WO2018006301A1 - Balancing vehicle safety control method and device - Google Patents
Balancing vehicle safety control method and device Download PDFInfo
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- WO2018006301A1 WO2018006301A1 PCT/CN2016/088849 CN2016088849W WO2018006301A1 WO 2018006301 A1 WO2018006301 A1 WO 2018006301A1 CN 2016088849 W CN2016088849 W CN 2016088849W WO 2018006301 A1 WO2018006301 A1 WO 2018006301A1
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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
- B62K3/00—Bicycles
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- the technical problem to be solved by the present invention is to provide a balance car safety control method and apparatus for improving the speed of a novice driver.
- the method for controlling the posture of the balance vehicle to be consistent with the operation mode further includes:
- the technical solution can make the operation mode conform to the actual situation of the specific driver and let the driver get started as soon as possible.
- Balance device 20 used to start the balance car into a self-balancing state
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Abstract
A balancing vehicle safety control method and device. The balancing vehicle safety control method comprises: establishing a communication connection between a balancing vehicle and a mobile smart terminal; starting the balancing vehicle to enter a self-balancing state; detecting a driver state; when the driver is in an in-place state, reading an operation mode set by the mobile smart terminal; controlling the posture of the balancing vehicle to be consistent with the operation mode.
Description
本发明涉及平衡车控制领域，更具体的说，涉及一种平衡车安全控制方法和装置。The present invention relates to the field of balance vehicle control, and more particularly to a method and apparatus for safety control of a balance vehicle.
电动平衡车，又叫平衡车、思维车，其运作原理主要是建立在一种被称为“动态稳定”的基本原理上，利用车体内部的陀螺仪和加速度传感器，来检测车体姿态的变化，利用伺服控制***，精确地驱动电机进行相应的调整，以保持***的平衡。Electric balance car, also called balance car, thinking car, its operation principle is mainly based on a basic principle called "dynamic stability", using the gyroscope and acceleration sensor inside the car body to detect the posture of the car body. Change, using the servo control system, accurately drive the motor to adjust accordingly to maintain the balance of the system.
现有的电动平衡车一般有两种，一种是车体上具有一个操作杆，使用者站在电动平衡车的脚踏平台上对操作杆进行操作，从而前进、后退及停止，这样的控制也称“手控”。另一种是车体由两部分组成，左部分和右部分之间通过转动机构实现相互转动，从而实现“脚控”。现有的平衡车只要完全依据驾驶员的操作信号来动作，而作为初学者，其驾驶***衡车无法驾驭，甚至容易发生危险。There are two types of electric balance vehicles in the prior art. One type has an operating lever on the vehicle body, and the user stands on the pedal platform of the electric balance vehicle to operate the operating lever to advance, retreat and stop. Also known as "hand control." The other is that the car body is composed of two parts, and the left part and the right part are mutually rotated by the rotating mechanism, thereby realizing "foot control". The existing balance car only needs to operate completely according to the driver's operation signal, and as a beginner, the driving habit is very confusing, which makes the balance car uncontrollable and even dangerous.
【发明内容】[Summary of the Invention]
本发明所要解决的技术问题是提供一种提高新手驾驶员上手速度的平衡车安全控制方法和装置。The technical problem to be solved by the present invention is to provide a balance car safety control method and apparatus for improving the speed of a novice driver.
本发明的目的是通过以下技术方案来实现的：The object of the present invention is achieved by the following technical solutions:
根据本发明的一个方面，本发明公开一种平衡车安全控制方法，包括：According to an aspect of the invention, a safety vehicle control method for a balance vehicle is disclosed, comprising:
建立平衡车跟移动智能终端的通信连接；Establish a communication connection between the balance vehicle and the mobile intelligent terminal;
启动平衡车进入自平衡状态；Start the balance car into a self-balancing state;
检测驾驶员状态；Detecting driver status;
当驾驶员处于就位状态时，读取移动智能终端设定的运行模式；
Reading the operating mode set by the mobile intelligent terminal when the driver is in the in-position state;
控制平衡车的姿态与运行模式一致。The posture of the control balance car is consistent with the operation mode.
进一步的，所述控制平衡车的姿态与运行模式一致的方法还包括：Further, the method for controlling the posture of the balance vehicle to be consistent with the operation mode further includes:
检测平衡车的姿态是否跟运行模式一致；一致时平衡车启动；否则停止运行并保持自平衡状态，发出语音提示。通过语言提示，可以不断提醒驾驶员校正姿势，另外，只要平衡车停止和自平衡状态，即便驾驶员操作错误，也不容易从车上摔下来，确保驾驶员安全。Check whether the posture of the balance car is consistent with the running mode; when the vehicle is consistent, the balance car starts; otherwise, it stops running and maintains the self-balancing state, and a voice prompt is issued. Through the language prompt, the driver can be constantly reminded to correct the posture. In addition, as long as the vehicle is stopped and self-balanced, even if the driver operates incorrectly, it is not easy to fall off the vehicle and ensure the safety of the driver.
进一步的，所述控制平衡车的姿态与运行模式一致的方法还包括：Further, the method for controlling the posture of the balance vehicle to be consistent with the operation mode further includes:
实时检测运行模式，根据运行模式自动调整平衡车姿态。The operation mode is detected in real time, and the balance car posture is automatically adjusted according to the operation mode.
本技术方案提供了一种主动控制的方式，平衡车无视驾驶员的操作，直接响应移动智能终端的运行模式，进一步确保了驾驶的安全性，也方便新手更好地体验争取的驾驶方式，缩短上手时间。The technical solution provides an active control mode, the balance car ignores the driver's operation, directly responds to the operation mode of the mobile intelligent terminal, further ensures the safety of driving, and also facilitates the novice to better experience the driving mode and shorten the driving mode. Get started.
进一步的，所述控制平衡车的姿态与运行模式一致的方法还包括：Further, the method for controlling the posture of the balance vehicle to be consistent with the operation mode further includes:
检测驾驶员的体重信息；Detecting the driver's weight information;
当体重信息超过预设值时，降低最高行驶速度，并反馈回移动智能终端，修正运行模式。When the weight information exceeds the preset value, the maximum travel speed is lowered, and feedback is returned to the mobile intelligent terminal to correct the operation mode.
手机预设的运行模式往往是针对大众的，对于体重异常的人士，需要对参数进行修正才能更贴合驾驶员的实际情况。The preset operation mode of the mobile phone is often directed to the public. For people with abnormal weight, the parameters need to be corrected to better match the actual situation of the driver.
进一步的，所述检测驾驶员状态的方法还包括：Further, the method for detecting a driver state further includes:
通过踏板的重量数据检测驾驶员状态；当重量数据超过预设的区间时，启动载物模式；The driver state is detected by the weight data of the pedal; when the weight data exceeds the preset interval, the cargo mode is activated;
根据重量数据计算安全行驶速度；Calculate the safe driving speed based on the weight data;
控制平衡车按安全行驶速度匀速运行；Control the balance car to run at a constant speed according to the safe driving speed;
进一步的，控制平衡车按安全行驶速度匀速运行的方法还包括：实时计算平衡车跟移动智能终端的距离，控制平衡车跟移动智能终端的距离保持在预设距离内，当检测到平衡车按安全行驶速度运行时，平衡车和控制器的距离仍然持续拉大，发出告警信息。
Further, the method for controlling the balance car to run at a constant speed according to the safe driving speed further comprises: calculating the distance between the balance car and the mobile intelligent terminal in real time, and controlling the distance between the balance car and the mobile intelligent terminal to be kept within a preset distance, when detecting the balance car pressing When the safe driving speed is running, the distance between the balance car and the controller continues to increase, and an alarm message is issued.
进一步的，所述平衡车包括车体，以及设置在车体上的踏板组件，所述踏板组件包括分别与两脚板对应的压力传感器；所述检测驾驶员状态的方法包括：Further, the balance vehicle includes a vehicle body, and a pedal assembly disposed on the vehicle body, the pedal assembly including pressure sensors respectively corresponding to the two foot plates; and the method for detecting a driver state includes:
根据两个压力传感器的测量值计算双脚压差和驾驶人员的体重，Calculate the pressure difference between the two feet and the weight of the driver based on the measured values of the two pressure sensors.
根据双脚压差和体重的比率判断驾驶员状态。The driver's status is judged based on the ratio of the pressure difference between the two feet and the weight.
进一步的，所述压力传感器包括与前脚掌对应的第一传感器，以及与后脚跟对应的第二压力传感器；当第一传感器和第二传感器测量值的差值小于第一阈值时，判定驾驶员处于就位状态。Further, the pressure sensor includes a first sensor corresponding to the forefoot and a second pressure sensor corresponding to the rear heel; when the difference between the measured values of the first sensor and the second sensor is less than the first threshold, determining the driver In the state of being in place.
进一步的，所述平衡车安全控制方法还包括：Further, the balance car safety control method further includes:
记录驾驶员的体重和驾驶习惯，生成驾驶模式数据；Record driver's weight and driving habits to generate driving mode data;
将驾驶模式数据反馈回移动智能终端；Feeding driving mode data back to the mobile intelligent terminal;
所述根据驾驶模式数据选择匹配的运行模式。The selecting a matching operating mode based on the driving mode data.
本技术方案可以让运行模式跟符合具体驾驶员的实际情况，让驾驶员尽快上手。The technical solution can make the operation mode conform to the actual situation of the specific driver and let the driver get started as soon as possible.
根据本发明的另一个方面，本发明公开了一种平衡车安全控制装置，其中，包括：According to another aspect of the present invention, the present invention discloses a balance vehicle safety control device, which includes:
用于建立平衡车跟移动智能终端的通信连接的装置；Means for establishing a communication connection for balancing the vehicle with the mobile intelligent terminal;
用于启动平衡车进入自平衡状态的装置；Means for initiating the balance car to enter a self-balancing state;
用于检测驾驶员状态的装置；Means for detecting the state of the driver;
用于当驾驶员处于就位状态时，读取移动智能终端设定的运行模式的装置；Means for reading an operation mode set by the mobile intelligent terminal when the driver is in the in-position state;
用于控制平衡车的姿态与运行模式一致的装置。A device for controlling the posture of the balance car in accordance with the operation mode.
与现有技术相比，本发明的技术效果是：本发明通过平衡车来设定运行模式，只有驾驶员的操作符合运行模式时，即驾驶员控制平衡车达到预定的姿态时，平衡车才启动，避免新手不熟悉操作或紧张造成平衡车失控，为新手提供了一种可控的适应过程。另外，平衡车启动即进入自平衡状态，确保驾驶员能平稳上车。
Compared with the prior art, the technical effect of the present invention is that the present invention sets the operation mode by balancing the vehicle, and only when the driver's operation conforms to the operation mode, that is, when the driver controls the balance vehicle to reach a predetermined posture, the balance vehicle is Start, to avoid the unfamiliar operation or tension caused by the novice, resulting in a controllable adaptation process for the novice. In addition, the balance car starts to enter the self-balancing state, ensuring that the driver can get on the train smoothly.
图1是本发明平衡车安全控制方法示意图；1 is a schematic view of a safety control method for a balance car of the present invention;
图2是本发明平衡车安全控制装置的示意图。2 is a schematic view of a safety control device for a balance car of the present invention.
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各项操作描述成顺序的处理，但是其中的许多操作可以被并行地、并发地或者同时实施。此外，各项操作的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as a process or method depicted as a flowchart. Although the flowcharts describe various operations as a sequential process, many of the operations can be implemented in parallel, concurrently or concurrently. In addition, the order of operations can be rearranged. The process may be terminated when its operation is completed, but may also have additional steps not included in the figures. The processing may correspond to methods, functions, procedures, subroutines, subroutines, and the like.
在上下文中所称移动智能终端(如智能手机、平板电脑、穿戴设备或智能眼镜)、计算机、AI(人工智能)、机器人、VR(虚拟现实)、AR(增强现实)、智能家居设备或智能工业控制设备等等均可以通过运行预定程序或指令来执行数值计算和/或逻辑计算等预定处理过程，其可以包括处理器与存储器，由处理器执行在存储器中预存的存续指令来执行预定处理过程，或是由ASIC、FPGA、DSP等硬件执行预定处理过程，或是由上述二者组合来实现。计算机设备包括但不限于服务器、个人电脑、笔记本电脑、平板电脑、智能手机等。Mobile smart terminals (such as smartphones, tablets, wearables or smart glasses), computers, AI (artificial intelligence), robots, VR (virtual reality), AR (augmented reality), smart home devices or smart The industrial control device or the like may each perform a predetermined process such as numerical calculation and/or logic calculation by executing a predetermined program or instruction, which may include a processor and a memory, and the processor executes a pre-stored survival instruction in the memory to perform predetermined processing. The process is either performed by a hardware such as an ASIC, an FPGA, or a DSP, or a combination of the two. Computer devices include, but are not limited to, servers, personal computers, notebook computers, tablets, smart phones, and the like.
网络设备包括但不限于单个网络服务器、多个网络服务器组成的服务器组或基于云计算(Cloud Computing)的由大量计算机或网络服务器构成的云，其中，云计算是分布式计算的一种，由一群松散耦合的计算机集组成的一个超级虚拟计算机。其中，所述计算机设备可单独运行来实现本发明，也可接入网络并通过与网络中的其他计算机设备的交互操作来实现本发明。其中，所述计算机设备所处的网络包括但不限于互联网、广域网、城域网、局域网、VPN网络等。The network device includes, but is not limited to, a single network server, a server group composed of multiple network servers, or a cloud computing-based cloud composed of a large number of computers or network servers, wherein the cloud computing is a kind of distributed computing, A super virtual computer consisting of a group of loosely coupled computers. Wherein, the computer device can be operated separately to implement the present invention, and can also access the network and implement the present invention by interacting with other computer devices in the network. The network in which the computer device is located includes, but is not limited to, the Internet, a wide area network, a metropolitan area network, a local area network, a VPN network, and the like.
需要说明的是，所述用户设备、网络设备和网络等仅为举例，其他现有的
或今后可能出现的计算机设备或网络如可适用于本发明，也应包含在本发明保护范围以内，并以引用方式包含于此。It should be noted that the user equipment, the network equipment, the network, and the like are only examples, and other existing ones.
Computer devices or networks that may be present in the future, such as may be applicable to the present invention, are also intended to be included within the scope of the present invention and are incorporated herein by reference.
后面所讨论的方法(其中一些通过流程图示出)可以通过硬件、软件、固件、中间件、微代码、硬件描述语言或者其任意组合来实施。当用软件、固件、中间件或微代码来实施时，用以实施必要任务的程序代码或代码段可以被存储在机器或计算机可读介质(比如存储介质)中。(一个或多个)处理器可以实施必要的任务。The methods discussed below, some of which are illustrated by flowcharts, can be implemented in hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to carry out the necessary tasks can be stored in a machine or computer readable medium, such as a storage medium. The processor(s) can perform the necessary tasks.
这里所公开的具体结构和功能细节仅仅是代表性的，并且是用于描述本发明的示例性实施例的目的。但是本发明可以通过许多替换形式来具体实现，并且不应当被解释成仅仅受限于这里所阐述的实施例。The specific structural and functional details disclosed are merely representative and are for the purpose of describing exemplary embodiments of the invention. The present invention may, however, be embodied in many alternative forms and should not be construed as being limited only to the embodiments set forth herein.
应当理解的是，虽然在这里可能使用了术语“第一”、“第二”等等来描述各个单元，但是这些单元不应当受这些术语限制。使用这些术语仅仅是为了将一个单元与另一个单元进行区分。举例来说，在不背离示例性实施例的范围的情况下，第一单元可以被称为第二单元，并且类似地第二单元可以被称为第一单元。这里所使用的术语“和/或”包括其中一个或更多所列出的相关联项目的任意和所有组合。It should be understood that although the terms "first," "second," etc. may be used herein to describe the various elements, these elements should not be limited by these terms. These terms are used only to distinguish one unit from another. For example, a first unit could be termed a second unit, and similarly a second unit could be termed a first unit, without departing from the scope of the exemplary embodiments. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.
应当理解的是，当一个单元被称为“连接”或“耦合”到另一单元时，其可以直接连接或耦合到所述另一单元，或者可以存在中间单元。与此相对，当一个单元被称为“直接连接”或“直接耦合”到另一单元时，则不存在中间单元。应当按照类似的方式来解释被用于描述单元之间的关系的其他词语(例如“处于。。。之间”相比于“直接处于。。。之间”，“与。。。邻近”相比于“与。。。直接邻近”等等)。It will be understood that when a unit is referred to as "connected" or "coupled" to another unit, it can be directly connected or coupled to the other unit, or an intermediate unit can be present. In contrast, when a unit is referred to as being "directly connected" or "directly coupled" to another unit, there is no intermediate unit. Other words used to describe the relationship between the elements should be interpreted in a similar manner (eg, "between" and "directly between", "and". Than "and... directly adjacent", etc.).
这里所使用的术语仅仅是为了描述具体实施例而不意图限制示例性实施例。除非上下文明确地另有所指，否则这里所使用的单数形式“一个”、“一项”还意图包括复数。还应当理解的是，这里所使用的术语“包括”和/或“包含”规定所陈述的特征、整数、步骤、操作、单元和/或组件的存在，而不排除存在
或添加一个或更多其他特征、整数、步骤、操作、单元、组件和/或其组合。The terminology used herein is for the purpose of describing the particular embodiments, The singular forms "a", "an", It is also to be understood that the terms "comprising" and / or "comprising" are used in the <Desc/Clms Page number>
Or add one or more other features, integers, steps, operations, units, components, and/or combinations thereof.
还应当提到的是，在一些替换实现方式中，所提到的功能/动作可以按照不同于附图中标示的顺序发生。举例来说，取决于所涉及的功能/动作，相继示出的两幅图实际上可以基本上同时执行或者有时可以按照相反的顺序来执行。It should also be noted that, in some alternative implementations, the functions/acts noted may occur in a different order than that illustrated in the drawings. For example, two figures shown in succession may in fact be executed substantially concurrently or sometimes in the reverse order, depending on the function/acts involved.
下面以手机为例，结合附图1、2和较佳的实施例对本发明作进一步说明。The present invention will be further described below with reference to the accompanying drawings 1, 2 and the preferred embodiments.
根据本发明的一个方面，本发明公开一种平衡车安全控制方法，包括：According to an aspect of the invention, a safety vehicle control method for a balance vehicle is disclosed, comprising:
建立平衡车跟移动智能终端的通信连接；Establish a communication connection between the balance vehicle and the mobile intelligent terminal;
启动平衡车进入自平衡状态；Start the balance car into a self-balancing state;
检测驾驶员状态；Detecting driver status;
当驾驶员处于就位状态时，读取移动智能终端设定的运行模式；Reading the operating mode set by the mobile intelligent terminal when the driver is in the in-position state;
控制平衡车的姿态与运行模式一致。The posture of the control balance car is consistent with the operation mode.
与现有技术相比，本发明的技术效果是：本发明通过平衡车来设定运行模式，只有驾驶员的操作符合运行模式时，即驾驶员控制平衡车达到预定的姿态时，平衡车才启动，避免新手不熟悉操作或紧张造成平衡车失控，为新手提供了一种可控的适应过程。另外，平衡车启动即进入自平衡状态，确保驾驶员能平稳上车。Compared with the prior art, the technical effect of the present invention is that the present invention sets the operation mode by balancing the vehicle, and only when the driver's operation conforms to the operation mode, that is, when the driver controls the balance vehicle to reach a predetermined posture, the balance vehicle is Start, to avoid the unfamiliar operation or tension caused by the novice, resulting in a controllable adaptation process for the novice. In addition, the balance car starts to enter the self-balancing state, ensuring that the driver can get on the train smoothly.
可选的，所述控制平衡车的姿态与运行模式一致的方法还包括：Optionally, the method for controlling the posture of the balance car to be consistent with the operation mode further includes:
检测平衡车的姿态是否跟运行模式一致；一致时平衡车启动；否则停止运行并保持自平衡状态，发出语音提示。通过语言提示，可以不断提醒驾驶员校正姿势，另外，只要平衡车停止和自平衡状态，即便驾驶员操作错误，也不容易从车上摔下来，确保驾驶员安全。Check whether the posture of the balance car is consistent with the running mode; when the vehicle is consistent, the balance car starts; otherwise, it stops running and maintains the self-balancing state, and a voice prompt is issued. Through the language prompt, the driver can be constantly reminded to correct the posture. In addition, as long as the vehicle is stopped and self-balanced, even if the driver operates incorrectly, it is not easy to fall off the vehicle and ensure the safety of the driver.
比如，在手机端打开专用APP，选择运行模式为前进，限速5公里/小时，而驾驶员控制平衡车进入倒退的姿势，此时平衡车将强制停止运行并保持自平衡状态，让驾驶者回归到直立、静止状态。或者，驾驶员过渡前倾，平衡车速度超过了限速水平，也要强制停止并复归自平衡状态，避免速度过快造成危险。For example, open a dedicated APP on the mobile phone, select the running mode as forward, the speed limit is 5 km/h, and the driver controls the balance car to enter the reverse position. At this time, the balance car will be forced to stop running and maintain self-balancing state, so that the driver Return to an upright, static state. Or, if the driver transitions forward, the speed of the balance car exceeds the speed limit level, and it is also forced to stop and return to the self-balancing state to avoid the danger caused by too fast speed.
可选的，所述控制平衡车的姿态与运行模式一致的方法还包括：
Optionally, the method for controlling the posture of the balance car to be consistent with the operation mode further includes:
实时检测运行模式，根据运行模式自动调整平衡车姿态。The operation mode is detected in real time, and the balance car posture is automatically adjusted according to the operation mode.
本技术方案提供了一种主动控制的方式，平衡车无视驾驶员的操作，直接响应移动智能终端的运行模式，进一步确保了驾驶的安全性，也方便新手更好地体验争取的驾驶方式，缩短上手时间。The technical solution provides an active control mode, the balance car ignores the driver's operation, directly responds to the operation mode of the mobile intelligent terminal, further ensures the safety of driving, and also facilitates the novice to better experience the driving mode and shorten the driving mode. Get started.
可选的，所述控制平衡车的姿态与运行模式一致的方法还包括：Optionally, the method for controlling the posture of the balance car to be consistent with the operation mode further includes:
检测驾驶员的体重信息；Detecting the driver's weight information;
当体重信息超过预设值时，降低最高行驶速度，并反馈回移动智能终端，修正运行模式。When the weight information exceeds the preset value, the maximum travel speed is lowered, and feedback is returned to the mobile intelligent terminal to correct the operation mode.
手机预设的运行模式往往是针对大众的，对于体重异常的人士，需要对参数进行修正才能更贴合驾驶员的实际情况。The preset operation mode of the mobile phone is often directed to the public. For people with abnormal weight, the parameters need to be corrected to better match the actual situation of the driver.
可选的，所述检测驾驶员状态的方法还包括：Optionally, the method for detecting a driver status further includes:
通过踏板的重量数据检测驾驶员状态；当重量数据超过预设的区间时，启动载物模式；The driver state is detected by the weight data of the pedal; when the weight data exceeds the preset interval, the cargo mode is activated;
根据重量数据计算安全行驶速度；Calculate the safe driving speed based on the weight data;
控制平衡车按安全行驶速度匀速运行；Control the balance car to run at a constant speed according to the safe driving speed;
可选的，控制平衡车按安全行驶速度匀速运行的方法还包括：实时计算平衡车跟移动智能终端的距离，控制平衡车跟移动智能终端的距离保持在预设距离内，当检测到平衡车按安全行驶速度运行时，平衡车和控制器的距离仍然持续拉大，发出告警信息。Optionally, the method for controlling the balance car to run at a constant speed according to the safe driving speed further comprises: calculating the distance between the balance car and the mobile intelligent terminal in real time, and controlling the distance between the balance car and the mobile intelligent terminal to be kept within a preset distance, when the balance car is detected When running at safe driving speed, the distance between the balance car and the controller continues to increase and an alarm message is issued.
可选的，所述平衡车包括车体，以及设置在车体上的踏板组件，所述踏板组件包括分别与两脚板对应的压力传感器；所述检测驾驶员状态的方法包括：Optionally, the balance vehicle includes a vehicle body, and a pedal assembly disposed on the vehicle body, the pedal assembly includes a pressure sensor respectively corresponding to the two foot plates; and the method for detecting a driver state includes:
根据两个压力传感器的测量值计算双脚压差和驾驶人员的体重，Calculate the pressure difference between the two feet and the weight of the driver based on the measured values of the two pressure sensors.
根据双脚压差和体重的比率判断驾驶员状态。The driver's status is judged based on the ratio of the pressure difference between the two feet and the weight.
可选的，所述压力传感器包括与前脚掌对应的第一传感器，以及与后脚跟对应的第二压力传感器；当第一传感器和第二传感器测量值的差值小于第一阈值时，判定驾驶员处于就位状态。
Optionally, the pressure sensor includes a first sensor corresponding to the forefoot, and a second pressure sensor corresponding to the rear heel; when the difference between the measured values of the first sensor and the second sensor is less than the first threshold, determining driving The member is in the state of being in position.
可选的，所述平衡车安全控制方法还包括：Optionally, the balance car safety control method further includes:
记录驾驶员的体重和驾驶习惯，生成驾驶模式数据；Record driver's weight and driving habits to generate driving mode data;
将驾驶模式数据反馈回移动智能终端；Feeding driving mode data back to the mobile intelligent terminal;
所述根据驾驶模式数据选择匹配的运行模式。The selecting a matching operating mode based on the driving mode data.
本技术方案可以让运行模式跟符合具体驾驶员的实际情况，让驾驶员尽快上手。The technical solution can make the operation mode conform to the actual situation of the specific driver and let the driver get started as soon as possible.
根据本发明的另一个方面，本发明实施方式还公开了一种平衡车安全控制装置，包括：According to another aspect of the present invention, an embodiment of the present invention further discloses a balance vehicle safety control apparatus, including:
通信装置10：用于建立平衡车跟移动智能终端的通信连接；The communication device 10 is configured to establish a communication connection between the balance vehicle and the mobile intelligent terminal;
平衡装置20：用于启动平衡车进入自平衡状态；Balance device 20: used to start the balance car into a self-balancing state;
检测装置30：用于检测驾驶员状态；Detection device 30: for detecting a driver state;
设定装置40：用于当驾驶员处于就位状态时，读取移动智能终端设定的运行模式；Setting device 40: for reading an operation mode set by the mobile intelligent terminal when the driver is in the in-position state;
控制装置50：用于控制平衡车的姿态与运行模式一致。Control device 50: The posture for controlling the balance vehicle is consistent with the operation mode.
平衡车安全控制装置可用于实施本发明的平衡车安全控制方法。The balance car safety control device can be used to implement the balance car safety control method of the present invention.
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。
The above is a further detailed description of the present invention in connection with the specific preferred embodiments, and the specific embodiments of the present invention are not limited to the description. It will be apparent to those skilled in the art that the present invention may be made without departing from the spirit and scope of the invention.
Claims (10)
- 一种平衡车安全控制方法，其中，包括：A method for controlling safety of a balance vehicle, comprising:建立平衡车跟移动智能终端的通信连接；Establish a communication connection between the balance vehicle and the mobile intelligent terminal;启动平衡车进入自平衡状态；Start the balance car into a self-balancing state;检测驾驶员状态；Detecting driver status;当驾驶员处于就位状态时，读取移动智能终端设定的运行模式；Reading the operating mode set by the mobile intelligent terminal when the driver is in the in-position state;控制平衡车的姿态与运行模式一致。The posture of the control balance car is consistent with the operation mode.
- 根据权利要求1所述的平衡车安全控制方法，其中，所述控制平衡车的姿态与运行模式一致的方法还包括：The balance vehicle safety control method according to claim 1, wherein the method for controlling the posture of the balance vehicle in accordance with the operation mode further comprises:检测平衡车的姿态是否跟运行模式一致；一致时平衡车启动；否则停止运行并保持自平衡状态，发出语音提示。Check whether the posture of the balance car is consistent with the running mode; when the vehicle is consistent, the balance car starts; otherwise, it stops running and maintains the self-balancing state, and a voice prompt is issued.
- 根据权利要求1所述的平衡车安全控制方法，其中，所述控制平衡车的姿态与运行模式一致的方法还包括：The balance vehicle safety control method according to claim 1, wherein the method for controlling the posture of the balance vehicle in accordance with the operation mode further comprises:实时检测运行模式，根据运行模式自动调整平衡车姿态。The operation mode is detected in real time, and the balance car posture is automatically adjusted according to the operation mode.
- 根据权利要求1所述的平衡车安全控制方法，其中，所述控制平衡车的姿态与运行模式一致的方法还包括：The balance vehicle safety control method according to claim 1, wherein the method for controlling the posture of the balance vehicle in accordance with the operation mode further comprises:检测驾驶员的体重信息；Detecting the driver's weight information;当体重信息超过预设值时，降低最高行驶速度，并反馈回移动智能终端，修正运行模式。When the weight information exceeds the preset value, the maximum travel speed is lowered, and feedback is returned to the mobile intelligent terminal to correct the operation mode.
- 根据权利要求1所述的平衡车安全控制方法，其中，所述检测驾驶员状态的方法还包括：The balance vehicle safety control method according to claim 1, wherein the method for detecting a driver state further comprises:通过踏板的重量数据检测驾驶员状态；当重量数据超过预设的区间时，启动载物模式；The driver state is detected by the weight data of the pedal; when the weight data exceeds the preset interval, the cargo mode is activated;根据重量数据计算安全行驶速度；Calculate the safe driving speed based on the weight data;控制平衡车按安全行驶速度匀速运行； Control the balance car to run at a constant speed according to the safe driving speed;
- 根据权利要求5所述的平衡车安全控制方法，其中，控制平衡车按安全行驶速度匀速运行的方法还包括：实时计算平衡车跟移动智能终端的距离，控制平衡车跟移动智能终端的距离保持在预设距离内，当检测到平衡车按安全行驶速度运行时，平衡车和控制器的距离仍然持续拉大，发出告警信息。The balance car safety control method according to claim 5, wherein the method for controlling the balance car to run at a constant speed according to the safe running speed further comprises: calculating the distance between the balance car and the mobile intelligent terminal in real time, and controlling the distance keeping of the balance car and the mobile intelligent terminal; Within the preset distance, when it is detected that the balance car is running at a safe driving speed, the distance between the balance vehicle and the controller continues to increase, and an alarm message is issued.
- 根据权利要求1所述的平衡车安全控制方法，其中，所述平衡车包括车体，以及设置在车体上的踏板组件，所述踏板组件包括分别与两脚板对应的压力传感器；所述检测驾驶员状态的方法包括：The balance vehicle safety control method according to claim 1, wherein the balance vehicle comprises a vehicle body, and a pedal assembly provided on the vehicle body, the pedal assembly including pressure sensors respectively corresponding to the two leg plates; The method of driver status includes:根据两个压力传感器的测量值计算双脚压差和驾驶人员的体重，Calculate the pressure difference between the two feet and the weight of the driver based on the measured values of the two pressure sensors.根据双脚压差和体重的比率判断驾驶员状态。The driver's status is judged based on the ratio of the pressure difference between the two feet and the weight.
- 根据权利要求7所述的平衡车安全控制方法，其中，所述压力传感器包括与前脚掌对应的第一传感器，以及与后脚跟对应的第二压力传感器；当第一传感器和第二传感器测量值的差值小于第一阈值时，判定驾驶员处于就位状态。The balance vehicle safety control method according to claim 7, wherein the pressure sensor includes a first sensor corresponding to the forefoot, and a second pressure sensor corresponding to the rear heel; when the first sensor and the second sensor measure When the difference is less than the first threshold, it is determined that the driver is in the in-position state.
- 根据权利要求7所述的平衡车安全控制方法，其中，所述平衡车安全控制方法还包括：The balance vehicle safety control method according to claim 7, wherein the balance vehicle safety control method further comprises:记录驾驶员的体重和驾驶习惯，生成驾驶模式数据；Record driver's weight and driving habits to generate driving mode data;将驾驶模式数据反馈回移动智能终端；Feeding driving mode data back to the mobile intelligent terminal;所述根据驾驶模式数据选择匹配的运行模式。The selecting a matching operating mode based on the driving mode data.
- 一种平衡车安全控制装置，其中，包括：A balance vehicle safety control device, comprising:用于建立平衡车跟移动智能终端的通信连接的装置；Means for establishing a communication connection for balancing the vehicle with the mobile intelligent terminal;用于启动平衡车进入自平衡状态的装置；Means for initiating the balance car to enter a self-balancing state;用于检测驾驶员状态的装置；Means for detecting the state of the driver;用于当驾驶员处于就位状态时，读取移动智能终端设定的运行模式的装置；Means for reading an operation mode set by the mobile intelligent terminal when the driver is in the in-position state;用于控制平衡车的姿态与运行模式一致的装置。 A device for controlling the posture of the balance car in accordance with the operation mode.
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| Date | Code | Title | Description |
|---|---|---|---|
| WA | Withdrawal of international application | ||
| NENP | Non-entry into the national phase |
Ref country code: DE |