecting with other external devices to transmit signals. ; It should be noted that the sound playback module can be a speaker or a speaker, etc. At this time, the Bluetooth module connected to the sound playback module has pre-stored a variety of alarm voices corresponding to the alarm instructions, and the Bluetooth module receives the alarm instructions. In this case, the alarm voice corresponding to the alarm command is selected and the electrical signal of the alarm voice is transmitted to the sound playback module, and the sound playback module broadcasts the alarm voice to improve the alarm effect to the occupants.

In some of the embodiments, a power amplification module is also connected between the Bluetooth module and the sound playback module, and the power amplification module is used to increase the signal strength of the alarm voice transmitted by the Bluetooth module to the sound playback module; it should be noted that the balance car There is also a voltage reducer connected to the power supply battery. The voltage output by the power supply battery is reduced by the voltage reducer to supply power to the Bluetooth module and the sound playback module. The voltage is stepped down; it needs to be further explained that there is also a buzzer on the balance car, and the voltage output by the power supply battery can be powered by the buzzer after being stepped down by the voltage reducer. While the sound playback module broadcasts the alarm voice, The buzzer is also sounded to enhance the alarm effect, dual voice reminders, and improve the safety of the balance car.

It should be noted that the steps shown in the above flow or the flow chart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical sequence is shown in the flow chart, in the In some cases, steps shown or described may be performed in an order different from that herein.

The application also provides a self-balancing vehicle alarm system. FIG. 7 is a structural block diagram of a self-balancing vehicle alarm system according to an embodiment of the application. The system includes: a control module 72 , a detection module 71 and a Bluetooth broadcast module 73 ;

The detection module 71, connected with the control module 72, is used to detect the running state and running speed of the balance vehicle;

The control module 72, one end is connected with the detection module 71 to obtain the running state and running speed of the balance vehicle, and the other end is connected with the Bluetooth broadcast module 73; As a result, an alarm instruction is generated and sent to the Bluetooth broadcast module 73, so that the Bluetooth broadcast module 73 selects a corresponding alarm voice to broadcast according to the alarm instruction.

In some of the embodiments, when the control module 72 , the detection module 71 and the Bluetooth broadcast module 73 are executed, the steps in the balance car alarm methods provided in the above embodiments can be implemented, which will not be repeated here.

In some of the embodiments, FIG. 8 is a preferred structural block diagram of the balance car alarm system according to an embodiment of the present application. As shown in FIG. 8 , Hall sensors are respectively installed on two wheels of the balance car, and the Hall sensors will detect The running speed of the wheel is sent to the main control module, the motor drive unit connected with the main control module is controlled by the main control module to adjust the running speed of the wheel, and the voltage detection module connected with the main control module is used to detect the power of the battery; The detected information is processed. When the battery is low, the balance car is overspeeding, or the balance car is reversed, the alarm voice is selected through the Bluetooth module connected to the main control module, and then the power amplifier module and the speaker connected to the power amplifier module are used for voice. Broadcast, and can simultaneously sound the alarm through the buzzer connected to the main control module; the power module connected to the battery is used to reduce the voltage of the battery to supply power to other modules.

In one embodiment, a balance car is provided, which includes wheels and a frame, and the balance car further includes a sensor arranged on the frame or the wheel for detecting the running state and running speed of the balance car, and a sensor arranged on the frame and the sensor. The connected processor, and the Bluetooth broadcast module connected to the processor on the frame;

The processor obtains the running state and running speed of the self-balancing vehicle through the sensor, and compares the running speed with the threshold value corresponding to the running state according to the running state, so as to generate an alarm command according to the comparison result and send the alarm command to the Bluetooth broadcast module, so that the Bluetooth The broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be noted that, for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

A balance car alarm method, characterized in that the method comprises:

Get the running status and running speed of the balance car;

According to the operating state, comparing the operating speed with a threshold corresponding to the operating state;

According to the comparison result, an alarm instruction is generated and sent to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction.
The balance car alarm method according to claim 1, wherein, according to the operating state, the operating speed is compared with a threshold value corresponding to the operating state; according to the comparison result, an alarm instruction is generated and the alarm is sent to the The instruction is sent to the bluetooth broadcast module, so that the bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction, including: the running state includes a forward state and a backward state;

if the operating state is a forward state, comparing the operating speed with a forward speed threshold;

If the running speed is greater than the forward speed threshold, generate a first alarm instruction and send the first alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module broadcasts an overspeed alarm voice according to the first alarm instruction.
The balance car alarm method according to claim 2, wherein,

If the running speed is greater than the forward speed threshold, the driving module is controlled to reduce the running speed of the self-balancing vehicle.
The balance car alarm method according to claim 2, wherein,

if the running state is the backward state, comparing the running speed with the backward speed threshold;

If the running speed is greater than the backward speed threshold, a second alarm command is generated and sent to the Bluetooth broadcast module, so that the Bluetooth broadcast module broadcasts the reversing alarm voice according to the second alarm command.
The balance car alarm method according to claim 4, wherein,

If the running speed is greater than the backward speed threshold, the driving module is controlled to maintain the running speed of the self-balancing vehicle, so that the running speed of the self-balancing vehicle does not increase any more.
The balance car alarm method according to claim 1, wherein the method further comprises:

Obtain the battery power of the balance car;

If the battery power is lower than the power threshold, generate a third alarm instruction and send the third alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module broadcasts the Abnormal battery alarm voice.
The balance car alarm method according to claim 1, wherein the Bluetooth broadcast module includes a Bluetooth module and a sound playback module, and the Bluetooth module selects a corresponding alarm voice according to the alarm instruction and performs the sound playback module through the sound playback module. broadcast.
The balance car alarm method according to claim 7, wherein a power amplification module is further connected between the Bluetooth module and the sound playback module, and the power amplification module is used to increase the transmission of the Bluetooth module to the The signal strength of the alarm voice of the sound playback module.
A balance car alarm system, characterized in that the balance car alarm system includes a control module, a detection module and a Bluetooth broadcast module;

the detection module, connected with the control module, is used to detect the running state and running speed of the balance vehicle;

One end of the control module is connected to the detection module to obtain the running state and running speed of the balance vehicle, and the other end is connected to the Bluetooth broadcast module; and according to the running state, the running speed is compared with the corresponding running state. The thresholds are compared to generate an alarm instruction according to the comparison result and send the alarm instruction to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction.
A balance car, comprising wheels and a frame, characterized in that the balance car further comprises a sensor arranged on the frame or the wheel for detecting the running state and running speed of the balance car, a sensor arranged on the a processor connected to the sensor on the frame, and a Bluetooth broadcast module connected to the processor on the frame;

The processor obtains the running state and the running speed of the self-balancing vehicle through the sensor, and compares the running speed with a threshold corresponding to the running state according to the running state, so as to generate an alarm instruction according to the comparison result and send the The alarm instruction is sent to the Bluetooth broadcast module, so that the Bluetooth broadcast module selects the corresponding alarm voice to broadcast according to the alarm instruction.