CN106354145A - Device and method for controlling balance vehicle - Google Patents
Device and method for controlling balance vehicle Download PDFInfo
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- CN106354145A CN106354145A CN201610822900.3A CN201610822900A CN106354145A CN 106354145 A CN106354145 A CN 106354145A CN 201610822900 A CN201610822900 A CN 201610822900A CN 106354145 A CN106354145 A CN 106354145A
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- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000008859 change Effects 0.000 claims abstract description 42
- 230000001133 acceleration Effects 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 12
- 238000010295 mobile communication Methods 0.000 abstract description 2
- 230000036544 posture Effects 0.000 abstract 6
- 238000004891 communication Methods 0.000 description 12
- 238000012544 monitoring process Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000009790 rate-determining step (RDS) Methods 0.000 description 4
- 206010034719 Personality change Diseases 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000005303 weighing Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention belongs to the technical field of mobile communication and discloses a device and a method for controlling a balance vehicle. The method includes: acquiring postures of control equipment of the balance vehicle; when the postures of the control equipment change, acquiring posture change information of the control equipment; controlling the balance vehicle to operate according to the posture change information. According to the method for controlling the balance vehicle, the balance vehicle can be controlled to operate according to the posture change information when changes of the postures of the control equipment which controls the balance vehicle are monitored, so that a user can control the balance vehicle conveniently, and control steps are simplified.
Description
Technical field
It relates to mobile communication technology field, more particularly, to a kind of method and apparatus controlling balance car.
Background technology
Balance car, also known as electrodynamic balance car, is a kind of short distance vehicles emerging at present.Balance car relies on electric power to drive
Dynamic.User may stand on balance car, is ridden instead of walk by balance car.Due to without providing the user vehicle seat, so compared to bicycle,
The volume of balance car is less.
At present, during using balance car, user can be remotely controlled to balance car by mobile phone, specifically, makes
User installs the application program for controlling balance car in mobile phone, and input controls the control of balance car to refer in the application
Order, balance car changes the running status of oneself according to the control instruction receiving.However, the mode in above-mentioned control balance car
In, operating procedure is relatively complicated.
Content of the invention
For overcoming problem present in correlation technique, the embodiment of the present disclosure provides a kind of method controlling balance car, dress
Put and mobile terminal.Described technical scheme is as follows:
According to the embodiment of the present disclosure in a first aspect, providing a kind of method controlling balance car, methods described includes: obtain
The attitude of the control device of balance car；
When the attitude of described control device changes, obtain the attitudes vibration information of described control device；
Described balance car is controlled to run according to described attitudes vibration information.
Method as above, described attitudes vibration information instruction attitude run-off the straight change.
Method as above, by least one sensor following described attitudes vibration information of acquisition: gravity sensor,
Acceleration transducer, gyroscope.
Method as above, described attitudes vibration information include following at least one: incline direction, angle of inclination；
Described described balance car is controlled to run according to described attitudes vibration information, comprising:
When described attitudes vibration information includes described incline direction, control the fortune of described balance car according to described incline direction
Line direction；
When described attitudes vibration information includes described angle of inclination, described balance car is controlled in institute according to described angle of inclination
State change angle when traffic direction changes.
Method as above, described attitudes vibration information includes described incline direction；
Described described balance car is controlled to run according to described attitudes vibration information, comprising:
When described incline direction is to be tilted to the left with respect to horizontal direction, described balance car is controlled to turn left；
When described incline direction is to be tilted to the right with respect to horizontal direction, described balance car is controlled to turn right.
Method as above, after the described described balance car operation according to the control of described attitudes vibration information, described
Method also includes:
When identical before the change described with generation of described attitude, described balance car is controlled to keep straight trip.
Method as above, described control device includes following any one: mobile phone, panel computer.
According to the second aspect of the embodiment of the present disclosure, provide a kind of device controlling balance car, described device includes: first
Acquisition module, is configured to obtain the attitude of the control device of balance car；
Second acquisition module, the attitude being configured as described control device changes, and obtains described control device
Attitudes vibration information；
First control module, is configured to control described balance car to run according to described attitudes vibration information.
Device as above, described attitudes vibration information instruction attitude run-off the straight change.
Device as above, by least one sensor following described attitudes vibration information of acquisition: gravity sensor,
Acceleration transducer, gyroscope.
Device as above, described attitudes vibration information include following at least one: incline direction, angle of inclination；
Described first control module, comprising:
First control unit, is configured as described attitudes vibration information and includes described incline direction, according to described inclination
The traffic direction of balance car described in direction controlling；
Second control unit, is configured as described attitudes vibration information and includes described angle of inclination, according to described inclination
The change angle when described traffic direction changes for the balance car described in Angle ambiguity.
Device as above, described attitudes vibration information includes described incline direction；
Described first control module, comprising:
3rd control subelement, when to be configured as described incline direction be to be tilted to the left with respect to horizontal direction, controls
Described balance car is turned left；
4th control subelement, when to be configured as described incline direction be to be tilted to the right with respect to horizontal direction, controls
Described balance car is turned right.
Device as above, described device also includes:
Second control module, is configured as described attitude and identical before described change, control described balance car guarantor occurs
Hold straight trip.
Device as above, described control device includes following any one: mobile phone, panel computer.
According to the third aspect of the embodiment of the present disclosure, provide a kind of device controlling balance car, the dress of this control balance car
Put including processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Obtain the attitude of the control device of balance car；
When the attitude of described control device changes, obtain the attitudes vibration information of described control device；
Described balance car is controlled to run according to described attitudes vibration information.
The technical scheme that the embodiment of the present disclosure provides can include following beneficial effect:
Obtain the attitude of the control device of balance car, and when the attitude of control device changes, according to control device
Attitudes vibration information control balance car run, as a result, balance car is monitoring the control device controlling it
When attitude changes, balance car can be controlled to run according to attitudes vibration information, facilitate user and balance car is controlled,
Simplify rate-determining steps.
It should be appreciated that above general description and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Brief description
Accompanying drawing herein is merged in description and constitutes the part of this specification, shows the enforcement meeting the disclosure
Example, and be configured to explain the principle of the disclosure together with description.
Fig. 1 is the flow chart of a kind of method of control balance car according to an exemplary embodiment.
Fig. 2 is the flow chart of another kind of method controlling balance car implementing to exemplify according to another exemplary.
Fig. 3 a is that mobile phone is changed into the exemplary plot of the second state from first state.
Fig. 3 b is the exemplary plot of mobile phone control balance car.
Fig. 4 is a kind of block diagram of the device of control balance car according to an exemplary embodiment.
Fig. 5 is the block diagram of the device implementing a kind of control balance car exemplifying according to another exemplary.
Fig. 6 is the block diagram of the device implementing a kind of control balance car exemplifying according to another exemplary.
Fig. 7 is the block diagram of the device implementing a kind of control balance car exemplifying according to another exemplary.
Fig. 8 is a kind of block diagram of the control device 800 of the balance car according to an exemplary embodiment.
By above-mentioned accompanying drawing it has been shown that the clear and definite embodiment of the disclosure, hereinafter will be described in more detail.These accompanying drawings
It is not intended to limit the scope of disclosure design by any mode with word description, but by reference to specific embodiment be
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Here will in detail exemplary embodiment be illustrated, its example is illustrated in the accompanying drawings.Explained below is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with such as appended
The example of the consistent apparatus and method of some aspects being described in detail in claims, the disclosure.
The embodiment of the present disclosure provides a kind of control method of balance car, and with reference to Fig. 1, Fig. 1 is according to an exemplary embodiment
The flow chart of a kind of method of control balance car illustrating, as shown in figure 1, the method for this control balance car includes following step
Suddenly.
In a step 101, obtain the attitude of the control device of balance car.
Wherein, control device can be the hardware device such as mobile phone, panel computer.
After control device sets up communication connection with balance car, can set in real time or at interval of Preset Time acquisition control
Standby attitude.
Wherein, wireless communication connection can be set up by multiple wireless modes between balance car and control device, for example, can lead to
The modes such as bluetooth, infrared and wifi (wireless fidelity, Wireless Fidelity) of crossing set up wireless communication connection, actual should
With in, can select set up the mode of wireless communication connection according to scene demand, this embodiment is not construed as limiting to this.
In a step 102, when the attitude of control device changes, obtain the attitudes vibration information of control device.
Wherein, attitudes vibration information can apply the change that the attitude of instruction control device is occurred.
In step 103, balance car is controlled to run according to attitudes vibration information.
When monitoring the attitude of control device of balance car and changing, according to the attitudes vibration information pair of control device
The operation of balance car is controlled, as a result, balance car can change itself with the change of the attitude of control device
Run, facilitate user and balance car is controlled.
To sum up, the method for the control balance car that the present embodiment provides, obtains the attitude of the control device of balance car, and in control
When the attitude of control equipment changes, the attitudes vibration information according to control device controls balance car to run, as a result, balance
Car, when the attitude monitoring the control device controlling it changes, can control balance car according to attitudes vibration information
Run, facilitate user and balance car is controlled, simplify rate-determining steps.
The embodiment of the present disclosure provides the control method of another kind of balance car, and the method is to enter one to the method shown in Fig. 1
Step extension and optimization.
The method that disclosure embodiment provides can apply in control device, or, can also be applied to balance car
In.Wherein, control device can include but is not limited to: mobile phone, panel computer.The present embodiment with executive agent for control device is
Example illustrates.
With reference to Fig. 2, Fig. 2 is the flow chart of another kind of method controlling balance car according to an exemplary embodiment,
As shown in Fig. 2 the method for this control balance car includes herein below.
In step 201, obtain the attitude of the control device of balance car.
In an embodiment of the disclosure, control device can be, but not limited to by built-in at least one sensing following
Device obtains the attitude of control device: gravity sensor, acceleration transducer, gyroscope.
As a kind of exemplary embodiment, control device can obtain control device by built-in gravity sensor
Angle information and incline direction information, and according to this angle information obtain control device attitude.
The angle information of control device so that control device is as mobile phone as a example, is got in the gravity sensor of embedded in mobile phone
For: it is 0 degree with respect to the angle of inclination of horizontal direction, incline direction information is 0 degree, now it may be determined that the attitude of mobile phone is water
Flat.
As another kind of exemplary embodiment, control device can obtain angle of inclination by built-in acceleration sensor
Information, and the attitude of control device is determined according to angle of inclination information.
For example, so that control device is as mobile phone as a example, in mobile phone horizontal positioned, the acceleration sensor of embedded in mobile phone detects
Mobile phone is 0 degree with respect to the angle of inclination of horizontal direction, when the angle of inclination information that is, acceleration sensor gets is 0 degree, can
Determine mobile phone attitude be level.
In step 202., when the attitude of control device changes, obtain the attitudes vibration information of control device.
In embodiment of the disclosure, attitudes vibration information can indicate that attitude run-off the straight changes.For example, attitudes vibration
Information may indicate that control device to the left or right bank.
In embodiment of the disclosure, attitudes vibration information include following at least one: incline direction, angle of inclination.
Wherein, incline direction may refer to the incline direction that control device is with respect to horizontal direction or vertical direction.Tilt
Angle may refer to the angle of inclination that control device is with respect to horizontal direction or vertical direction.The present embodiment with incline direction and
Angle of inclination illustrates both with respect to as a example horizontal direction.
The attitudes vibration information of control device in embodiment of the disclosure, can be obtained in several ways, illustrate
As follows:
As a kind of example, after the attitude monitoring control device changes, according to the built-in gravity of control device
Sensor can determine that the attitudes vibration information of control device.
Specifically, after the attitude of control device changes, in control device, built-in gravity sensitive can get control
The angle change information of control equipment and/or direction change information, determine control according to angle change information and/or direction change information
The attitudes vibration information of control equipment.
For example, so that control device is as mobile phone as a example, with reference to Fig. 3 a, Fig. 3 a is the mobile phone according to an exemplary embodiment
Attitudes vibration exemplary plot.As shown in Figure 3 a, the attitude of mobile phone turns to, by level (first attitude) change, (the second appearance that is tilted to the left
State) when, for mobile phone, during the attitude of mobile phone is the second attitude by the first attitudes vibration, the weight of embedded in mobile phone
Force transducer detects the direction change information of mobile phone, can determine that the attitudes vibration information of mobile phone: handss according to direction change information
The attitude of machine is turned to by horizontality change and is tilted to the left with respect to horizontal direction.Equally, the attitude of mobile phone is by level (the first appearance
State) become and turn to when being tilted to the right (the 3rd attitude), during the attitude of mobile phone is the 3rd attitude by the first attitudes vibration, handss
The built-in gravity sensor of machine detects the direction change information of mobile phone, is become according to the attitude that direction change information can determine that mobile phone
Change information: the attitude of mobile phone is turned to by horizontality change and is tilted to the right with respect to horizontal direction.
As another kind of example, after the attitude monitoring control device changes, can be by built-in in control device
Acceleration sensor obtain control device with respect to horizontal direction angle of inclination.
For example, so that control device is as mobile phone as a example, with reference to Fig. 3 a, Fig. 3 a is the mobile phone according to an exemplary embodiment
Attitudes vibration exemplary plot.As shown in Figure 3 a, the attitude of mobile phone turns to, by level (first attitude) change, (the second appearance that is tilted to the left
State) when, for mobile phone, mobile phone attitude by the first attitudes vibration be the second attitude during, embedded in mobile phone plus
Fast sensor detects mobile phone and is tilted to the left with respect to horizontal direction, and can calculate mobile phone and incline to the left with respect to horizontal direction
Oblique angle of inclination.
In step 203, balance car is controlled to run according to attitudes vibration information.
In embodiment of the disclosure, when described attitudes vibration information includes described incline direction, according to described inclination side
To the traffic direction controlling described balance car.
When described attitudes vibration information includes described angle of inclination, described balance car is controlled in institute according to described angle of inclination
State change angle when traffic direction changes.
In embodiment of the disclosure, when described incline direction is to be tilted to the left with respect to horizontal direction, control described
Balance car is turned left.
In embodiment of the disclosure, when described incline direction is to be tilted to the right with respect to horizontal direction, control described
Balance car is turned right.
For example, so that control device is as mobile phone as a example, with reference to Fig. 3 b, Fig. 3 b is the user according to an exemplary embodiment
Control the exemplary plot of balance car 10 by mobile phone 20, as shown in Figure 3 b, during mobile phone 20 is controlled by mobile phone 20, flat
When a position moves to b position, balance car 10 needs weighing apparatus car 10.In the mistake controlling balance car 10 by mobile phone 20
Cheng Zhong, when balance car 10 needs, mobile phone 20 can be tilted to the left by user, and balance car 10 can monitor the attitude of mobile phone 20
Change, and be to the left according to the incline direction that the attitudes vibration information obtained in mobile phone 20 can determine that mobile phone 20,
And the angle of inclination that mobile phone 20 is tilted to the left can be determined according to attitudes vibration information, then the incline direction according to mobile phone 20 and
Angle of inclination controls balance car 10 to turn left corresponding angle.
In step 204, when attitude with change before identical, control balance car keep straight trip.
The initial attitude of hypothesis control device is a, when the attitude monitoring control device is changed into b from a, i.e. control device
Attitude change, now, according to attitudes vibration information control balance car run after, if monitoring control device again
Attitude is changed into a from b, and the attitude after that is, control device changes again is identical with initial attitude, then control balance car to keep straight trip.
For example, during user controls balance car by smart mobile phone it is assumed that when initial, smart mobile phone keeps water
Flat, monitor user be tilted to the right smart mobile phone certain angle when, balance car is turned right corresponding angle, if monitoring intelligence
Can recover to horizontal direction from the smart mobile phone certain angle that is tilted to the right mobile phone, then can determine that the attitude of control device and become
Identical before change, now, balance car will keep straight trip.That is, being tilted to the right from horizontal direction certain angle in smart mobile phone
Degree, during recovering horizontal direction again, corresponding balance car is turned right corresponding angle, and keeps keeping straight on.
To sum up, the method for the control balance car that the present embodiment provides, obtains the attitude of the control device of balance car, and in control
When the attitude of control equipment changes, the attitudes vibration information according to control device controls balance car to run, as a result, balance
Car, when the attitude monitoring the control device controlling it changes, can control balance car according to attitudes vibration information
Run, facilitate user and balance car is controlled, simplify rate-determining steps.
Following for disclosure device embodiment, can be configured to execute method of disclosure embodiment.For disclosure dress
Put the details not disclosed in embodiment, refer to method of disclosure embodiment.
The embodiment of the present disclosure provides a kind of control device of balance car, and the control device of the balance car of the present embodiment can be answered
It is also possible to apply in control device in balance car, the device of this control balance car can pass through software, hardware or two
Person is implemented in combination with, and with reference to Fig. 4, Fig. 4 is a kind of block diagram of the device of control balance car according to an exemplary embodiment,
The device of this control balance car includes:
First acquisition module 100, is configured to obtain the attitude of the control device of balance car.
Wherein, control device can have the hardware device of various operating systems for mobile phone, panel computer etc., but this enforcement
The control device of example is not limited to this.
Second acquisition module 200, the attitude being configured as control device changes, and the attitude obtaining control device becomes
Change information.
Wherein, attitudes vibration information instruction attitude run-off the straight change, for example, attitudes vibration information may indicate that control sets
Standby to the left or to by tilting.
In embodiment of the disclosure, the second acquisition module 200 can obtain described appearance by least one sensor following
State change information: gravity sensor, acceleration transducer, gyroscope.
First control module 300, is configured to control balance car to run according to attitudes vibration information.
Wherein, attitudes vibration information include following at least one: incline direction, angle of inclination.
In embodiment of the disclosure, on the basis of shown in Fig. 4, as shown in figure 5, the first control module 300 can be wrapped
Include:
First control unit 310, is configured as described attitudes vibration information and includes described incline direction, inclined according to described
Tilted direction controls the traffic direction of described balance car.
Second control unit 320, is configured as described attitudes vibration information and includes described angle of inclination, inclined according to described
Rake angle controls the change angle when described traffic direction changes for the described balance car.
In embodiment of the disclosure, on the basis of shown in Fig. 5, as shown in fig. 6, the first control unit 310 can be wrapped
Include:
First control subelement 311, when to be configured as incline direction be to be tilted to the left with respect to horizontal direction, controls flat
Weighing apparatus car is turned left.
Second control subelement 312, when to be configured as incline direction be to be tilted to the right with respect to horizontal direction, controls flat
Weighing apparatus car is turned right.
In embodiment of the disclosure, on the basis of shown in Fig. 4, as shown in fig. 7, said apparatus can also include:
Second control module 400, identical before being configured as attitude and changing, control balance car to keep straight trip.
Wherein it is desired to illustrate, the structure of the second control module 400 in the device embodiment in aforementioned Fig. 7 also may be used
To be included in the device embodiment of aforementioned Fig. 5 to Fig. 6, this disclosure is not defined.
For device embodiment, because it corresponds essentially to embodiment of the method, thus real referring to method in place of correlation
The part applying example illustrates.Device embodiment described above is only schematically, wherein illustrates as separating component
Unit can be or may not be physically separate, as the part that unit shows can be or may not be
Physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Can be according to the actual needs
Select the purpose to realize disclosure scheme for some or all of module therein.Those of ordinary skill in the art are not paying wound
In the case of the property made work, you can to understand and to implement.
The device of the control balance car that the present embodiment provides, obtains the attitude of the control device of balance car, and sets in control
When standby attitude changes, the attitudes vibration information according to control device controls balance car to run, as a result, balance car exists
When monitoring the attitude of the control device controlling it and changing, balance car fortune can be controlled according to attitudes vibration information
OK, facilitate user balance car is controlled, simplify rate-determining steps.
The embodiment of the present disclosure provides a kind of control device of balance car, and Fig. 8 is according to an exemplary embodiment
Plant the block diagram of the control device 800 of balance car.
With reference to Fig. 8, device 800 can include following one or more assemblies: process assembly 802, memorizer 804, power supply
Assembly 806, multimedia groupware 808, audio-frequency assembly 810, the interface 812 of input/output (i/o), sensor cluster 814, and
Communication component 816.
The integrated operation of the usual control device 800 of process assembly 802.Process assembly 802 can include one or more places
Reason device 820 carrys out execute instruction, to complete all or part of step of above-mentioned method.Additionally, process assembly 802 can include one
Individual or multiple modules, are easy to the interaction between process assembly 802 and other assemblies.For example, process assembly 802 can include many matchmakers
Module, to facilitate the interaction between multimedia groupware 808 and process assembly 802.
Memorizer 804 is configured to store various types of data to support the operation in equipment 800.The showing of these data
Example includes the instruction for any application program of operation or method on device 800.Memorizer 804 can be by any kind of
Volatibility or non-volatile memory device or combinations thereof are realized, such as static RAM (sram), electrically erasable
Except programmable read only memory (eeprom), Erasable Programmable Read Only Memory EPROM (eprom), programmable read only memory
(prom), read only memory (rom), magnetic memory, flash memory, disk or CD.
Power supply module 806 provides electric power for the various assemblies of device 800.Power supply module 806 can include power management system
System, one or more power supplys, and other generate, manage and distribute, with for device 800, the assembly that electric power is associated.
Multimedia groupware 808 includes the screen of one output interface of offer between device 800 and user.Real at some
Apply in example, screen can include liquid crystal display (lcd) and touch panel (tp).If screen includes touch panel, screen can
To be implemented as touch screen, to receive the input signal from user.Touch panel include one or more touch sensors with
Gesture on sensing touch, slip and touch panel.Touch sensor can not only sensing touch or sliding action border, and
And also detect the persistent period related to touch or slide and pressure.
Audio-frequency assembly 810 is configured to output and/or input audio signal.For example, audio-frequency assembly 810 includes a Mike
Wind (mic), when device 800 is in operator scheme.The audio signal being received can be further stored in memorizer 804 or warp
Sent by communication component 816.In certain embodiments, audio-frequency assembly 810 also includes a speaker, for exporting audio frequency letter
Number.
, for providing interface between process assembly 802 and peripheral interface module, above-mentioned peripheral interface module can for i/o interface 812
To be keyboard, click wheel, button etc..
Sensor cluster 814 includes one or more sensors, for providing the state of various aspects to comment for device 800
Estimate.For example, sensor cluster 814 can detect/the closed mode of opening of equipment 800, the relative localization of assembly, such as assembly
Display for device 800 and keypad, sensor cluster 814 can be with the position of detection means 800 or 800 1 assemblies of device
Put change, user is presence or absence of with what device 800 contacted, the temperature of device 800 orientation or acceleration/deceleration and device 800
Change.Sensor cluster 814 can include proximity transducer, is configured near the detection when not having any physical contact
The presence of object.Sensor cluster 814 can also include optical sensor, such as cmos or ccd imageing sensor, for answering in imaging
Use middle use.In certain embodiments, this sensor cluster 814 can also include acceleration transducer, gravity sensor, pressure
Sensor or temperature sensor.
Communication component 816 is configured to facilitate the communication of wired or wireless way between device 800 and other equipment.Device
800 can access the wireless network based on communication standard, such as wifi, 2g or 3g, or combinations thereof.In an exemplary enforcement
In example, communication component 816 receives broadcast singal or the broadcast related information from external broadcasting management system via broadcast channel.
In one exemplary embodiment, communication component 816 also includes near-field communication (nfc) module, to promote junction service.For example,
RF identification (rfid) technology, Infrared Data Association (irda) technology, ultra broadband (uwb) technology, bluetooth can be based in nfc module
(bt) technology and other technologies are realizing.
In the exemplary embodiment, device 800 can be by one or more application specific integrated circuits (asic), numeral letter
Number processor (dsp), digital signal processing appts (dspd), PLD (pld), field programmable gate array
(fpga), controller, microcontroller, microprocessor or other electronic components are realized, for executing said method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
As included the memorizer 804 instructing, above-mentioned instruction can be executed by the processor 820 of device 800 to complete said method.For example,
Non-transitorycomputer readable storage medium can be rom, random access memory (ram), cd-rom, tape, floppy disk and light
Data storage device etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in storage medium is by the computing device of balance car
When so that balance car is able to carry out a kind of control method of balance car, method includes:
Obtain the attitude of the control device of balance car；
When the attitude of control device changes, obtain the attitudes vibration information of control device；
Balance car is controlled to run according to attitudes vibration information.
It should be noted that the explanation of the aforementioned control method embodiment to balance car is also applied for this embodiment
The control device of balance car, it is realized principle and is similar to, and here is omitted.
Those skilled in the art, after considering description and putting into practice invention disclosed herein, will readily occur to its of the disclosure
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations are followed the general principle of the disclosure and are included the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments be considered only as exemplary, the true scope of the disclosure and spirit by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to be described above and precision architecture illustrated in the accompanying drawings, and
And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure only to be limited by appended claim.
Claims (15)
1. a kind of method controlling balance car is it is characterised in that methods described includes:
Obtain the attitude of the control device of balance car；
When the attitude of described control device changes, obtain the attitudes vibration information of described control device；
Described balance car is controlled to run according to described attitudes vibration information.
2. the method for claim 1 is it is characterised in that the instruction attitude run-off the straight of described attitudes vibration information changes.
3. method as claimed in claim 2 is it is characterised in that obtain described attitudes vibration by least one sensor following
Information: gravity sensor, acceleration transducer, gyroscope.
4. method as claimed in claim 3 it is characterised in that described attitudes vibration information include following at least one: tilt
Direction, angle of inclination；
Described described balance car is controlled to run according to described attitudes vibration information, comprising:
When described attitudes vibration information includes described incline direction, control the operation side of described balance car according to described incline direction
To；
When described attitudes vibration information includes described angle of inclination, described balance car is controlled in described fortune according to described angle of inclination
Change angle when line direction changes.
5. method as claimed in claim 4 is it is characterised in that described attitudes vibration information includes described incline direction；
Described described balance car is controlled to run according to described attitudes vibration information, comprising:
When described incline direction is to be tilted to the left with respect to horizontal direction, described balance car is controlled to turn left；
When described incline direction is to be tilted to the right with respect to horizontal direction, described balance car is controlled to turn right.
6. the method for claim 1 is it is characterised in that control described balance described according to described attitudes vibration information
After car runs, methods described also includes:
When identical before the change described with generation of described attitude, described balance car is controlled to keep straight trip.
7. the method as any one of claim 1 to 6 is it is characterised in that described control device includes following any one:
Mobile phone, panel computer.
8. a kind of device controlling balance car is it is characterised in that include:
First acquisition module, is configured to obtain the attitude of the control device of balance car；
Second acquisition module, the attitude being configured as described control device changes, and obtains the attitude of described control device
Change information；
First control module, is configured to control described balance car to run according to described attitudes vibration information.
9. device as claimed in claim 8 is it is characterised in that the instruction attitude run-off the straight of described attitudes vibration information changes.
10. device as claimed in claim 9 becomes it is characterised in that obtaining described attitude by least one sensor following
Change information: gravity sensor, acceleration transducer, gyroscope.
11. devices as claimed in claim 10 it is characterised in that described attitudes vibration information include following at least one: incline
Tilted direction, angle of inclination；
Described first control module, comprising:
First control unit, is configured as described attitudes vibration information and includes described incline direction, according to described incline direction
Control the traffic direction of described balance car；
Second control unit, is configured as described attitudes vibration information and includes described angle of inclination, according to described angle of inclination
Control the change angle when described traffic direction changes for the described balance car.
12. devices as claimed in claim 11 are it is characterised in that described attitudes vibration information includes described incline direction；
Described first control module, comprising:
3rd control subelement, when to be configured as described incline direction be to be tilted to the left with respect to horizontal direction, controls described
Balance car is turned left；
4th control subelement, when to be configured as described incline direction be to be tilted to the right with respect to horizontal direction, controls described
Balance car is turned right.
13. devices as claimed in claim 8 are it is characterised in that described device also includes:
Second control module, is configured as described attitude and occurs identical before described change, control described balance car to keep straight
OK.
14. devices as any one of claim 8-13 it is characterised in that described control device include following arbitrary
: mobile phone, panel computer.
A kind of 15. devices controlling balance car are it is characterised in that include:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Obtain the attitude of the control device of balance car；
When the attitude of described control device changes, obtain the attitudes vibration information of described control device；
Described balance car is controlled to run according to described attitudes vibration information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610822900.3A CN106354145A (en) | 2016-09-13 | 2016-09-13 | Device and method for controlling balance vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610822900.3A CN106354145A (en) | 2016-09-13 | 2016-09-13 | Device and method for controlling balance vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN106354145A true CN106354145A (en) | 2017-01-25 |
Family
ID=57859435
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610822900.3A Pending CN106354145A (en) | 2016-09-13 | 2016-09-13 | Device and method for controlling balance vehicle |
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| Country | Link |
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| CN (1) | CN106354145A (en) |
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