WO2023083094A1

WO2023083094A1 - Method for determining locking position, folding vehicle, storage medium, and electronic device

Info

Publication number: WO2023083094A1
Application number: PCT/CN2022/129586
Authority: WO
Inventors: 陆健; 李维俊
Original assignee: 苏州坦途智能科技有限公司
Priority date: 2021-11-09
Filing date: 2022-11-03
Publication date: 2023-05-19

Abstract

A folding mechanism, comprising: a base portion (120) and a folding portion (121), the folding portion (121) being capable of pivoting relative to the base portion (120) between an unfolded position and a folded position; a locking assembly (122), used to lock the folding portion (121) in the unfolded position; a locking lever (123), the locking lever (123) being pivotably connected to the base portion (120), and the locking lever (123) being capable of further locking the folding portion (121) in the unfolded position when in a locking position; a first detection member (124) disposed at a specific position outside the locking lever (123) and used to generate a detection signal corresponding to the position of the locking lever (123); and a controller (125), configured to acquire a detection signal and execute a control mode corresponding to the detection signal.

Description

锁紧位置的确定方法和折叠车、存储介质、电子装置Method for determining locking position, folding vehicle, storage medium, and electronic device

本公开要求如下专利申请的优先权：于2021年11月9日提交中国专利局、申请号为202122734906.4、发明名称为“折叠机构”的中国专利申请，于2021年11月9日提交中国专利局、申请号为202111322907.6、发明名称为“锁紧位置的确定方法和折叠车、存储介质、电子装置”的中国专利申请；上述专利申请的全部内容通过引用结合在本公开中。This disclosure claims the priority of the following patent application: the Chinese patent application with the application number 202122734906.4 and the title of the invention "folding mechanism", filed with the China Patent Office on November 9, 2021, submitted to the China Patent Office on November 9, 2021 , Chinese patent application with application number 202111322907.6, and title of invention entitled "Method for Determining Locking Position, Folding Vehicle, Storage Medium, and Electronic Device"; the entire content of the above patent application is incorporated by reference in this disclosure.

技术领域technical field

本发明涉及通信领域，具体而言，涉及一种折叠机构的锁紧位置的确定方法和折叠车、存储介质、电子装置。The present invention relates to the communication field, in particular to a method for determining a locking position of a folding mechanism, a folding cart, a storage medium, and an electronic device.

背景技术Background technique

目前，折叠自行车、折叠滑板车等具备折叠或可分体拆卸功能的折叠车上所采用的折叠机构通常是设置有两个锁扣和一个扳手，通过扳手的转动实现两个锁扣之间的扣合和分离，而对于扳手的转动，一般是直接转动扳手到位即可将锁扣解锁，这种设置方式虽然方便，但是由于只能人为判断锁止扳手是否处于所述锁定位置，导致折叠车的安全性较低，而且容易发生误判断，从而导致安全事故的情况。At present, the folding mechanism used on folding bicycles, folding scooters and other folding vehicles with folding or detachable functions is usually provided with two locks and a wrench, and the rotation of the wrench realizes the locking between the two locks. Buckling and separation, and for the rotation of the wrench, generally the lock can be unlocked by directly turning the wrench in place. Although this setting method is convenient, it can only be manually judged whether the locking wrench is in the locked position, resulting in a folding car. The security is low, and misjudgment is prone to occur, which may lead to safety accidents.

针对相关技术中，由于只能人为判断锁止扳手位置，导致折叠骑行车的安全性较低等问题，目前尚未提出有效的解决方案。In the related art, because the position of the locking wrench can only be judged manually, resulting in low safety of the folding bicycle, no effective solution has been proposed yet.

因此，有必要对相关技术予以改良以克服相关技术中的所述缺陷。Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology.

发明内容Contents of the invention

本发明实施例提供了一种折叠机构，以至少解决由于只能人为判断锁止扳手位置，导致折叠骑行车的安全性较低等问题。The embodiment of the present invention provides a folding mechanism to at least solve the problem of low safety of the folding bicycle due to the fact that the position of the locking wrench can only be judged manually.

根据本发明的一个实施例，提供了折叠机构，应用于可折叠骑行车，包括：基座部分和折叠部分，所述折叠部分可在展开位置和折叠位置之间相对于所述基座部分枢转；锁定组件，用于将所述折叠部分锁定在展开位置；锁止扳手，所述锁止扳手与所述基座部分枢转连接，所述锁止扳手在锁定位置可进一步将所述折叠部分锁定在展开位置；第一检测件，设置在所述锁止扳手以外的特定位置，用于生成对应于所述锁止扳手位置的检测信号；控制器，用于获取所述检测信号，以及执行对应于所述检测信号的控制模式。According to one embodiment of the present invention, there is provided a folding mechanism applied to a foldable bicycle, comprising: a base portion and a folding portion, the folding portion is pivotable relative to the base portion between an unfolded position and a folded position turn; a locking assembly for locking the folded portion in the unfolded position; a locking wrench pivotally connected to the base portion, the locking wrench can further lock the folded portion in the locked position Partially locked in the unfolded position; a first detection member, arranged at a specific position other than the locking wrench, for generating a detection signal corresponding to the position of the locking wrench; a controller, for obtaining the detection signal, and A control mode corresponding to the detection signal is executed.

在一个示例性实施例中，所述折叠机构还包括第二检测件，设置在所述锁止扳手上，可随所述锁止扳手转动而移动；其中，所述第一检测件用于检测所述第二检测件的位置，以生成对应于所述锁止扳手位置的检测信号。In an exemplary embodiment, the folding mechanism further includes a second detection piece, which is arranged on the locking wrench and can move with the rotation of the locking wrench; wherein, the first detection piece is used to detect The position of the second detection member is used to generate a detection signal corresponding to the position of the locking wrench.

在一个示例性实施例中，所述控制器还用于：根据所述检测信号确定所述锁止扳手是否处于所述锁定位置；在所述锁止扳手未处于所述锁定位置的情况下，执行第一控制模式。In an exemplary embodiment, the controller is further configured to: determine whether the locking wrench is in the locking position according to the detection signal; if the locking wrench is not in the locking position, Execute the first control mode.

在一个示例性实施例中，所述第一检测件至少包括以下之一：霍尔传感器，光学传感器，激光距离传感器；其中，所述霍尔传感器用于感应所述第二检测件与所述霍尔传感器之间的磁场，并将所述霍尔传感器确定的检测信号发送至所述控制器；所述光学传感器用于检测所述第二检测件是否出现在第一预设距离内，并将所述光学传感器确定的检测信号发送至所述控制器；所述激光距离传感器用于检测所述第二检测件与所述激光距离传感器之间的距离，并将所述激光距离传感器确定的检测信号发送至所述控制器。In an exemplary embodiment, the first detection element includes at least one of the following: a Hall sensor, an optical sensor, and a laser distance sensor; wherein the Hall sensor is used to sense the distance between the second detection element and the The magnetic field between the Hall sensors, and the detection signal determined by the Hall sensor is sent to the controller; the optical sensor is used to detect whether the second detection part appears within the first preset distance, and Send the detection signal determined by the optical sensor to the controller; the laser distance sensor is used to detect the distance between the second detection part and the laser distance sensor, and send the distance determined by the laser distance sensor A detection signal is sent to the controller.

在一个示例性实施例中，所述折叠机构还包括：立管，所述立管用于与所述锁止扳手对接锁紧。In an exemplary embodiment, the folding mechanism further includes: a standpipe, and the standpipe is used for docking and locking with the locking wrench.

在一个示例性实施例中，所述第一检测件至少设置在以下位置之一：所述基座部分、所述折叠部分、所述立管。In an exemplary embodiment, the first detecting member is disposed at least one of the following positions: the base part, the folding part, and the standpipe.

在一个示例性实施例中，所述控制器，还用于在所述检测信号大于第一预设阈值的情况下，确定所述锁止扳手未处于所述锁定位置；以及在所述检测信号小于第二预设阈值的情况下，确定所述锁止扳手处于所述锁定位置。In an exemplary embodiment, the controller is further configured to determine that the locking wrench is not in the locked position when the detection signal is greater than a first preset threshold; and when the detection signal If it is less than the second preset threshold, it is determined that the locking wrench is in the locking position.

在一个示例性实施例中，所述第一检测件包括：霍尔传感器，其中，所述霍尔传感器，还用于在所述第二检测件与所述霍尔传感器之间的磁场小于第三预设阈值的情况下，确定所述检测信号大于所述第一预设阈值；以及在所述第二检测件与所述霍尔传感器之间的磁场大于第四预设阈值的情况下，确定所述检测信号小于所述第二预设阈值。In an exemplary embodiment, the first detecting element includes: a Hall sensor, wherein the Hall sensor is further configured to have a magnetic field between the second detecting element and the Hall sensor smaller than that of the first detecting element. In the case of three preset thresholds, determining that the detection signal is greater than the first preset threshold; and in the case of a magnetic field between the second detection part and the Hall sensor greater than a fourth preset threshold, determining that the detection signal is smaller than the second preset threshold.

在一个示例性实施例中，所述折叠机构还包括：电机，所述控制器和所述电机耦合连接，其中，所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，控制所述电机执行第一操作事件，其中，所述第一操作事件用于禁止所述可折叠骑行车运行。In an exemplary embodiment, the folding mechanism further includes: a motor, and the controller is coupled to the motor, wherein the controller is further configured to determine that the locking wrench is not in the locked position In some cases, the motor is controlled to execute a first operation event, wherein the first operation event is used to prohibit the foldable bicycle from running.

在一个示例性实施例中，所述控制器还用于至少执行以下之一：在确定锁止扳手未处于所述锁定位置的情况下，指示所述控制器禁止所述电机运行；在确定锁止扳手未处于所述锁定位置的情况下，指示所述控制器控制所述电机空转；在确定锁止扳手未处于所述锁定位置的情况下，指示所述控制器控制所述电机异常转动。In an exemplary embodiment, the controller is further configured to perform at least one of the following: when it is determined that the lock wrench is not in the locked position, instruct the controller to prohibit the operation of the motor; If the locking wrench is not in the locking position, instruct the controller to control the motor to rotate idly; if it is determined that the locking wrench is not in the locking position, instruct the controller to control the motor to rotate abnormally.

在一个示例性实施例中，所述折叠机构还包括：多媒体装置，所述控制器和所述多媒体装置耦合连接，其中，所述控制器，用于在确定锁止扳手未处于所述锁定位置的情况下，控制所述多媒体装置执行第二操作事件，其中，所述第二操作事件用于提醒目标对象禁止运行所述折叠机构。In an exemplary embodiment, the folding mechanism further includes: a multimedia device, the controller is coupled to the multimedia device, wherein the controller is configured to determine that the locking wrench is not in the locked position In the case of , the multimedia device is controlled to execute a second operation event, wherein the second operation event is used to remind the target object to prohibit operation of the folding mechanism.

在一个示例性实施例中，所述多媒体装置包括：发声装置，所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，指示所述发声装置发出告警音。In an exemplary embodiment, the multimedia device includes: a sounding device, and the controller is further configured to instruct the sounding device to emit a warning sound when it is determined that the locking wrench is not in the locking position.

在一个示例性实施例中，所述多媒体装置包括：所述多媒体装置包括：发光装置，所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，在确定锁止扳手未处于所述锁定位置的情况下，指示所述发光装置显示告警灯。In an exemplary embodiment, the multimedia device includes: the multimedia device includes: a light emitting device, and the controller is further configured to, when it is determined that the locking wrench is not in the locking position, When the wrench is not in the locked position, instruct the light emitting device to display a warning light.

在一个示例性实施例中，所述多媒体装置包括：显示装置，所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，指示所述显示装置显示告警信号。In an exemplary embodiment, the multimedia device includes: a display device, and the controller is further configured to instruct the display device to display an alarm signal when it is determined that the locking wrench is not in the locked position.

通过本发明，上述折叠机构包括：基座部分和折叠部分，所述折叠部分可在展开位置和折叠位置之间相对于所述基座部分枢转；锁定组件，用于将所述折叠部分锁定在展开位置；锁止扳手，所述锁止扳手与所述基座部分枢转连接，所述锁止扳手在锁定位置可进一步将所述折叠部分锁定在展开位置；第一检测件，设置在所述锁止扳手以外的特定位置，用于生成对应于所述锁止扳手位置的检测信号；控制器，被配置为用于获取所述检测信号，以及执行对应于所述检测信号的控制模式，即通过第一检测件锁扳手的位置，采用上述技术方案，解决了相关技术中，由于只能人为判断锁止扳手位置，导致折叠骑行车的安全性较低等问题。According to the invention, the folding mechanism described above comprises: a base portion and a folding portion pivotable relative to the base portion between an unfolded position and a folded position; a locking assembly for locking the folding portion In the unfolded position; the locking wrench is pivotally connected with the base part, and the locking wrench can further lock the folded part in the unfolded position in the locking position; the first detection part is arranged on A specific position other than the locking wrench is used to generate a detection signal corresponding to the position of the locking wrench; a controller configured to acquire the detection signal and execute a control mode corresponding to the detection signal , that is, through the position of the first detection piece lock wrench, the above technical solution is adopted to solve the problems in the related art that the safety of the folding bicycle is low due to the fact that the position of the lock wrench can only be judged manually.

与现有技术相比，本发明具有如下有益效果：折叠机构的锁止扳手是否处于所述锁定位置不仅是人为判断，而是通过第一检测件感应锁止扳手位置，进而控制器通过检测信号执行对应于所述检测信号的控制模式，只有在锁止扳手处于所述锁定位置的情况下，目标对象才可以运行折叠骑行车，从而避免了人为发生误判断的风险，保证其安全性，避免发生安全事故。Compared with the prior art, the present invention has the following beneficial effects: whether the locking wrench of the folding mechanism is in the locking position is not only a human judgment, but the position of the locking wrench is sensed by the first detection part, and then the controller passes the detection signal Execute the control mode corresponding to the detection signal, and only when the locking wrench is in the locking position, the target object can run the folding bicycle, thereby avoiding the risk of human misjudgment, ensuring its safety, and avoiding A security incident occurred.

目前，折叠自行车、折叠滑板车等具备折叠或可分体拆卸功能的折叠车上所采用的折叠机构通常是设置有两个锁扣和一个扳手，通过扳手的转动实现两个锁扣之间的扣合和分离，而对于扳手的转动，一般是直接转动扳手到位即可将锁扣解锁，这种设置方式虽然方便，但是由于只能人为判断折叠车的锁止扳手和立管是否对接锁紧，导致折叠车的安全性较低，而且容易发生误判断，从而导致安全事故的情况。At present, the folding mechanism used on folding bicycles, folding scooters and other folding vehicles with folding or detachable functions is usually provided with two locks and a wrench, and the rotation of the wrench realizes the locking between the two locks. Buckling and separation, and for the rotation of the wrench, generally the lock can be unlocked by directly turning the wrench in place. Although this setting method is convenient, it can only be manually judged whether the locking wrench and the standpipe of the folding bike are docked and locked. , resulting in lower safety of the folding bike, and misjudgment is prone to occur, thus leading to safety accidents.

针对相关技术中，由于只能人为判断折叠车的锁止扳手是否位于锁定位置，导致折叠车的安全性较低等问题，目前尚未提出有效的解决方案。In the related art, because it can only be manually judged whether the locking wrench of the folding bike is in the locked position, resulting in low safety of the folding bike, no effective solution has been proposed yet.

本发明实施例提供了一种锁紧位置的确定方法和折叠车、存储介质、电子装置，以至少解决相关技术中由于只能人为判断折叠车的锁止扳手是否位于锁定位置，导致折叠车的安全性较低等问题。Embodiments of the present invention provide a method for determining the locking position, a folding car, a storage medium, and an electronic device, so as to at least solve the problem of folding cars caused by artificially judging whether the locking wrench of the folding car is in the locked position in the related art. Issues such as low security.

根据本发明的一个实施例，提供了一种锁紧位置的确定方法，包括：通过第一检测件对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，锁止扳手位于所述锁定位置上，所述锁止扳手与立管对接锁紧。According to an embodiment of the present invention, a method for determining a locking position is provided, including: detecting a locking wrench through a first detection member to generate a detection signal of the position of the locking wrench, wherein the first detection The locking wrench is arranged at a specific position other than the locking wrench, and the locking wrench is pivotally connected to the base part; it is determined whether the locking wrench is in the locked position according to the detection signal output by the first detection piece, wherein, The locking wrench is located at the locking position, and the locking wrench is docked and locked with the riser.

在一个示例性实施例中，通过第一检测件生成对应于锁止扳手位置的检测信号，包括：所述第一检测件检测第二检测件的位置，其中，所述第二检测件设置在所述锁止扳手上，可随所述锁止扳手转动而移动；根据所述第二检测件的位置生成所述锁止扳手位置的检测信号。In an exemplary embodiment, generating a detection signal corresponding to the position of the locking wrench through the first detection part includes: the first detection part detects the position of the second detection part, wherein the second detection part is set at The locking wrench can move with the rotation of the locking wrench; a detection signal of the position of the locking wrench is generated according to the position of the second detection part.

在一个示例性实施例中，通过第一检测件生成对应于锁止扳手位置的检测信号，至少包括以下之一：通过霍尔传感器感应所述第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号；通过光学传感器检测所述第二检测件是否出现在第一预设距离内，生成对应于锁止扳手位置的检测信号；通过激光距离传感器检测所述第二检测件与所述激光距离传感器之间的距离，生成对应于锁止扳手位置的检测信号。In an exemplary embodiment, the detection signal corresponding to the position of the locking wrench is generated by the first detection part, at least including one of the following: sensing the distance between the second detection part and the Hall sensor by a Hall sensor The magnetic field generates a detection signal corresponding to the position of the locking wrench; the optical sensor detects whether the second detection part appears within the first preset distance, and generates a detection signal corresponding to the position of the locking wrench; The distance between the second detection part and the laser distance sensor is used to generate a detection signal corresponding to the position of the locking wrench.

在一个示例性实施例中，通过霍尔传感器感应所述第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号之后，所述方法还包括：在所述检测信号大于第一预设阈值的情况下，确定所述锁止扳手未位于锁定位置；在所述检测信号小于第二预设阈值的情况下，确定所述锁止扳手位于锁定位置。In an exemplary embodiment, after generating a detection signal corresponding to the position of the locking wrench by inducing a magnetic field between the second detecting member and the Hall sensor through a Hall sensor, the method further includes: When the detection signal is greater than the first preset threshold, it is determined that the locking wrench is not at the locked position; when the detection signal is smaller than the second preset threshold, it is determined that the locking wrench is at the locked position.

在一个示例性实施例中，通过霍尔传感器感应所述第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号，包括：在所述第二检测件与所述霍尔传感器之间的磁场小于第三预设阈值的情况下，确定所述检测信号大于第一预设阈值；在所述第二检测件与所述霍尔传感器之间的磁场大于第四预设阈值的情况下，确定所述检测信号小于第二预设阈值。In an exemplary embodiment, the Hall sensor senses the magnetic field between the second detection part and the Hall sensor to generate a detection signal corresponding to the position of the locking wrench, including: When the magnetic field between the Hall sensor and the Hall sensor is less than a third preset threshold, it is determined that the detection signal is greater than the first preset threshold; the magnetic field between the second detection element and the Hall sensor is greater than In the case of the fourth preset threshold, it is determined that the detection signal is smaller than the second preset threshold.

在一个示例性实施例中，根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置之后，所述方法还包括：在确定所述锁止扳手未位于锁定位置的情况下，向折叠车的控制器发送第一控制信号；响应所述第一控制信号，指示所述控制器控制所述折叠车的电机执行第一操作事件，其中，所述第一操作事件用于禁止所述折叠车运行。In an exemplary embodiment, after determining whether the locking wrench is at the locking position according to the detection signal output by the first detection member, the method further includes: when it is determined that the locking wrench is not at the locking position Next, send a first control signal to the controller of the folding bike; in response to the first control signal, instruct the controller to control the motor of the folding bike to perform a first operation event, wherein the first operation event is used for The folding bike is prohibited from running.

在一个示例性实施例中，响应所述第一控制信号，指示所述控制器控制所述折叠车的电机执行第一操作事件，至少包括以下之一：响应所述第一控制信号，指示所述控制器禁止所述折叠车的电机运行；响应所述第一控制信号，指示所述控制器控制所述折叠车的电机空转；响应所述第一控制信号，指示所述控制器控制所述折叠车的电机异常转动。In an exemplary embodiment, instructing the controller to control the motor of the folding cart to perform a first operation event in response to the first control signal includes at least one of the following: in response to the first control signal, instructing the The controller prohibits the motor of the folding car from running; in response to the first control signal, instructs the controller to control the motor of the folding car to run idly; in response to the first control signal, instructs the controller to control the The motor of the folding bike rotates abnormally.

在一个示例性实施例中，根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置之后，所述方法还包括：在确定所述锁止扳手未位于锁定位置的情况下，向折叠车的控制器发送第二控制信号；响应所述第二控制信号，指示所述控制器控制所述折叠车的多媒体装置执行第二操作事件，其中，所述第二操作事件用于提醒目标对象禁止运行所述折叠车，所述多媒体装置包括以下至少之一：显示装置，发声装置，发光装置。In an exemplary embodiment, after determining whether the locking wrench is at the locking position according to the detection signal output by the first detection member, the method further includes: when it is determined that the locking wrench is not at the locking position Next, sending a second control signal to the controller of the folding bike; in response to the second control signal, instructing the controller to control the multimedia device of the folding bike to perform a second operation event, wherein the second operation event uses To remind the target object that the folding bike is prohibited, the multimedia device includes at least one of the following: a display device, a sound emitting device, and a light emitting device.

在一个示例性实施例中，响应所述第二控制信号，指示所述控制器控制所述折叠车的多媒体装置执行第二操作事件，至少包括以下之一：响应所述第二控制信号，指示所述发声装置发出告警音；响应所述第二控制信号，指示所述发光装置显示告警灯；响应所述第二控制信号，指示所述显示装置显示告警信号。In an exemplary embodiment, instructing the controller to control the multimedia device of the folding bike to perform a second operation event in response to the second control signal includes at least one of the following: in response to the second control signal, instructing The sounding device emits an alarm sound; in response to the second control signal, instructs the light emitting device to display a warning light; in response to the second control signal, instructs the display device to display an alarm signal.

根据本发明的另一个实施例，提供了一种折叠车，所述折叠车包括：检测模块，用于对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；确定模块，用于根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，在所述锁定位置上，所述锁止扳手与立管对接锁紧。According to another embodiment of the present invention, a folding cart is provided, and the folding cart includes: a detection module configured to detect a lock wrench to generate a detection signal of the position of the lock wrench, wherein the first The detection part is arranged at a specific position other than the locking wrench, and the locking wrench is pivotally connected to the base part; a determination module is used to determine whether the locking wrench is It is located in a locked position, wherein, in the locked position, the locking wrench is docked and locked with the standpipe.

根据本发明的又一实施例，还提供了一种计算机可读的存储介质，该计算机可读的存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述锁紧位置的确定方法。According to yet another embodiment of the present invention, a computer-readable storage medium is also provided, and a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-mentioned locked position during operation. Determine the method.

根据本发明的又一个实施例，还提供了一种电子装置，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行上述任一项方法实施例中的步骤。According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to perform any of the above Steps in the method examples.

通过本发明，通过第一检测件对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，在所述锁定位置上，所述锁止扳手与立管对接锁紧，即通过第一检测件生成锁止扳手位置的检测信号，根据检测信号确定锁止扳手是否位于锁定位置，采用上述技术方案，解决了相关技术中，由于只能人为判断折叠车的锁止扳手是否位于锁定位置，导致折叠车的安全性较低等问题。According to the present invention, the locking wrench is detected by the first detecting element to generate a detection signal of the position of the locking wrench, wherein the first detecting element is set at a specific position other than the locking wrench, and the locking wrench The wrench is pivotally connected to the base part; it is determined whether the locking wrench is in the locking position according to the detection signal output by the first detection member, wherein, in the locking position, the locking wrench is docked with the riser to lock Tight, that is, the detection signal of the position of the locking wrench is generated by the first detection part, and whether the locking wrench is in the locked position is determined according to the detection signal. The above technical solution solves the problem in the related art that the locking of the folding bike can only be judged manually. Whether the wrench is in the locked position leads to problems such as lower safety of the folding bike.

与现有技术相比，本发明具有如下有益效果：折叠车的锁止扳手是否位于锁定位置不仅是人为判断，而是通过第一检测件生成锁止扳手位置的检测信号，进而通过检测信号确定锁止扳手是否位于锁定位置，只有在锁止扳手位于锁定位置的情况下目标对象才可以运行折叠车，从而避免了人为发生误判断的风险，保证其安全性，避免发生安全事故。Compared with the prior art, the present invention has the following beneficial effects: whether the locking wrench of the folding bike is in the locked position is not only a human judgment, but a detection signal of the position of the locking wrench is generated by the first detection part, and then determined by the detection signal Whether the locking wrench is in the locked position, the target object can run the folding bike only when the locking wrench is in the locked position, thereby avoiding the risk of human misjudgment, ensuring its safety, and avoiding safety accidents.

附图说明Description of drawings

此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:

图1是根据本发明实施例的折叠机构的结构图(一)；Fig. 1 is a structural diagram (1) of a folding mechanism according to an embodiment of the present invention;

图2是根据本发明实施例的折叠机构的结构图(二)；Fig. 2 is a structural diagram (2) of a folding mechanism according to an embodiment of the present invention;

图3是根据本发明实施例的折叠机构的结构图(三)；Fig. 3 is a structural diagram (3) of a folding mechanism according to an embodiment of the present invention;

图4是根据本发明实施例的折叠器与立管已对接锁紧的示意图；Fig. 4 is a schematic diagram of docking and locking of the folder and the riser according to an embodiment of the present invention;

图5是根据本发明实施例的折叠器与立管的示意图(一)；5 is a schematic diagram (1) of a folder and a riser according to an embodiment of the present invention;

图6是本发明实施例的锁紧位置的确定方法的折叠车的硬件结构框图；Fig. 6 is a block diagram of the hardware structure of the folding car according to the method for determining the locking position according to the embodiment of the present invention;

图7是根据本发明实施例的锁紧位置的确定方法的流程图；Fig. 7 is a flowchart of a method for determining a locking position according to an embodiment of the present invention;

图8是根据本发明实施例的锁止扳手未位于锁定位置的示意图；Fig. 8 is a schematic diagram of a locking wrench not in a locked position according to an embodiment of the present invention;

图9是根据本发明实施例的锁止扳手位于锁定位置的示意图；9 is a schematic diagram of a locking wrench in a locked position according to an embodiment of the present invention;

图10是根据本发明实施例的锁止扳手与立管的示意图(一)；10 is a schematic diagram (1) of a locking wrench and a riser according to an embodiment of the present invention;

图11是根据本发明实施例的锁止扳手与立管的示意图(二)；11 is a schematic diagram (2) of a locking wrench and a standpipe according to an embodiment of the present invention;

图12是根据本发明实施例的折叠车的结构框图。Fig. 12 is a structural block diagram of a folding bicycle according to an embodiment of the present invention.

具体实施方式Detailed ways

下文中将参考附图并结合实施例来详细说明本发明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。Hereinafter, the present invention will be described in detail with reference to the drawings and examples. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

在本实施例中提供了一种折叠机构，图1是根据本发明实施例的折叠机构的结构图(一)，该折叠机构包括如下结构：A folding mechanism is provided in this embodiment. FIG. 1 is a structural diagram (1) of a folding mechanism according to an embodiment of the present invention. The folding mechanism includes the following structure:

基座部分120和折叠部分121，所述折叠部分121可在展开位置和折叠位置之间相对于所述基座部分120枢转；a base portion 120 and a foldable portion 121 pivotable relative to the base portion 120 between an unfolded position and a folded position;

锁定组件122，用于将所述折叠部分锁定在展开位置；a locking assembly 122, configured to lock the folded portion in the unfolded position;

锁止扳手123，所述锁止扳手与所述基座部分枢转连接，所述锁止扳手在锁定位置可进一步将所述折叠部分锁定在展开位置；A locking wrench 123, the locking wrench is pivotally connected to the base part, and the locking wrench can further lock the folded part in the unfolded position in the locking position;

第一检测件124，设置在所述锁止扳手以外的特定位置，用于生成对应于所述锁止扳手位置的检测信号；The first detection part 124 is arranged at a specific position other than the lock wrench, and is used to generate a detection signal corresponding to the position of the lock wrench;

控制器125，用于获取所述检测信号，以及执行对应于所述检测信号的控制模式。The controller 125 is configured to acquire the detection signal, and execute a control mode corresponding to the detection signal.

通过本发明实施例，上述折叠机构包括：基座部分和折叠部分，所述折叠部分可在展开位置和折叠位置之间相对于所述基座部分枢转；锁定组件，用于将所述折叠部分锁定在展开位置；锁止扳手，所述锁止扳手与所述基座部分枢转连接，所述锁止扳手在锁定位置可进一步将所述折叠部分锁定在展开位置；第一检测件，设置在所述锁止扳手以外的特定位置，用于生成对应于所述锁止扳手位置的检测信号；控制器，被配置为用于获取所述检测信号，以及执行对应于所述检测信号的控制模式，即通过第一检测件锁扳手的位置，采用上述技术方案，解决了相关技术中，由于只能人为判断锁止扳手位置，导致折叠骑行车的安全性较低等问题。According to an embodiment of the present invention, the above-mentioned folding mechanism includes: a base portion and a folding portion, the folding portion can pivot relative to the base portion between an unfolded position and a folded position; a locking assembly for locking the folding portion The part is locked in the unfolded position; the locking wrench is pivotally connected with the base part, and the locking wrench can further lock the folded part in the unfolded position in the locked position; the first detection part, set at a specific position other than the locking wrench, for generating a detection signal corresponding to the position of the locking wrench; a controller configured to acquire the detection signal, and execute a detection signal corresponding to the detection signal The control mode, that is, the position of the lock wrench through the first detection part, adopts the above technical solution to solve the problems in the related art that the safety of the folding bicycle is low due to the fact that the position of the lock wrench can only be judged manually.

需要说明的是，所述第一检测件至少设置在以下位置之一：所述基座部分、所述折叠部分、所述立管。It should be noted that the first detection member is disposed at least one of the following positions: the base part, the folding part, and the standpipe.

其中，控制器和第一检测件耦合连接，所述耦合连接可以是直接耦合连接，可以为非直接耦合连接，本发明实施例对此不做限定。Wherein, the controller is coupled to the first detecting element, and the coupling connection may be a direct coupling connection or an indirect coupling connection, which is not limited in this embodiment of the present invention.

需要说明的是，第二检测件活动设置在锁止扳手上，并跟随锁止扳手同步转动，当锁止扳手在收起位置和中间位置之间转动时，锁止扳手处于锁定位置，锁止扳手由中间位置向解锁位置继续转动时，以使锁止扳手不处于锁定位置。It should be noted that the second detection part is movably arranged on the locking wrench and rotates synchronously with the locking wrench. When the wrench continues to turn from the middle position to the unlocked position, the locking wrench is not in the locked position.

也就是说，所述第一检测件生成对应于所述锁止扳手位置的检测信号之后，根据所述检测信号确定锁止扳手是否处于所述锁定位置，在所述锁止扳手未处于所述锁定位置的情况下，执行第一控制模式，以使折叠骑行车不运行，以保障目标对象的安全；在所述锁止扳手处于所述锁定位置的情况下，执行第二控制模式，以使所述折叠骑行车运行。That is to say, after the first detection part generates a detection signal corresponding to the position of the locking wrench, it is determined according to the detection signal whether the locking wrench is in the locked position, and when the locking wrench is not in the In the case of the locked position, execute the first control mode so that the foldable bicycle does not operate to ensure the safety of the target object; when the locking wrench is in the locked position, execute the second control mode so that The foldable bicycle operates.

也就是说，第一检测件至少包括以下至少之一：霍尔传感器、光学传感器、激光距离传感器；在第一检测件为霍尔传感器的情况下，根据第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号；在第一检测件为光学传感器的情况下，根据所述第二检测件是否出现在第一预设距离内，生成对应于锁止扳手位置的检测信号；在第一检测件为激光距离传感器的情况下，根据所述第二检测件与所述激光距离传感器之间的距离，生成对应于锁止扳手位置的检测信号。That is to say, the first detection part at least includes at least one of the following: a Hall sensor, an optical sensor, and a laser distance sensor; The magnetic field between them generates a detection signal corresponding to the position of the locking wrench; when the first detection part is an optical sensor, according to whether the second detection part appears within the first preset distance, a signal corresponding to the locking wrench is generated. The detection signal of the wrench position: when the first detection part is a laser distance sensor, a detection signal corresponding to the position of the locking wrench is generated according to the distance between the second detection part and the laser distance sensor.

具体的，在所述锁止扳手处于锁定位置的情况下，确定所述立管与所述锁止扳手对接锁紧。Specifically, when the locking wrench is in the locked position, it is determined that the riser is docked and locked with the locking wrench.

在一个示例性实施例中，所述控制器，还用于在所述检测信号大于第一预设阈值的情况下，确定所述锁止扳手未处于所述锁定位置；以及在所述检测信号小于第二预设阈值的情况下，确定所述锁止扳手处于所述锁定位置。In an exemplary embodiment, the controller is further configured to determine that the locking wrench is not in the locked position when the detection signal is greater than a first preset threshold; and when the detection signal If it is less than the second preset threshold, it is determined that the locking wrench is in the locked position.

也就是说，通过第一检测件检测第二检测件与所述第一检测件之间的信号，第一检测件通过检测到的第二检测件与所述第一检测件之间的检测信号输出对应的电平信号，并发送给控制器，控制器确定电平信号是否大于第一预设阈值，在电平信号大于第一预设阈值的情况下，即电平信号为高电平的情况下，确定所述锁止扳手未处于所述锁定位置，此时，指示折叠机构不可以运行，以及确定电平信号是否小于第二预设阈值，在电平信号小于第二预设阈值的情况下，即电平信号为低电平的情况下，确定所述锁止扳手处于所述锁定位置，此时，指示折叠骑行车可以运行，需要说明的是，第一预设阈值与第二预设阈值可以为相同的数值，也可以为不同的数值，本发明实施例对此不做限定。That is to say, the signal between the second detection part and the first detection part is detected by the first detection part, and the detection signal between the second detection part and the first detection part is detected by the first detection part. Output the corresponding level signal and send it to the controller. The controller determines whether the level signal is greater than the first preset threshold. If the level signal is greater than the first preset threshold, the level signal is high. In this case, it is determined that the locking wrench is not in the locked position, at this time, it is indicated that the folding mechanism cannot operate, and it is determined whether the level signal is less than a second preset threshold, and when the level signal is less than the second preset threshold When the level signal is low, it is determined that the locking wrench is in the locked position. At this time, it indicates that the folding bicycle can run. It should be noted that the first preset threshold and the second The preset thresholds may be the same value or different values, which is not limited in this embodiment of the present invention.

可以理解为，在霍尔传感器感应到第二检测件与所述霍尔传感器之间的磁场小于第三预设阈值的情况下，输出检测信号大于所述第一预设阈值的信号，在霍尔传感器感应到第二检测件与所述霍尔传感器之间的磁场大于第四预设阈值的情况下，输出检测信号小于所述第二预设阈值的信号，需要说明的是，第三预设阈值与第四预设阈值可以为相同的数值，也可以为不同的数值，本发明实施例对此不做限定，在所述第三预设阈值与第四预设阈值为不同的数值的情况下，在所述霍尔传感器输出低电平的检测信号的情况下，霍尔传感器检测到霍尔传感器与第二检测件之间的磁场小于第三预设阈值，霍尔传感器与第二检测件之间的磁场大于第四预设阈值的情况下，霍尔传感器持续输出低电平的检测信号；在霍尔传感器输出高电平的检测信号的情况下，霍尔传感器与第二检测件之间的磁场大于第四预设阈值，霍尔传感器与第二检测件之间的磁场小于第三预设阈值的情况下，磁场感应器持续输出高电平的检测信号，其中，稳定的回差确保磁场感应器开关状态稳定。It can be understood that, when the Hall sensor senses that the magnetic field between the second detection element and the Hall sensor is smaller than the third preset threshold, a signal that the detection signal is greater than the first preset threshold is output, and in the Hall sensor When the Hall sensor detects that the magnetic field between the second detection part and the Hall sensor is greater than the fourth preset threshold, it outputs a signal that the detection signal is smaller than the second preset threshold. It should be noted that the third preset It is assumed that the threshold value and the fourth preset threshold value may be the same value or different values, which is not limited in this embodiment of the present invention. When the third preset threshold value and the fourth preset threshold value are different values In this case, when the Hall sensor outputs a low-level detection signal, the Hall sensor detects that the magnetic field between the Hall sensor and the second detection part is less than the third preset threshold, and the Hall sensor and the second When the magnetic field between the detection parts is greater than the fourth preset threshold, the Hall sensor continuously outputs a low-level detection signal; when the Hall sensor outputs a high-level detection signal, the Hall sensor and the second detection When the magnetic field between the parts is greater than the fourth preset threshold, and the magnetic field between the Hall sensor and the second detection part is smaller than the third preset threshold, the magnetic field sensor continues to output a high-level detection signal, wherein the stable The hysteresis ensures that the switching state of the magnetic field sensor is stable.

在一个示例性实施例中，图2是根据本发明实施例的折叠机构的结构图(二)，该折叠机构包括如下结构：控制器和电机126，所述控制器与所述处理器耦合连接，所述控制器和所述电机耦合连接，其中，所述处理器，还用于在确定锁止扳手未处于所述锁定位置的情况下，控制所述电机执行第一操作事件，其中，所述第一操作事件用于禁止所述折叠机构运行。In an exemplary embodiment, FIG. 2 is a structural diagram (2) of a folding mechanism according to an embodiment of the present invention, the folding mechanism includes the following structure: a controller and a motor 126, and the controller is coupled to the processor , the controller is coupled to the motor, wherein the processor is further configured to control the motor to perform a first operation event when it is determined that the locking wrench is not in the locked position, wherein the The first operation event is used to prohibit the operation of the folding mechanism.

换言之，折叠机构的控制器与电机耦合连接，耦合连接至少包括以下之一：直接耦合连接、非直接耦合连接，控制器根据检测信号确定锁止扳手未处于所述锁定位置的情况下，折叠机构的控制器控制所述折叠机构禁止运行，从而使得在锁止扳手未处于所述锁定位置的情况下，禁止所述折叠机构运行，提高了折叠机构的安全性。In other words, the controller of the folding mechanism is coupled to the motor, and the coupling connection includes at least one of the following: direct coupling and indirect coupling. When the controller determines that the locking wrench is not in the locked position according to the detection signal, the folding mechanism The controller controls the folding mechanism to prohibit operation, so that when the locking wrench is not in the locking position, the folding mechanism is prohibited from operating, which improves the safety of the folding mechanism.

即通过禁止所述折叠机构的电机运行，和/或，控制所述折叠机构的电机空转，和/或，控制所述折叠机构的电机异常转动，以禁止所述折叠机构的运行，本发明还可以预先设置禁止所述折叠机构的运行的等级，例如，第一等级：在第一预设时间段内，禁止所述折叠机构的电机运行，或，控制所述折叠机构的电机空转，或，控制所述折叠机构的电机异常转动；第二等级：在所述锁止扳手未处于所述锁定位置的情况下，控制器以一定规律禁止所述折叠机构的电机运行和控制所述折叠机构的电机异常转动，或，控制器以一定规律禁止所述折叠机构的电机运行和控制所述折叠机构的电机空转，或，控制器以一定规律控制所述折叠机构的电机异常转动和控制所述折叠机构的电机空转；第三等级：在所述锁止扳手未处于所述锁定位置的情况下，控制器一定规律禁止所述折叠机构的电机运行、控制所述折叠机构的电机空转和控制所述折叠机构的电机异常转动。That is, by prohibiting the operation of the motor of the folding mechanism, and/or controlling the idle rotation of the motor of the folding mechanism, and/or controlling the abnormal rotation of the motor of the folding mechanism, so as to prohibit the operation of the folding mechanism, the present invention also The level of prohibiting the operation of the folding mechanism can be preset, for example, the first level: within a first preset time period, the motor of the folding mechanism is prohibited from running, or, the motor of the folding mechanism is controlled to idle, or, Control the abnormal rotation of the motor of the folding mechanism; the second level: when the locking wrench is not in the locked position, the controller prohibits the operation of the motor of the folding mechanism and controls the operation of the folding mechanism according to a certain rule. The motor rotates abnormally, or, the controller prohibits the motor of the folding mechanism from running and controls the motor of the folding mechanism to run idly, or, the controller controls the motor of the folding mechanism to rotate abnormally and controls the folding The motor of the mechanism is idling; the third level: when the locking wrench is not in the locked position, the controller prohibits the motor of the folding mechanism from running, controls the motor of the folding mechanism to run idly and controls the The motor of the folding mechanism rotates abnormally.

在一个示例性实施例中，图3是根据本发明实施例的折叠机构的结构图(三)，该折叠机构包括如下结构：控制器和多媒体装置132，所述控制器与所述处理器耦合连接，所述控制器和所述多媒体装置耦合连接，其中，所述控制器，还用于在确定所述锁止扳手未处于所述锁定位置的情况下，控制所述多媒体装置执行第二操作事件，其中，所述第二操作事件用于提醒目标对象禁止运行所述折叠机构。In an exemplary embodiment, FIG. 3 is a structural diagram (3) of a folding mechanism according to an embodiment of the present invention, the folding mechanism includes the following structure: a controller and a multimedia device 132, the controller is coupled to the processor connected, the controller is coupled to the multimedia device, wherein the controller is further configured to control the multimedia device to perform a second operation when it is determined that the locking wrench is not in the locked position event, wherein the second operation event is used to remind the target object to prohibit the operation of the folding mechanism.

可以理解为，处理器根据所述第一检测件输出的电平信号确定所述锁止扳手未处于所述锁定位置之后，折叠机构的处理器向折叠机构的第二控制器发送第二控制信息，以使通过折叠机构的控制器控制多媒体装置提醒目标对象禁止运行所述折叠机构，从而使得在锁止扳手未处于所述锁定位置的情况下，及时提醒目标对象禁止运行所述折叠机构，提高了折叠机构的安全性。It can be understood that, after the processor determines that the lock wrench is not in the locked position according to the level signal output by the first detection member, the processor of the folding mechanism sends the second control information to the second controller of the folding mechanism so that the controller of the folding mechanism controls the multimedia device to remind the target object to prohibit the operation of the folding mechanism, so that when the locking wrench is not in the locked position, the target object is reminded in time to prohibit the operation of the folding mechanism, improving The safety of the folding mechanism is improved.

即在本发明实施例中，可以通过控制所述发声装置发出告警音，来提醒目标对象禁止运行所述折叠机构，举例来讲，在确定所述锁止扳手未处于所述锁定位置之后，第二控制器控制发声装置发出“未对接锁紧”或嘀嘀的声音，需要说明的是，本发明实施例对发声装置发出的告警音不做限定。That is, in the embodiment of the present invention, the target object can be reminded to prohibit the operation of the folding mechanism by controlling the sounding device to emit a warning sound. For example, after it is determined that the locking wrench is not in the locking position, the first The second controller controls the sounding device to emit the sound of "not docked and locked" or a beep. It should be noted that the embodiment of the present invention does not limit the alarm sound emitted by the sounding device.

在一个示例性实施例中，所述多媒体装置包括：发光装置，所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，在确定锁止扳手未处于所述锁定位置的情况下，指示所述发光装置显示告警灯。In an exemplary embodiment, the multimedia device includes: a light emitting device, and the controller is further configured to determine that the locking wrench is not in the locked position when it is determined that the locking wrench is not in the locked position. location, instructing the light emitting device to display a warning light.

即在本发明实施例中，可以通过第二控制器控制所述发光装置显示告警灯，来提醒目标对象禁止运行所述折叠机构，举例来讲，在确定所述锁止扳手未处于所述锁定位置之后，发光装置显示红光或多种颜色的光以预设方式依次显示，需要说明的是，本发明实施例对发光装置显示的告警灯不做限定。That is, in the embodiment of the present invention, the second controller may control the light emitting device to display a warning light to remind the target object that the operation of the folding mechanism is prohibited. For example, when it is determined that the locking wrench is not in the locked After the position, the light-emitting device displays red light or lights of multiple colors in sequence in a preset manner. It should be noted that the embodiment of the present invention does not limit the warning lights displayed by the light-emitting device.

在一个示例性实施例中，所述多媒体装置包括：显示装置，所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，指示所述显示装置显示告警信号。In an exemplary embodiment, the multimedia device includes: a display device, and the controller is further configured to instruct the display device to display a warning signal when it is determined that the locking wrench is not in the locked position.

即在本发明实施例中，显示装置显示告警信号，来提醒目标对象禁止运行所述折叠机构，举例来讲，在确定所述锁止扳手未处于所述锁定位置之后，显示装置显示“未对接锁紧”文字，或显示装置的目标界面区域显示告警图片，需要说明的是，本发明实施例对显示装置显示的告警信号不做限定。That is, in the embodiment of the present invention, the display device displays a warning signal to remind the target object to prohibit the operation of the folding mechanism. "Lock" text, or display an alarm picture on the target interface area of the display device. It should be noted that the embodiment of the present invention does not limit the alarm signal displayed on the display device.

进一步的，所述控制器可以通过所述发声装置发出告警音，和/或，发光装置显示告警灯，和/或，显示装置显示告警信号，来提醒目标对象禁止运行所述折叠机构，即第二控制器可以控制发声装置发出告警音或发光装置显示告警灯或显示装置显示告警信号或发声装置发出告警音和发光装置显示告警灯或发声装置发出告警音和显示装置显示告警信号或发光装置显示告警灯和显示装置显示告警信号或发声装置发出告警音、发光装置显示告警灯和显示装置显示告警信号。Further, the controller can emit a warning sound through the sounding device, and/or the light emitting device displays a warning light, and/or the display device displays a warning signal to remind the target object that the operation of the folding mechanism is prohibited, that is, the first The second controller can control the sounding device to emit an alarm sound or the light emitting device to display a warning light or the display device to display an alarm signal or the sounding device to emit an alarm sound and the light emitting device to display a warning light or the sound device to emit an alarm sound and the display device to display an alarm signal or the light emitting device to display The warning light and the display device display the warning signal or the sounding device emits the warning sound, and the light emitting device displays the warning light and the display device displays the warning signal.

在一个示例性实施例中，在所述第一检测件为霍尔传感器第二检测件为磁钢的情况下，在磁钢接近霍尔传感器时，霍尔传感器检测到霍尔传感器与磁钢之间的磁场B大于霍尔传感器的导通点Bop(相当于上述实施例中的第三预设阈值)的情况下，霍尔传感器输出低电平，磁钢远离霍尔传感器的情况下，霍尔传感器检测到霍尔传感器与磁钢之间的磁场B小于霍尔传感器的导通点Brp(相当于上述实施例中的第四预设阈值)的情况下，霍尔传感器输出高电平。但是，在所述霍尔传感器输出低电平的情况下，霍尔传感器检测到霍尔传感器与磁钢之间的磁场B小于霍尔传感器的导通点Bop，霍尔传感器与磁钢之间的磁场B大于霍尔传感器的释放点Brp的情况下，霍尔传感器持续输出低电平；在霍尔传感器输出高电平的情况下，霍尔传感器与磁钢之间的磁场B大于霍尔传感器的释放点Brp，霍尔传感器与磁钢之间的磁场B小于霍尔传感器的导通点Bop的情况下，霍尔传感器持续输出高电平，其中，稳定的回差Bh＝|Bop-Brp|确保霍尔传感器开关状态稳定，霍尔传感器的导通点Bop越小，霍尔传感器的灵敏度越高，在回差范围内霍尔传感器输出的电平信号不变，进而使开关输出稳定可靠，回差Bh越大，霍尔传感器的抗干扰能力越强。In an exemplary embodiment, when the first detection part is a Hall sensor and the second detection part is a magnet steel, when the magnet steel approaches the Hall sensor, the Hall sensor detects that the Hall sensor and the magnet steel When the magnetic field B between is greater than the conduction point Bop of the Hall sensor (equivalent to the third preset threshold value in the above embodiment), the Hall sensor outputs a low level, and when the magnet is far away from the Hall sensor, When the Hall sensor detects that the magnetic field B between the Hall sensor and the magnetic steel is smaller than the conduction point Brp of the Hall sensor (equivalent to the fourth preset threshold value in the above embodiment), the Hall sensor outputs a high level . However, when the Hall sensor outputs a low level, the Hall sensor detects that the magnetic field B between the Hall sensor and the magnetic steel is smaller than the conduction point Bop of the Hall sensor, and the gap between the Hall sensor and the magnetic steel is smaller than that of the Hall sensor. When the magnetic field B of the Hall sensor is greater than the release point Brp of the Hall sensor, the Hall sensor continues to output a low level; when the Hall sensor outputs a high level, the magnetic field B between the Hall sensor and the magnetic steel is greater than the Hall sensor When the release point Brp of the sensor, the magnetic field B between the Hall sensor and the magnetic steel is smaller than the conduction point Bop of the Hall sensor, the Hall sensor continues to output a high level, where the stable hysteresis Bh=|Bop- Brp|Ensure that the switch state of the Hall sensor is stable. The smaller the conduction point Bop of the Hall sensor is, the higher the sensitivity of the Hall sensor is. The level signal output by the Hall sensor remains unchanged within the hysteresis range, thereby making the switch output stable Reliable, the larger the hysteresis Bh, the stronger the anti-interference ability of the Hall sensor.

需要说明的是，磁钢的S极面对霍尔传感器的S面且磁钢与霍尔传感器的距离小于第五预设阈值的情况下，即B≥Bop，霍尔传感器输出低电平；磁钢与霍尔传感器的距离大于第六预设阈值的情况下，即B≤Brp，霍尔传感器输出高电平。磁铁N极面对霍尔传感器的S面时，霍尔传感器没有输出电信号。It should be noted that when the S pole of the magnet faces the S surface of the Hall sensor and the distance between the magnet and the Hall sensor is less than the fifth preset threshold, that is, B≥Bop, the Hall sensor outputs a low level; When the distance between the magnet and the Hall sensor is greater than the sixth preset threshold, that is, B≤Brp, the Hall sensor outputs a high level. When the N pole of the magnet faces the S surface of the Hall sensor, the Hall sensor does not output an electrical signal.

本实施例应用在具有折叠功能的车辆上，例如折叠自行车、折叠滑板车等为例进行说明，除此之外，这得车的立管和折叠器也可以根据需要应用在其他需要两个部件可开合、可拆分连接的场景中。This embodiment is applied to vehicles with folding functions, such as folding bicycles, folding scooters, etc., for illustration. In addition, the standpipe and folder of this car can also be applied to other vehicles that require two components. Can be opened and closed, detachable connection scene.

为了更好理解上述折叠机构，以下结合可选实施例对上述技术方案进行解释说明，但不用于限定本发明实施例的技术方案。In order to better understand the above-mentioned folding mechanism, the above-mentioned technical solutions are explained below in conjunction with optional embodiments, but are not intended to limit the technical solutions of the embodiments of the present invention.

在本实施例中提供了一种折叠机构的对接锁紧的确定方法，应用于折叠骑行车中，具体步骤如下：In this embodiment, a method for determining the docking locking of the folding mechanism is provided, which is applied to a folding bicycle, and the specific steps are as follows:

步骤1：通过霍尔传感器(相当于上述实施例中的第一检测件)感应磁钢与所述霍尔传感器之间的磁场B；Step 1: Inducing the magnetic field B between the magnet and the Hall sensor through the Hall sensor (equivalent to the first detecting element in the above embodiment);

步骤2：检测磁场B与工作点Bop和释放点Brp的大小关系，在B≥Bop的情况下，执行步骤3，在B≤Brp的情况下，执行步骤4；Step 2: Detect the size relationship between the magnetic field B and the operating point Bop and the release point Brp, in the case of B≥Bop, perform step 3, and in the case of B≤Brp, perform step 4;

步骤3：霍尔传感器输出低电平(相当于上述实施例中的小于第二预设阈值的电平信号)至处理器；Step 3: The Hall sensor outputs a low level (equivalent to the level signal less than the second preset threshold in the above embodiment) to the processor;

步骤4：霍尔传感器输出高电平(相当于上述实施例中的大于第一预设阈值的电平信号)至处理器；Step 4: The Hall sensor outputs a high level (equivalent to the level signal greater than the first preset threshold in the above embodiment) to the processor;

步骤5：在所述霍尔传感器输出高电平的情况下，处理器确定立管和折叠器未对接锁紧；Step 5: When the Hall sensor outputs a high level, the processor determines that the standpipe and the folder are not docked and locked;

步骤6：处理器向控制器(相当于上述实施例中的第一控制器和第二控制器)发送指示信息，以通过控制器控制所述折叠车至少执行以下之一：发声装置发出警示音、显示装置发出警示信号、发光装置发出警示灯、控制电机不转、控制电机空转、控制电机异常转动、控制电机发出异常响声。Step 6: The processor sends instruction information to the controller (equivalent to the first controller and the second controller in the above embodiment), so that the controller controls the folding car to at least perform one of the following: the sounding device emits a warning sound , The display device sends out a warning signal, the light-emitting device sends out a warning light, the motor is controlled not to rotate, the motor is controlled to idle, the motor is controlled to rotate abnormally, and the motor is controlled to emit abnormal noise.

举例来讲，在确定所述折叠器与所述立管未对接锁紧之后，控制器控制发声装置发出“未对接锁紧”或嘀嘀的声音；在确定所述折叠器与所述立管未对接锁紧之后，控制器控制发光装置显示红光或多种颜色的光以预设方式依次显示；在确定所述折叠器与所述立管未对接锁紧之后，控制器控制显示装置显示“未对接锁紧”文字，或显示装置的目标界面区域显示告警图片，需要说明的是，本发明实施例对发声装置发出的告警音、发光装置显示的告警灯、显示装置显示的告警信号不做限定。For example, after it is determined that the folder is not docked and locked with the riser, the controller controls the sounding device to make a "not locked" or beep sound; after determining that the folder is not locked with the riser After it is not docked and locked, the controller controls the light emitting device to display red light or lights of multiple colors to be displayed sequentially in a preset manner; after it is determined that the folder is not docked and locked with the riser, the controller controls the display device to display The words "undocked and locked", or the warning picture displayed on the target interface area of the display device, it should be noted that the embodiment of the present invention does not change the Do limited.

需要说明的是，磁钢的S极面对霍尔传感器的S面且磁钢与霍尔传感器的距离小于第一预设阈值(相当于上述实施例中的第五预设阈值)的情况下，即B≥Bop，霍尔传感器输出低电平；磁钢与霍尔传感器的距离大于第二预设阈值(相当于上述实施例中的第六预设阈值)的情况下，即B≤Brp，霍尔传感器输出高电平。磁铁N极面对霍尔传感器的S面时，霍尔传感器没有输出电信号，其中，稳定的回差Bh＝|Bop-Brp|确保霍尔传感器开关状态稳定。It should be noted that when the S pole of the magnet faces the S surface of the Hall sensor and the distance between the magnet and the Hall sensor is less than the first preset threshold (equivalent to the fifth preset threshold in the above-mentioned embodiment) , that is, B≥Bop, the Hall sensor outputs a low level; when the distance between the magnet and the Hall sensor is greater than the second preset threshold (equivalent to the sixth preset threshold in the above-mentioned embodiment), that is, B≤Brp , the Hall sensor outputs a high level. When the N pole of the magnet faces the S surface of the Hall sensor, the Hall sensor does not output an electrical signal, and the stable hysteresis Bh=|Bop-Brp| ensures that the switch state of the Hall sensor is stable.

图2是根据本发明实施例的折叠器与立管未对接锁紧的示意图，图3是根据本发明实施例的折叠器与立管已对接锁紧的示意图，图4是根据本发明实施例的折叠器与立管的示意图(一)，图5是根据本发明实施例的折叠器与立管的示意图(二)。Fig. 2 is a schematic diagram of the folder and the standpipe not docked and locked according to an embodiment of the present invention; Fig. 3 is a schematic diagram of the folder and the standpipe according to an embodiment of the present invention butted and locked; Fig. 4 is a schematic diagram according to an embodiment of the present invention Figure 5 is a schematic diagram (2) of the folder and the riser according to an embodiment of the present invention.

具体的：131、磁场感应器；110、立管；120、扳手；130、磁钢；140、转轴；141、锁扣；142、锁定槽。Specifically: 131, magnetic field sensor; 110, standpipe; 120, wrench; 130, magnetic steel; 140, rotating shaft; 141, lock; 142, locking groove.

如图4-5所示，扳手120沿箭头方向锁紧折叠机构，当扳手120移动到与立管110靠近时，霍尔传感器131感应到磁钢130的磁场，即锁扣141和锁定槽142对接锁紧，处理器发出扳手到位信号(相当于上述实施例中的小于第二预设阈值的电平信号)，起到提高折叠车的安全可靠的保护作用。As shown in Figure 4-5, the wrench 120 locks the folding mechanism along the direction of the arrow. When the wrench 120 moves close to the riser 110, the Hall sensor 131 senses the magnetic field of the magnetic steel 130, that is, the lock 141 and the lock groove 142 When the docking is locked, the processor sends a wrench in place signal (equivalent to the level signal less than the second preset threshold in the above embodiment), which plays a protective role in improving the safety and reliability of the folding bike.

进一步的，也可以采用其他可以对准和测距功能的传感器替代霍尔传感器。Further, other sensors capable of aligning and ranging functions may also be used instead of the Hall sensor.

通过本发明，上述折叠车包括：霍尔传感器，嵌入设置在折叠车的立管上；磁钢，设置在折叠车的扳手上，在折叠器与立管对接锁紧的情况下，磁场感应器和磁钢对接设置；处理器，设置在折叠车上，与霍尔传感器耦合连接，处理器通过霍尔传感器感应磁钢与霍尔传感器之间的磁场，确定折叠器与立管是否对接锁紧，采用上述技术方案，解决了相关技术中，由于只能人为判断锁止扳手位置，导致折叠车的安全性较低等问题。According to the present invention, the above-mentioned folding car includes: a Hall sensor, embedded and arranged on the standpipe of the folding car; a magnetic steel, arranged on the wrench of the folding car, and the magnetic field sensor Docking setting with the magnetic steel; the processor is set on the folding car and coupled with the Hall sensor, and the processor senses the magnetic field between the magnetic steel and the Hall sensor through the Hall sensor to determine whether the folder and the riser are docked and locked , adopting the above-mentioned technical solution solves the problems in the related art that the safety of the folding bike is low due to the fact that the position of the locking wrench can only be judged manually.

显然，上述所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。Apparently, the above-described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、工作、器件、组件和/或它们的组合。It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施方式能够以除了在这里图示或描述的那些以外的顺序实施。It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein.

以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily to describe a specific order or sequence.

本申请实施例所提供的方法实施例可以在折叠车，或者类似的装置中执行。以运行在折叠车上为例，图6是本发明实施例的一种锁紧位置的确定方法的折叠车的硬件结构框图。如图6所示，折叠车可以包括一个或多个(图6中仅示出一个)处理器2102(处理器2102可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置)和用于存储数据的存储器2104，在一个示例性实施例中，上述折叠车还可以包括用于通信功能的传输设备2106以及输入输出设备2108。本领域普通技术人员可以理解，图6所示的结构仅为示意，其并不对上述折叠车的结构造成限定。例如，折叠车还可包括比图6中所示更多或者更少的组件，或者具有与图6所示等同功能或比图6所示功能更多的不同的配置。The method embodiments provided in the embodiments of the present application can be implemented in a folding car or a similar device. Taking running on a folding bicycle as an example, FIG. 6 is a hardware structural block diagram of a folding bicycle according to a method for determining a locking position according to an embodiment of the present invention. As shown in Figure 6, the folding car can include one or more (only one is shown in Figure 6) processor 2102 (processor 2102 can include but not limited to processing devices such as microprocessor MCU or programmable logic device FPGA, etc.) and a memory 2104 for storing data. In an exemplary embodiment, the above folding car may further include a transmission device 2106 and an input and output device 2108 for communication functions. Those of ordinary skill in the art can understand that the structure shown in FIG. 6 is only a schematic diagram, and it does not limit the structure of the above-mentioned folding bike. For example, the folding bike may also include more or fewer components than shown in FIG. 6 , or have a different configuration that is functionally equivalent to or more functional than that shown in FIG. 6 .

存储器2104可用于存储计算机程序，例如，应用软件的软件程序以及模块，如本发明实施例中的锁紧位置的确定方法对应的计算机程序，处理器2102通过运行存储在存储器2104内的计算机程序，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器2104可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器2104可进一步包括相对于处理器2102远程设置的存储器，这些远程存储器可以通过网络连接至折叠车。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The memory 2104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for determining the locking position in the embodiment of the present invention, the processor 2102 runs the computer program stored in the memory 2104, Thereby executing various functional applications and data processing, that is, realizing the above-mentioned method. The memory 2104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 2104 may further include memory located remotely from processor 2102, and such remote memory may be connected to the folding cart via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

传输设备2106用于经由一个网络接收或者发送数据。上述的网络具体实例可包括折叠车的通信供应商提供的无线网络。在一个实例中，传输设备2106包括一个网络适配器(Network Interface Controller，简称为NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输设备2106可以为射频(Radio Frequency，简称为RF)模块，其用于通过无线方式与互联网进行通讯。Transmission device 2106 is used to receive or transmit data via a network. The specific example of the above-mentioned network may include a wireless network provided by the communication provider of the folding bike. In one example, the transmission device 2106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet. In an example, the transmission device 2106 may be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet in a wireless manner.

在本实施例中提供了一种锁紧位置的确定方法，应用于折叠车中，图7是根据本发明实施例的锁紧位置的确定方法的流程图，该流程包括如下步骤：In this embodiment, a method for determining a locking position is provided, which is applied to a folding car. FIG. 7 is a flowchart of a method for determining a locking position according to an embodiment of the present invention. The process includes the following steps:

步骤S202：通过第一检测件对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；Step S202: Detect the lock wrench through the first detection part to generate a detection signal of the position of the lock wrench, wherein the first detection part is set at a specific position other than the lock wrench, and the lock wrench pivotally connected to the base portion;

步骤S204：根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，锁止扳手位于所述锁定位置上，所述锁止扳手与立管对接锁紧。Step S204: Determine whether the locking wrench is at the locking position according to the detection signal output by the first detection element, wherein the locking wrench is at the locking position, and the locking wrench is docked and locked with the riser.

通过本发明，通过第一检测件对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，在所述锁定位置上，所述锁止扳手与立管对接锁紧，即通过第一检测件生成锁止扳手位置的检测信号，根据检测信号确定锁止扳手是否位于锁定位置，采用上述技术方案，解决了相关技术中，由于只能人为判断折叠车的锁止扳手是否位于锁定位置，导致折叠车的安全性较低等问题。According to the present invention, the locking wrench is detected by the first detecting element to generate a detection signal of the position of the locking wrench, wherein the first detecting element is set at a specific position other than the locking wrench, and the locking wrench The wrench is pivotally connected to the base part; it is determined whether the locking wrench is in the locking position according to the detection signal output by the first detection member, wherein, in the locking position, the locking wrench is docked with the standpipe and locked Tight, that is, the detection signal of the position of the locking wrench is generated by the first detection part, and whether the locking wrench is in the locked position is determined according to the detection signal. The above technical solution solves the problem in the related art that the locking of the folding bike can only be judged manually. Whether the wrench is in the locked position leads to problems such as lower safety of the folding bike.

在一个示例性实施例中，所述第一检测件检测第二检测件的位置，其中，所述第二检测件设置在所述锁止扳手上，可随所述锁止扳手转动而移动；根据所述第二检测件的位置生成所述锁止扳手位置的检测信号。In an exemplary embodiment, the first detection part detects the position of the second detection part, wherein the second detection part is arranged on the locking wrench and can move with the rotation of the locking wrench; A detection signal of the position of the locking wrench is generated according to the position of the second detection part.

需要说明的是，立管和锁止扳手活动连接或可拆卸地连接，并能够对接锁紧和解锁分离；第二检测件活动设置在锁止扳手上，并跟随锁止扳手同步转动，当锁止扳手在收起位置和中间位置之间转动时，立管与锁止扳手之间保持锁紧，扳手由中间位置向解锁位置继续转动时，立管与锁止扳手之间解锁，第一检测件根据第二检测件的位置生成第二检测件对应的锁止扳手位置对应的检测信号。It should be noted that the standpipe and the lock wrench are movably connected or detachably connected, and can be docked, locked, unlocked and separated; When the stop wrench rotates between the retracted position and the middle position, the standpipe and the lock wrench remain locked, and when the wrench continues to rotate from the middle position to the unlocked position, the standpipe and the lock wrench are unlocked, and the first detection The component generates a detection signal corresponding to the position of the locking wrench corresponding to the second detection component according to the position of the second detection component.

具体的，通过第一检测件生成对应于锁止扳手位置的检测信号，至少包括以下之一：通过霍尔传感器感应所述第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号；通过光学传感器检测所述第二检测件是否出现在第一预设距离内，生成对应于锁止扳手位置的检测信号；通过激光距离传感器检测所述第二检测件与所述激光距离传感器之间的距离，生成对应于锁止扳手位置的检测信号。Specifically, the detection signal corresponding to the position of the locking wrench is generated by the first detection part, at least including one of the following: the magnetic field between the second detection part and the Hall sensor is sensed by the Hall sensor, and a signal corresponding to the position of the lock wrench is generated. The detection signal of the position of the locking wrench; detecting whether the second detection part appears within the first preset distance through an optical sensor, and generating a detection signal corresponding to the position of the locking wrench; detecting the second detection part through a laser distance sensor The distance from the laser distance sensor generates a detection signal corresponding to the position of the locking wrench.

上述步骤S204中，确定所述锁止扳手是否位于锁定位置的方式有很多种，本发明实施例给出了一种实现方式，具体如下：在所述第二检测侧件为霍尔传感器的情况下，在霍尔传感器生成的所述检测信号大于第一预设阈值的情况下，确定所述锁止扳手未位于锁定位置；在霍尔传感器生成的所述检测信号小于第二预设阈值的情况下，确定所述锁止扳手位于锁定位置。In the above step S204, there are many ways to determine whether the locking wrench is in the locked position. The embodiment of the present invention provides an implementation way, which is as follows: In the case where the second detection side member is a Hall sensor Next, when the detection signal generated by the Hall sensor is greater than the first preset threshold, it is determined that the locking wrench is not in the locked position; when the detection signal generated by the Hall sensor is smaller than the second preset threshold case, make sure the locking wrench is in the locked position.

也就是说，在第一检测件为霍尔传感器的情况下，第二检测件可以为磁钢，以磁钢为例，通过霍尔传感器感应磁钢与所述霍尔传感器之间的磁场，霍尔传感器通过感应到的磁钢与所述霍尔传感器之间的磁场输出对应的检测信号，并发送给处理器，处理器确定检测信号是否大于第一预设阈值，在检测信号大于第一预设阈值的情况下，确定锁止扳手未位于锁定位置，此时，指示折叠车不可以运行，以及确定检测信号是否小于第二预设阈值，在检测信号小于第二预设阈值的情况下，确定所述锁止扳手位于锁定位置，此时，指示折叠车可以运行，需要说明的是，第一预设阈值与第二预设阈值可以为相同的数值，也可以为不同的数值，本发明实施例对此不做限定。That is to say, in the case where the first detection part is a Hall sensor, the second detection part can be a magnet. Taking the magnet as an example, the Hall sensor senses the magnetic field between the magnet and the Hall sensor. The Hall sensor outputs a corresponding detection signal through the sensed magnetic field between the magnetic steel and the Hall sensor, and sends it to the processor, and the processor determines whether the detection signal is greater than the first preset threshold, and when the detection signal is greater than the first In the case of the preset threshold, it is determined that the locking wrench is not in the locked position. At this time, it is indicated that the folding car cannot be operated, and it is determined whether the detection signal is less than the second preset threshold. In the case of the detection signal is less than the second preset threshold , it is determined that the locking wrench is in the locked position. At this time, it indicates that the folding car can run. It should be noted that the first preset threshold and the second preset threshold can be the same value or different values. The embodiments of the invention do not limit this.

具体的，通过霍尔传感器感应所述第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号的方式具体如下：在所述第二检测件与所述霍尔传感器之间的磁场小于第三预设阈值的情况下，确定所述检测信号大于所述第一预设阈值；在所述第二检测件与所述霍尔传感器之间的磁场大于第四预设阈值的情况下，确定所述检测信号小于所述第二预设阈值。Specifically, the method of generating a detection signal corresponding to the position of the locking wrench by sensing the magnetic field between the second detection part and the Hall sensor through the Hall sensor is as follows: between the second detection part and the When the magnetic field between the Hall sensors is less than a third preset threshold, it is determined that the detection signal is greater than the first preset threshold; the magnetic field between the second detection element and the Hall sensor is greater than the first threshold In the case of four preset thresholds, it is determined that the detection signal is smaller than the second preset threshold.

可以理解为，在霍尔传感器感应到第二检测件与所述霍尔传感器之间的磁场小于第三预设阈值的情况下，输出检测信号大于所述第一预设阈值的检测信号，在霍尔传感器感应到第二检测件与所述霍尔传感器之间的磁场大于第四预设阈值的情况下，输出检测信号小于所述第二预设阈值的电平信号，以所述霍尔传感器为霍尔传感器和磁钢为例来讲，在磁钢接近霍尔传感器时，霍尔传感器检测到霍尔传感器与磁钢之间的磁场B大于霍尔传感器的导通点Bop的情况下，霍尔传感器输出低电平，磁钢远离霍尔传感器的情况下，霍尔传感器检测到霍尔传感器与磁钢之间的磁场B小于霍尔传感器的释放点Brp的情况下，霍尔传感器输出高电平。但是，在所述霍尔传感器输出低电平的情况下，霍尔传感器检测到霍尔传感器与磁钢之间的磁场B小于霍尔传感器的导通点Bop，霍尔传感器与磁钢之间的磁场B大于霍尔传感器的释放点Brp的情况下，霍尔传感器持续输出低电平；在霍尔传感器输出高电平的情况下，霍尔传感器与磁钢之间的磁场B大于霍尔传感器的释放点Brp，霍尔传感器与磁钢之间的磁场B小于霍尔传感器的导通点Bop的情况下，霍尔传感器持续输出高电平，其中，稳定的回差Bh＝|Bop-Brp|确保霍尔传感器开关状态稳定，霍尔传感器的导通点Bop越小，霍尔传感器的灵敏度越高，在回差范围内霍尔传感器输出的电平信号不变，进而使开关输出稳定可靠，回差Bh越大，霍尔传感器的抗干扰能力越强。It can be understood that, when the Hall sensor senses that the magnetic field between the second detection element and the Hall sensor is smaller than the third preset threshold, the output detection signal is greater than the first preset threshold. When the Hall sensor senses that the magnetic field between the second detection element and the Hall sensor is greater than a fourth preset threshold, it outputs a level signal whose detection signal is smaller than the second preset threshold, and the Hall The sensor is a Hall sensor and a magnetic steel as an example. When the magnetic steel is close to the Hall sensor, the Hall sensor detects that the magnetic field B between the Hall sensor and the magnetic steel is greater than the conduction point Bop of the Hall sensor. , the Hall sensor outputs a low level, and when the magnetic steel is far away from the Hall sensor, the Hall sensor detects that the magnetic field B between the Hall sensor and the magnetic steel is less than the release point Brp of the Hall sensor. output high level. However, when the Hall sensor outputs a low level, the Hall sensor detects that the magnetic field B between the Hall sensor and the magnetic steel is smaller than the conduction point Bop of the Hall sensor, and the gap between the Hall sensor and the magnetic steel is smaller than that of the Hall sensor. When the magnetic field B of the Hall sensor is greater than the release point Brp of the Hall sensor, the Hall sensor continues to output a low level; when the Hall sensor outputs a high level, the magnetic field B between the Hall sensor and the magnetic steel is greater than the Hall sensor When the release point Brp of the sensor, the magnetic field B between the Hall sensor and the magnetic steel is smaller than the conduction point Bop of the Hall sensor, the Hall sensor continues to output a high level, where the stable hysteresis Bh=|Bop- Brp|Ensure that the switch state of the Hall sensor is stable. The smaller the conduction point Bop of the Hall sensor is, the higher the sensitivity of the Hall sensor is. The level signal output by the Hall sensor remains unchanged within the hysteresis range, thereby making the switch output stable Reliable, the larger the hysteresis Bh, the stronger the anti-interference ability of the Hall sensor.

在一个示例性实施例中，根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置之后，还包括：在确定所述折叠器锁止扳手未位于锁定位置的情况下，向所述折叠车的控制器发送第一控制信号；响应所述第一控制信号，指示所述控制器控制所述折叠车的电机执行第一操作事件，其中，所述第一操作事件用于禁止所述折叠车运行。In an exemplary embodiment, after determining whether the locking wrench is at the locked position according to the detection signal output by the first detection member, the method further includes: when it is determined that the folder locking wrench is not at the locked position , sending a first control signal to the controller of the folding bike; in response to the first control signal, instructing the controller to control the motor of the folding bike to perform a first operation event, wherein the first operation event uses To prohibit the operation of the folding bike.

换言之，根据所述第一检测件号输出的检测信号确定所述锁止扳手与所述立管未对接锁紧之后，折叠车的处理器向折叠车的控制器发送第一控制信息，以使通过折叠车的控制器控制所述折叠车禁止运行，从而使得在锁止扳手与所述立管未对接锁紧的情况下，禁止所述折叠车运行，提高了折叠车的安全性。In other words, after it is determined according to the detection signal output by the first detection part number that the lock wrench is not docked and locked with the standpipe, the processor of the folding bicycle sends the first control information to the controller of the folding bicycle, so that The controller of the folding bike controls the folding bike to prohibit running, so that when the locking wrench is not docked and locked with the riser, the folding bike is prohibited from running, which improves the safety of the folding bike.

进一步的，指示所述控制器控制所述折叠车的电机执行第一操作事件的方式有很多种，在本发明实施例中，至少包括以下之一：响应所述第一控制信号，指示所述控制器禁止所述折叠车的电机运行；响应所述第一控制信号，指示所述控制器控制所述折叠车的电机空转；响应所述第一控制信号，指示所述控制器控制所述折叠车的电机异常转动。Further, there are many ways to instruct the controller to control the motor of the folding bike to perform the first operation event, and in the embodiment of the present invention, at least one of the following is included: in response to the first control signal, instruct the The controller prohibits the motor of the folding cart from running; in response to the first control signal, instructs the controller to control the motor of the folding cart to run idle; in response to the first control signal, instructs the controller to control the folding cart The car's motor rotates abnormally.

即通过禁止所述折叠车的电机运行，和/或，控制所述折叠车的电机空转，和/或，控制所述折叠车的电机异常转动，以禁止所述折叠车的运行，本发明还可以预先设置禁止所述折叠车的运行的等级，例如，第一等级：在第一预设时间段内，禁止所述折叠车的电机运行，或，控制所述折叠车的电机空转，或，控制所述折叠车的电机异常转动；第二等级：在所述锁止扳手未位于锁定位置的情况下，控制器以一定规律禁止所述折叠车的电机运行和控制所述折叠车的电机异常转动，或，控制器以一定规律禁止所述折叠车的电机运行和控制所述折叠车的电机空转，或，控制器以一定规律控制所述折叠车的电机异常转动和控制所述折叠车的电机空转；第三等级：在所述锁止扳手未位于锁定位置的情况下，控制器一定规律禁止所述折叠车的电机运行、控制所述折叠车的电机空转和控制所述折叠车的电机异常转动。That is, by prohibiting the operation of the motor of the folding cart, and/or controlling the idle running of the motor of the folding cart, and/or controlling the abnormal rotation of the motor of the folding cart to prohibit the operation of the folding cart, the present invention also The level of prohibiting the operation of the folding car can be preset, for example, the first level: within the first preset time period, the motor of the folding car is prohibited from running, or, the motor of the folding car is controlled to idle, or, Control the abnormal rotation of the motor of the folding car; the second level: when the locking wrench is not in the locked position, the controller prohibits the motor of the folding car from running and controls the abnormality of the motor of the folding car according to a certain rule Rotation, or, the controller prohibits the motor of the folding car from running and controls the motor of the folding car to run idly with a certain law, or, the controller controls the motor of the folding car to rotate abnormally and controls the motor of the folding car with a certain law The motor is idling; the third level: when the locking wrench is not in the locked position, the controller prohibits the motor of the folding car from running, controls the motor of the folding car to run idly and controls the motor of the folding car abnormal rotation.

在一个示例性实施例中，根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置之后，还包括：在确定所述锁止扳手未位于锁定位置的情况下，向所述折叠车的控制器发送第二控制信号；响应所述第二控制信号，指示所述控制器控制所述折叠车的多媒体装置执行第二操作事件，其中，所述第二操作事件用于提醒目标对象禁止运行所述折叠车，所述多媒体装置包括以下至少之一：显示装置，发声装置，发光装置。In an exemplary embodiment, after determining whether the locking wrench is at the locking position according to the detection signal output by the first detection member, further comprising: when it is determined that the locking wrench is not at the locking position, sending The controller of the folding bike sends a second control signal; in response to the second control signal, instructing the controller to control the multimedia device of the folding bike to execute a second operation event, wherein the second operation event is used for To remind the target object that the folding bike is prohibited, the multimedia device includes at least one of the following: a display device, a sounding device, and a light emitting device.

可以理解为，根据所述霍尔传感器输出的电平信号确定所述锁止扳手未位于锁定位置之后，折叠车的处理器向折叠车的控制器发送第二控制信息，以使通过折叠车的控制器控制多媒体装置提醒目标对象禁止运行所述折叠车，从而使得在锁止扳手与所述立管未对接锁紧的情况下，及时提醒目标对象禁止运行所述折叠车，提高了折叠车的安全性。It can be understood that, after determining that the locking wrench is not in the locked position according to the level signal output by the Hall sensor, the processor of the folding bike sends the second control information to the controller of the folding bike, so that through the folding bike The controller controls the multimedia device to remind the target object to prohibit the operation of the folding bicycle, so that when the locking wrench is not docked and locked with the riser, the target object is reminded in time to prohibit the operation of the folding bicycle, which improves the safety of the folding bicycle. safety.

具体的，在本发明实施例中，通过至少以下之一：响应所述第二控制信号，指示所述发声装置发出告警音；响应所述第二控制信号，指示所述发光装置显示告警灯；响应所述第二控制信号，指示所述显示装置显示告警信号，来提醒目标对象禁止运行所述折叠车。Specifically, in the embodiment of the present invention, at least one of the following is adopted: responding to the second control signal, instructing the sound emitting device to emit a warning sound; responding to the second control signal, instructing the light emitting device to display a warning light; In response to the second control signal, instruct the display device to display a warning signal to remind the target object to prohibit running the folding bicycle.

即在本发明实施例中，可以通过所述发声装置发出告警音，和/或，发光装置显示告警灯，和/或，显示装置显示告警信号，来提醒目标对象禁止运行所述折叠车，举例来讲，在确定锁止扳手未位于锁定位置之后，发声装置发出“未对接锁紧”或嘀嘀的声音；在确定锁止扳手折叠器未位于锁定位置之后，发光装置显示红光或多种颜色的光以预设方式依次显示；在确定所述锁止扳手折叠器未位于锁定位置之后，显示装置显示“未对接锁紧”文字，或显示装置的目标界面区域显示告警图片，需要说明的是，本发明实施例对发声装置发出的告警音、发光装置显示的告警灯、显示装置显示的告警信号不做限定。That is, in the embodiment of the present invention, the sound emitting device can emit a warning sound, and/or the light emitting device displays a warning light, and/or the display device displays a warning signal to remind the target object that the folding bike is prohibited from running, for example Generally speaking, after it is determined that the locking wrench is not in the locked position, the sounding device emits a sound of "not docked and locked" or a beep; after it is determined that the locking wrench folder is not in the locked position, the light emitting device displays red light or multiple The colors of light are displayed sequentially in a preset manner; after it is determined that the locking wrench folder is not in the locked position, the display device displays the text "not docked and locked", or the target interface area of the display device displays an alarm picture, and what needs to be explained Yes, the embodiment of the present invention does not limit the alarm sound emitted by the sound emitting device, the alarm light displayed by the light emitting device, and the alarm signal displayed by the display device.

为了更好理解上述锁紧位置的确定方法，以下结合可选实施例对上述技术方案进行解释说明，但不用于限定本发明实施例的技术方案。In order to better understand the above-mentioned method for determining the locking position, the above-mentioned technical solutions are explained below in conjunction with optional embodiments, but are not intended to limit the technical solutions of the embodiments of the present invention.

在本实施例中提供了一种锁紧位置的确定方法，应用于折叠车中，具体步骤如下：In this embodiment, a method for determining the locking position is provided, which is applied to a folding car, and the specific steps are as follows:

步骤1：通过霍尔传感器(相当于上述实施例中的第一检测件)感应磁钢(相当于上述实施例中的第二检测件)与所述霍尔传感器之间的磁场B；Step 1: Inducing the magnetic field B between the magnet (equivalent to the second detection element in the above embodiment) and the Hall sensor through the Hall sensor (equivalent to the first detection element in the above embodiment);

步骤3：霍尔传感器输出低电平(相当于上述实施例中的小于第二预设阈值的检测信号)；Step 3: the Hall sensor outputs a low level (equivalent to the detection signal smaller than the second preset threshold in the above embodiment);

步骤4：霍尔传感器输出高电平(相当于上述实施例中的大于第一预设阈值的检测信号)；Step 4: The Hall sensor outputs a high level (equivalent to the detection signal greater than the first preset threshold in the above embodiment);

步骤5：在所述霍尔传感器输出高电平的情况下，指示所述折叠车至少执行以下之一：发声装置发出警示音、显示装置发出警示信号、发光装置发出警示灯、控制电机不转、控制电机空转、控制电机异常转动、控制电机发出异常响声。Step 5: In the case that the Hall sensor outputs a high level, instruct the folding car to perform at least one of the following: the sounding device emits a warning sound, the display device emits a warning signal, the light emitting device emits a warning light, and the motor is controlled not to rotate , Control the idling of the motor, control the abnormal rotation of the motor, and control the abnormal noise of the motor.

需要说明的是，磁钢的S极面对霍尔传感器的S面且磁钢与霍尔传感器的距离小于第一预设阈值(相当于上述实施例中的第五预设阈值)的情况下，即B≥Bop，霍尔传感器输出低电平；磁钢与霍尔传感器的距离大于第二预设阈值(相当于上述实施例中的第六预设阈值)的情况下，即B≤Brp，霍尔传感器输出高电平。磁铁N极面对霍尔传感器的S面时，霍尔传感器没有输出电信号，其中，稳定的回差Bh＝|Bop-Brp|确保霍尔传感器开关状态稳定。It should be noted that when the S pole of the magnet faces the S surface of the Hall sensor and the distance between the magnet and the Hall sensor is less than the first preset threshold (equivalent to the fifth preset threshold in the above-mentioned embodiment) , that is, B≥Bop, the Hall sensor outputs a low level; when the distance between the magnet and the Hall sensor is greater than the second preset threshold (equivalent to the sixth preset threshold in the above-mentioned embodiment), that is, B≤Brp , the Hall sensor outputs a high level. When the N pole of the magnet faces the S surface of the Hall sensor, the Hall sensor does not output an electrical signal, and the stable hysteresis Bh=|Bop-Brp| ensures that the Hall sensor switch state is stable.

图8是根据本发明实施例的锁止扳手未位于锁定位置的示意图，图9是根据本发明实施例的锁止扳手位于锁定位置的示意图，图10是根据本发明实施例的锁止扳手与立管的示意图(一)，图11是根据本发明实施例的锁止扳手与立管的示意图(二)。Fig. 8 is a schematic diagram of a locking wrench not in a locked position according to an embodiment of the present invention, Fig. 9 is a schematic diagram of a locking wrench in a locked position according to an embodiment of the present invention, and Fig. 10 is a schematic diagram of a locking wrench and a locking wrench according to an embodiment of the present invention The schematic diagram of the standpipe (1), Fig. 11 is the schematic diagram (2) of the locking wrench and the standpipe according to the embodiment of the present invention.

具体的：231、霍尔传感器；210、立管；220、锁止扳手；230、磁钢；240、转轴；241、锁扣；242、锁定槽。Specifically: 231, hall sensor; 210, standpipe; 220, locking wrench; 230, magnetic steel; 240, rotating shaft; 241, lock catch; 242, locking groove.

如图8-10所示，扳手220沿箭头方向锁紧折叠机构，当扳手220移动到与立管210靠近时，霍尔传感器231感应到磁钢230的磁场，发出扳手到位信号(相当于上述实施例中的小于第二预设阈值的电平信号)，起到提高折叠车的安全可靠的保护作用。As shown in Figure 8-10, the wrench 220 locks the folding mechanism along the direction of the arrow. When the wrench 220 moves close to the standpipe 210, the Hall sensor 231 senses the magnetic field of the magnetic steel 230 and sends out a wrench in place signal (equivalent to the above-mentioned In the embodiment, the signal with a level lower than the second preset threshold) plays a protective role in improving the safety and reliability of the folding bike.

通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to enable a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

在本实施例中还提供了折叠车，该折叠车用于实现上述实施例及优选实施方式，已经进行过说明的不再赘述。如以下所使用的，术语“模块”可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。In this embodiment, a folding bicycle is also provided, and the folding bicycle is used to realize the above-mentioned embodiments and preferred implementation manners, and what has already been described will not be repeated. As used below, the term "module" may be a combination of software and/or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

图12是根据本发明实施例的折叠车的结构框图，如图12所示，包括：Fig. 12 is a structural block diagram of a folding car according to an embodiment of the present invention, as shown in Fig. 12 , including:

检测模块272，用于对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；The detection module 272 is configured to detect the locking wrench to generate a detection signal of the position of the locking wrench, wherein the first detection part is set at a specific position other than the locking wrench, and the locking wrench is connected to the base The seat part is pivotally connected;

确定模块274，用于根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，在所述锁定位置上，所述锁止扳手与立管对接锁紧。The determining module 274 is configured to determine whether the locking wrench is in the locking position according to the detection signal output by the first detection element, wherein, in the locking position, the locking wrench is docked and locked with the riser.

通过本发明实施例，通过第一检测件对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，在所述锁定位置上，所述锁止扳手与立管对接锁紧，即通过第一检测件生成锁止扳手位置的检测信号，根据检测信号确定锁止扳手是否位于锁定位置，采用上述技术方案，解决了相关技术中，由于只能人为判断折叠车的锁止扳手是否位于锁定位置，导致折叠车的安全性较低等问题。According to the embodiment of the present invention, the lock wrench is detected by the first detection part to generate a detection signal of the position of the lock wrench, wherein the first detection part is set at a specific position other than the lock wrench, and the The locking wrench is pivotally connected to the base part; it is determined whether the locking wrench is in the locked position according to the detection signal output by the first detection member, wherein, in the locked position, the locking wrench is connected to the standpipe Butt locking means that the detection signal of the position of the locking wrench is generated by the first detection part, and whether the locking wrench is in the locked position is determined according to the detection signal. The above-mentioned technical solution solves the problem in the related art that can only be manually judged. Whether the locking wrench is in the locked position will lead to problems such as lower safety of the folding bike.

在一个示例性实施例中，所述检测模块，还用于所述第一检测件检测第二检测件的位置，其中，所述第二检测件设置在所述锁止扳手上，可随所述锁止扳手转动而移动；根据所述第二检测件的位置生成所述锁止扳手位置的检测信号。In an exemplary embodiment, the detection module is further used for the first detection part to detect the position of the second detection part, wherein the second detection part is set on the locking wrench and can be used anywhere The locking wrench is rotated to move; a detection signal of the position of the locking wrench is generated according to the position of the second detection part.

具体的，所述检测模块，还用于通过第一检测件生成对应于锁止扳手位置的检测信号，至少包括以下之一：通过霍尔传感器感应所述第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号；通过光学传感器检测所述第二检测件是否出现在第一预设距离内，生成对应于锁止扳手位置的检测信号；通过激光距离传感器检测所述第二检测件与所述激光距离传感器之间的距离，生成对应于锁止扳手位置的检测信号。Specifically, the detection module is further configured to generate a detection signal corresponding to the position of the locking wrench through the first detection part, at least including one of the following: sensing the second detection part and the Hall sensor through the Hall sensor The magnetic field between generates a detection signal corresponding to the position of the locking wrench; the optical sensor detects whether the second detection part appears within the first preset distance, and generates a detection signal corresponding to the position of the locking wrench; The sensor detects the distance between the second detection part and the laser distance sensor, and generates a detection signal corresponding to the position of the locking wrench.

在一个示例性实施例中，所述确定模块，还用于在所述第二检测侧件为霍尔传感器的情况下，在霍尔传感器生成的所述检测信号大于第一预设阈值的情况下，确定所述锁止扳手未位于锁定位置；在霍尔传感器生成的所述检测信号小于第二预设阈值的情况下，确定所述锁止扳手位于锁定位置。In an exemplary embodiment, the determination module is further configured to, when the second detection side member is a Hall sensor, when the detection signal generated by the Hall sensor is greater than a first preset threshold Next, it is determined that the locking wrench is not at the locking position; when the detection signal generated by the Hall sensor is smaller than a second preset threshold, it is determined that the locking wrench is at the locking position.

具体的，所述确定模块，还用于在所述第二检测件与所述霍尔传感器之间的磁场小于第三预设阈值的情况下，确定所述检测信号大于所述第一预设阈值；在所述第二检测件与所述霍尔传感器之间的磁场大于第四预设阈值的情况下，确定所述检测信号小于所述第二预设阈值。Specifically, the determination module is further configured to determine that the detection signal is greater than the first preset threshold when the magnetic field between the second detection element and the Hall sensor is smaller than a third preset threshold. Threshold: when the magnetic field between the second detection element and the Hall sensor is greater than a fourth preset threshold, determine that the detection signal is smaller than the second preset threshold.

在一个示例性实施例中，上述折叠车还包括：发送模块，用于在确定所述锁止扳手未位于锁定位置的情况下，向所述折叠车的控制器发送第一控制信号；响应所述第一控制信号，指示所述控制器控制所述折叠车的电机执行第一操作事件，其中，所述第一操作事件用于禁止所述折叠车运行。In an exemplary embodiment, the above-mentioned folding bike further includes: a sending module, configured to send a first control signal to the controller of the folding bike when it is determined that the locking wrench is not at the locked position; The first control signal instructs the controller to control the motor of the folding bike to perform a first operation event, wherein the first operation event is used to prohibit the folding bike from running.

进一步的，上述折叠车还包括：控制模块，用于响应所述第一控制信号，指示所述控制器禁止所述折叠车的电机运行；响应所述第一控制信号，指示所述控制器控制所述折叠车的电机空转；响应所述第一控制信号，指示所述控制器控制所述折叠车的电机异常转动。Further, the above folding bike further includes: a control module, configured to instruct the controller to prohibit the motor of the folding bike from running in response to the first control signal; in response to the first control signal, instruct the controller to control The motor of the folding cart is idling; in response to the first control signal, instructing the controller to control the motor of the folding cart to rotate abnormally.

在一个示例性实施例中，发送模块，还用于在确定所述锁止扳手未位于锁定位置的情况下，向所述折叠车的控制器发送第二控制信号；响应所述第二控制信号，指示所述控制器控制所述折叠车的多媒体装置执行第二操作事件，其中，所述第二操作事件用于提醒目标对象禁止运行所述折叠车，所述多媒体装置包括以下至少之一：显示装置，发声装置，发光装置。In an exemplary embodiment, the sending module is further configured to send a second control signal to the controller of the folding bike when it is determined that the locking wrench is not in the locked position; responding to the second control signal Instructing the controller to control the multimedia device of the folding bike to execute a second operation event, wherein the second operation event is used to remind the target object to prohibit running the folding bike, and the multimedia device includes at least one of the following: Display device, sound generating device, light emitting device.

具体的，在本发明实施例中，控制模块，还用于响应所述第二控制信号，指示所述发声装置发出告警音；响应所述第二控制信号，指示所述发光装置显示告警灯；响应所述第二控制信号，指示所述显示装置显示告警信号，来提醒目标对象禁止运行所述折叠车。Specifically, in the embodiment of the present invention, the control module is further configured to instruct the sound emitting device to emit an alarm sound in response to the second control signal; instruct the light emitting device to display an alarm light in response to the second control signal; In response to the second control signal, instruct the display device to display a warning signal to remind the target object to prohibit running the folding bicycle.

本发明的实施例还提供了一种存储介质，该存储介质包括存储的程序，其中，上述程序运行时执行上述任一项的方法。An embodiment of the present invention also provides a storage medium, the storage medium includes a stored program, wherein the above-mentioned program executes any one of the above-mentioned methods when running.

可选地，在本实施例中，上述存储介质可以被设置为存储用于执行以下步骤的程序代码：Optionally, in this embodiment, the above-mentioned storage medium may be configured to store program codes for performing the following steps:

S1，通过第一检测件对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；S1. Detecting the lock wrench through the first detection piece to generate a detection signal of the position of the lock wrench, wherein the first detection piece is set at a specific position other than the lock wrench, and the lock wrench is connected to the lock wrench. The base part is pivotally connected;

S2，根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，锁止扳手位于所述锁定位置上，所述锁止扳手与立管对接锁紧。S2. Determine whether the locking wrench is located at the locked position according to the detection signal output by the first detecting member, wherein the locking wrench is located at the locked position, and the locking wrench is docked and locked with the riser.

本发明的实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一项方法实施例中的步骤。An embodiment of the present invention also provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments.

可选地，上述电子装置还可以包括传输设备以及输入输出设备，其中，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。Optionally, the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.

可选地，在本实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤：Optionally, in this embodiment, the above-mentioned processor may be configured to execute the following steps through a computer program:

可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，简称为ROM)、随机存取存储器(Random Access Memory，简称为RAM)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: U disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), Various media that can store program codes such as removable hard disks, magnetic disks, or optical disks.

可选地，本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementation manners, and details are not repeated in this embodiment.

显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。Obviously, those skilled in the art should understand that each module or each step of the present invention described above can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network formed by multiple computing devices Alternatively, they may be implemented in program code executable by a computing device so that they may be stored in a storage device to be executed by a computing device, and in some cases in an order different from that shown here The steps shown or described are carried out, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps among them are fabricated into a single integrated circuit module for implementation. As such, the present invention is not limited to any specific combination of hardware and software.

以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

一种折叠机构，应用于可折叠骑行车，其特征在于，包括：A folding mechanism applied to a foldable bicycle, characterized in that it comprises:

基座部分和折叠部分，所述折叠部分可在展开位置和折叠位置之间相对于所述基座部分枢转；a base portion and a foldable portion pivotable relative to the base portion between an unfolded position and a folded position;

锁定组件，用于将所述折叠部分锁定在展开位置；a locking assembly for locking the folded portion in the unfolded position;

锁止扳手，所述锁止扳手与所述基座部分枢转连接，所述锁止扳手在锁定位置可进一步将所述折叠部分锁定在展开位置；a locking wrench pivotally connected to the base portion, wherein the locking wrench in the locked position can further lock the folded portion in the unfolded position;

第一检测件，设置在所述锁止扳手以外的特定位置，用于生成对应于所述锁止扳手位置的检测信号；A first detection part, arranged at a specific position other than the lock wrench, for generating a detection signal corresponding to the position of the lock wrench;

控制器，用于获取所述检测信号，以及执行对应于所述检测信号的控制模式。a controller, configured to acquire the detection signal, and execute a control mode corresponding to the detection signal.
如权利要求1所述的折叠机构，其中，所述折叠机构还包括第二检测件，设置在所述锁止扳手上，可随所述锁止扳手转动而移动；The folding mechanism according to claim 1, wherein the folding mechanism further comprises a second detection member, which is arranged on the locking wrench and can move with the rotation of the locking wrench;

其中，所述第一检测件用于检测所述第二检测件的位置，以生成对应于所述锁止扳手位置的检测信号。Wherein, the first detection part is used to detect the position of the second detection part, so as to generate a detection signal corresponding to the position of the locking wrench.
如权利要求1或2所述的折叠机构，其中，所述控制器还用于：The folding mechanism according to claim 1 or 2, wherein the controller is further used for:

根据所述检测信号确定所述锁止扳手是否处于所述锁定位置；determining whether the locking wrench is in the locked position according to the detection signal;

在所述锁止扳手未处于所述锁定位置的情况下，执行第一控制模式。In the case that the locking wrench is not in the locking position, the first control mode is executed.
如权利要求2所述的折叠机构，其中，所述第一检测件至少包括以下之一：The folding mechanism as claimed in claim 2, wherein said first detecting member comprises at least one of the following:

霍尔传感器，光学传感器，激光距离传感器；Hall sensor, optical sensor, laser distance sensor;

其中，所述霍尔传感器用于感应所述第二检测件与所述霍尔传感器之间的磁场，并将所述霍尔传感器确定的检测信号发送至所述控制器；Wherein, the Hall sensor is used to sense the magnetic field between the second detecting element and the Hall sensor, and send the detection signal determined by the Hall sensor to the controller;

所述光学传感器用于检测所述第二检测件是否出现在第一预设距离内，并将所述光学传感器确定的检测信号发送至所述控制器；The optical sensor is used to detect whether the second detection element appears within a first preset distance, and send a detection signal determined by the optical sensor to the controller;

所述激光距离传感器用于检测所述第二检测件与所述激光距离传感器之间的距离，并将所述激光距离传感器确定的检测信号发送至所述控制器。The laser distance sensor is used to detect the distance between the second detection part and the laser distance sensor, and send the detection signal determined by the laser distance sensor to the controller.
如权利要求1所述的折叠机构，其中，所述折叠机构还包括：The folding mechanism according to claim 1, wherein the folding mechanism further comprises:

立管，所述立管用于与所述锁止扳手对接锁紧。A standpipe, the standpipe is used for docking and locking with the locking wrench.
如权利要求5所述的折叠机构，其中，所述第一检测件至少设置在以下位置之一：所述基座部分、所述折叠部分、所述立管。The folding mechanism according to claim 5, wherein the first detecting member is disposed at least one of the following positions: the base portion, the folding portion, and the standpipe.
根据权利要求3所述的折叠机构，其中，所述控制器，还用于在所述检测信号大于第一预设阈值的情况下，确定所述锁止扳手未处于所述锁定位置；以及在所述检测信号小于第二预设阈值的情况下，确定所述锁止扳手处于所述锁定位置。The folding mechanism according to claim 3, wherein the controller is further configured to determine that the locking wrench is not in the locking position when the detection signal is greater than a first preset threshold; and When the detection signal is smaller than a second preset threshold, it is determined that the locking wrench is in the locking position.
根据权利要求7所述的折叠机构，其中：所述第一检测件包括：霍尔传感器，其中，所述霍尔传感器，还用于在所述第二检测件与所述霍尔传感器之间的磁场小于第三预设阈值的情况下，确定所述检测信号大于所述第一预设阈值；以及在所述第二检测件与所述霍尔传感器之间的磁场大于第四预设阈值的情况下，确定所述检测信号小于所述第二预设阈值。The folding mechanism according to claim 7, wherein: the first detecting part comprises: a Hall sensor, wherein the Hall sensor is also used for connecting between the second detecting part and the Hall sensor When the magnetic field is less than the third preset threshold, it is determined that the detection signal is greater than the first preset threshold; and the magnetic field between the second detection part and the Hall sensor is greater than a fourth preset threshold In the case of , it is determined that the detection signal is smaller than the second preset threshold.
根据权利要求1所述的折叠机构，其中：所述折叠机构还包括：电机，所述控制器和所述电机耦合连接，其中，The folding mechanism according to claim 1, wherein: the folding mechanism further comprises: a motor, and the controller is coupled to the motor, wherein,

所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，控制所述电机执行第一操作事件，其中，所述第一操作事件用于禁止所述可折叠骑行车运行。The controller is further configured to control the motor to execute a first operation event when it is determined that the locking wrench is not in the locking position, wherein the first operation event is used to prohibit the foldable bicycle from run.
根据权利要求9所述的折叠机构，其中：所述控制器还用于至少执行以下之一：The folding mechanism according to claim 9, wherein: the controller is further configured to perform at least one of the following:

在确定锁止扳手未处于所述锁定位置的情况下，指示所述控制器禁止所述电机运行；Instructing the controller to prohibit the operation of the motor when it is determined that the locking wrench is not in the locking position;

在确定锁止扳手未处于所述锁定位置的情况下，指示所述控制器控制所述电机空转；Instructing the controller to control the motor to run idly when it is determined that the locking wrench is not in the locked position;

在确定锁止扳手未处于所述锁定位置的情况下，指示所述控制器控制所述电机异常转动。Instructing the controller to control the motor to rotate abnormally when it is determined that the locking wrench is not in the locking position.
根据权利要求1所述的折叠机构，其中：所述折叠机构还包括：多媒体装置，所述控制器和所述多媒体装置耦合连接，其中，The folding mechanism according to claim 1, wherein: the folding mechanism further comprises: a multimedia device, and the controller is coupled to the multimedia device, wherein,

所述控制器，用于在确定锁止扳手未处于所述锁定位置的情况下，控制所述多媒体装置执行第二操作事件，其中，所述第二操作事件用于提醒目标对象禁止运行所述折叠机构。The controller is configured to control the multimedia device to execute a second operation event when it is determined that the locking wrench is not in the locking position, wherein the second operation event is used to remind the target object to prohibit running the folding mechanism.
根据权利要求11所述的折叠机构，其中：所述多媒体装置包括：发声装置，所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，指示所述发声装置发出告警音。The folding mechanism according to claim 11, wherein: the multimedia device includes: a sounding device, and the controller is further configured to instruct the sounding device to emit Warning tone.
根据权利要求11所述的折叠机构，其中：所述多媒体装置包括：发光装置，所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，指示所述发光装置显示告警灯。The folding mechanism according to claim 11, wherein: the multimedia device includes: a light emitting device, and the controller is further configured to instruct the light emitting device to display the warning light.
根据权利要求11所述的折叠机构，其中：所述多媒体装置包括：显示装置，所述控制器，还用于在确定锁止扳手未处于所述锁定位置的情况下，指示所述显示装置显示告警信号。The folding mechanism according to claim 11, wherein: the multimedia device includes: a display device, and the controller is further configured to instruct the display device to display the warning signal.
一种锁紧位置的确定方法，其特征在于：包括：A method for determining a locking position, characterized in that it includes:

通过第一检测件对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；The locking wrench is detected by the first detection part to generate a detection signal of the position of the locking wrench, wherein the first detection part is set at a specific position other than the locking wrench, and the locking wrench is connected to the base Partial pivot connection;

根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，锁止扳手位于所述锁定位置上，所述锁止扳手与立管对接锁紧。Whether the locking wrench is at the locking position is determined according to the detection signal output by the first detection member, wherein the locking wrench is at the locking position, and the locking wrench is docked and locked with the riser.
根据权利要求15所述的锁紧位置的确定方法，其中：通过第一检测件生成对应于锁止扳手位置的检测信号，包括：The method for determining the locked position according to claim 15, wherein: the detection signal corresponding to the position of the locking wrench is generated by the first detection member, comprising:

所述第一检测件检测第二检测件的位置，其中，所述第二检测件设置在所述锁止扳手上，可随所述锁止扳手转动而移动；The first detection part detects the position of the second detection part, wherein the second detection part is arranged on the locking wrench and can move with the rotation of the locking wrench;

根据所述第二检测件的位置生成所述锁止扳手位置的检测信号。A detection signal of the position of the locking wrench is generated according to the position of the second detection member.
根据权利要求16所述的锁紧位置的确定方法，其中：通过第一检测件生成对应于锁止扳手位置的检测信号，至少包括以下之一：The method for determining the locking position according to claim 16, wherein: the detection signal corresponding to the position of the locking wrench generated by the first detection member includes at least one of the following:

通过霍尔传感器感应所述第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号；Sensing the magnetic field between the second detection part and the Hall sensor through the Hall sensor, generating a detection signal corresponding to the position of the locking wrench;

通过光学传感器检测所述第二检测件是否出现在第一预设距离内，生成对应于锁止扳手位置的检测信号；Detecting whether the second detection part appears within the first preset distance by an optical sensor, and generating a detection signal corresponding to the position of the locking wrench;

通过激光距离传感器检测所述第二检测件与所述激光距离传感器之间的距离，生成对应于锁止扳手位置的检测信号。A laser distance sensor is used to detect the distance between the second detection member and the laser distance sensor to generate a detection signal corresponding to the position of the locking wrench.
根据权利要求16所述的锁紧位置的确定方法，其中：通过霍尔传感器感应所述第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号之后，所述方法还包括：The method for determining the locking position according to claim 16, wherein: after the Hall sensor senses the magnetic field between the second detecting member and the Hall sensor to generate a detection signal corresponding to the position of the locking wrench, The method also includes:

在所述检测信号大于第一预设阈值的情况下，确定所述锁止扳手未位于锁定位置；When the detection signal is greater than a first preset threshold, it is determined that the locking wrench is not in the locked position;

在所述检测信号小于第二预设阈值的情况下，确定所述锁止扳手位于锁定位置。In a case where the detection signal is smaller than a second preset threshold, it is determined that the locking wrench is at the locked position.
根据权利要求18所述的锁紧位置的确定方法，其中：通过霍尔传感器感应所述第二检测件与所述霍尔传感器之间的磁场，生成对应于锁止扳手位置的检测信号，包括：The method for determining the locking position according to claim 18, wherein: a Hall sensor is used to sense the magnetic field between the second detecting member and the Hall sensor to generate a detection signal corresponding to the position of the locking wrench, including :

在所述第二检测件与所述霍尔传感器之间的磁场小于第三预设阈值的情况下，确定所述检测信号大于第一预设阈值；When the magnetic field between the second detection element and the Hall sensor is smaller than a third preset threshold, determine that the detection signal is greater than a first preset threshold;

在所述第二检测件与所述霍尔传感器之间的磁场大于第四预设阈值的情况下，确定所述检测信号小于第二预设阈值。When the magnetic field between the second detecting element and the Hall sensor is greater than a fourth preset threshold, it is determined that the detection signal is smaller than a second preset threshold.
根据权利要求15所述的锁紧位置的确定方法，其中：根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置之后，所述方法还包括：The method for determining the locking position according to claim 15, wherein: determining whether the locking wrench is located at the locking position according to the detection signal output by the first detection member, the method further comprises:

在确定所述锁止扳手未位于锁定位置的情况下，向折叠车的控制器发送第一控制信号；When it is determined that the locking wrench is not in the locked position, sending a first control signal to the controller of the folding bike;

响应所述第一控制信号，指示所述控制器控制所述折叠车的电机执行第一操作事件，其中，所述第一操作事件用于禁止所述折叠车运行。In response to the first control signal, instruct the controller to control the motor of the folding cart to perform a first operation event, wherein the first operation event is used to prohibit the folding cart from running.
根据权利要求20所述的锁紧位置的确定方法，其中：响应所述第一控制信号，指示所述控制器控制所述折叠车的电机执行第一操作事件，至少包括以下之一：The method for determining the locking position according to claim 20, wherein: in response to the first control signal, instructing the controller to control the motor of the folding cart to perform a first operation event includes at least one of the following:

响应所述第一控制信号，指示所述控制器禁止所述折叠车的电机运行；instructing the controller to disable operation of the electric motor of the folding cart in response to the first control signal;

响应所述第一控制信号，指示所述控制器控制所述折叠车的电机空转；instructing the controller to control the motor of the folding cart to idle in response to the first control signal;

响应所述第一控制信号，指示所述控制器控制所述折叠车的电机异常转动。In response to the first control signal, instruct the controller to control the abnormal rotation of the motor of the folding cart.
根据权利要求15所述的锁紧位置的确定方法，其中：根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置之后，所述方法还包括：The method for determining the locking position according to claim 15, wherein: determining whether the locking wrench is located at the locking position according to the detection signal output by the first detection member, the method further comprises:

在确定所述锁止扳手未位于锁定位置的情况下，向折叠车的控制器发送第二控制信号；When it is determined that the locking wrench is not in the locking position, sending a second control signal to the controller of the folding bike;

响应所述第二控制信号，指示所述控制器控制所述折叠车的多媒体装置执行第二操作事件，其中，所述第二操作事件用于提醒目标对象禁止运行所述折叠车，所述多媒体装置包括以下至少之一：显示装置，发声装置，发光装置。Responding to the second control signal, instruct the controller to control the multimedia device of the folding bike to execute a second operation event, wherein the second operation event is used to remind the target object to prohibit running the folding bike, and the multimedia The device includes at least one of the following: a display device, a sound generating device, and a light emitting device.
根据权利要求22所述的锁紧位置的确定方法，其中：响应所述第二控制信号，指示所述控制器控制所述折叠车的多媒体装置执行第二操作事件，至少包括以下之一：The method for determining the locked position according to claim 22, wherein: in response to the second control signal, instructing the controller to control the multimedia device of the folding bike to perform a second operation event includes at least one of the following:

响应所述第二控制信号，指示所述发声装置发出告警音；instructing the sound generating device to emit an alarm sound in response to the second control signal;

响应所述第二控制信号，指示所述发光装置显示告警灯；instructing the lighting device to display a warning light in response to the second control signal;

响应所述第二控制信号，指示所述显示装置显示告警信号。Instructing the display device to display an alarm signal in response to the second control signal.
一种折叠车，其特征在于：所述折叠车包括：A folding bike, characterized in that: the folding bike includes:

检测模块，用于对锁止扳手进行检测，以生成锁止扳手位置的检测信号，其中，所述第一检测件设置在所述锁止扳手以外的特定位置，所述锁止扳手与基座部分枢转连接；The detection module is used to detect the locking wrench to generate a detection signal of the position of the locking wrench, wherein the first detection part is set at a specific position other than the locking wrench, and the locking wrench is connected to the base Partial pivot connection;

确定模块，用于根据所述第一检测件输出的检测信号确定所述锁止扳手是否位于锁定位置，其中，在所述锁定位置上，所述锁止扳手与立管对接锁紧。The determining module is configured to determine whether the locking wrench is located at a locked position according to the detection signal output by the first detecting member, wherein, at the locked position, the locking wrench is docked and locked with the riser.
一种计算机可读的存储介质，其特征在于，所述计算机可读的存储介质包括存储的程序，其中，所述程序运行时执行上述权利要求1至7任一项中所述的方法。A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 7 when running.
一种电子装置，包括存储器和处理器，其特征在于，所述存储器中存储有计算机程序，所述处理器被设置为通过所述计算机程序执行所述权利要求15至23任一项中所述的方法。An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the computer program described in any one of claims 15 to 23 through the computer program. Methods.