CN106020184A - Control method and apparatus of balance vehicle, and balance vehicle - Google Patents

Abstract

The invention relates to a control method and apparatus of a balance vehicle, and a balance vehicle. The method comprises the following steps: receiving an operation instruction sent by a control device, wherein the operation instruction is emitted by the control device based on detected operation information of a user; based on the operation instruction, determining a control instruction; and based on the control instruction, controlling the balance vehicle. By using the method, apparatus and the balance vehicle provided by the embodiments of the invention, a control mode of controlling the balance vehicle through the control device is realized, and convenience is provided for users who cannot conveniently control the balance vehicle by use of legs and users wanting to control the balance vehicle through more modes.

Description

Control method and device of balancing car and balancing car

technical field

The present disclosure relates to the technical field of vehicle control, in particular to a control method and device for a self-balancing vehicle and the self-balancing vehicle.

Background technique

Among the related technologies, the self-balancing vehicle has become a travel tool favored by users because of its convenience and environmental protection. When the user drives the self-balancing car, he usually exerts force through his feet and legs. The self-balancing car uses the gyroscope and acceleration sensor inside the car body to detect changes in the posture of the car body, and uses the servo management system to make precise adjustments to the drive motor to achieve Control the driving state of the balance car. This mode of operation is more difficult for users with inconvenient legs and feet, less flexibility, and a poor sense of balance to drive a self-balancing car, and the user experience is poor.

Contents of the invention

In order to overcome the problems existing in the related technologies, the present disclosure provides a control method and device of a self-balancing vehicle and a self-balancing vehicle.

According to the first aspect of the embodiments of the present disclosure, there is provided a control method of a self-balancing vehicle, including:

receiving an operation instruction sent by the control device, where the operation instruction is issued by the control device based on the detected user operation information;

determining a control instruction based on the operation instruction;

The balance vehicle is controlled based on the control instruction.

Optionally, the receiving operation instruction sent by the control device includes:

Receive the control instruction sent by the control device, the control instruction is controlled by the control device based on the detected user's control of the speed control key for controlling the speed of the balance car, the direction control key for controlling the direction of the balance car, the direction control key for controlling the balance car The press operation information of any one or more of the start-stop control keys is sent.

Optionally, the receiving operation instruction sent by the control device includes:

Receive the control instruction sent by the control device, the control instruction is used by the control device to control the speed of the balance car and the module for controlling the direction of the balance car displayed on the control interface of the control device based on the detected user , and any one or more of the modules used to control the start and stop of the self-balancing vehicle are dragged and sent.

Optionally, the receiving operation instruction sent by the control device includes:

Receive the control instruction sent by the control device, the control instruction is generated by the control device based on the detected user's somatosensory operation information for controlling any one or more of the balance car speed, balance car direction, balance car start and stop issue.

Optionally, the determining the control instruction based on the operation instruction includes:

Query the correspondence between the pre-stored operation instruction and the control instruction to obtain the control instruction corresponding to the operation instruction.

Optionally, after controlling the balance car based on the control instruction, the method further includes:

Obtain the remaining power of the balance car;

The remaining power is sent to the control device, so that the control device sends an alarm when the remaining power is lower than a set threshold.

Optionally, after acquiring the remaining power of the balance car, the method further includes:

Calculate the remaining cruising range of the self-balancing car based on the remaining power;

Sending the remaining cruising range to the control device, so that the control device displays the remaining cruising range on a control interface.

According to a second aspect of the embodiments of the present disclosure, there is provided a control device for a self-balancing vehicle, including:

The receiving module is configured to receive an operation instruction sent by the control device, the operation instruction is issued by the control device based on the detected operation information of the user;

a determining module configured to determine a control instruction based on the operation instruction;

The control module is configured to control the balance vehicle based on the control instruction.

Optionally, the receiving module includes:

The first receiving sub-module is configured to receive the control instruction sent by the control device, the control instruction is determined by the control device based on the detected user's control of the speed control key for controlling the speed of the balance car, and the direction of the balance car. The pressing operation information of any one or more of the direction control key and the start-stop control key used to control the start and stop of the balance car is sent.

Optionally, the receiving module includes:

The second receiving submodule is configured to receive the control instruction sent by the control device, and the control instruction is used by the control device to control the speed of the balance car based on the detected user's control interface of the control device. , the module used to control the direction of the self-balancing car, and the module used to control the start and stop of the self-balancing car to send out the drag operation information of any one or more of them.

Optionally, the receiving module includes:

The third receiving sub-module is configured to receive the control instruction sent by the control device, and the control instruction is used by the control device to control the speed of the balance car, the direction of the balance car, and the start and stop of the balance car. One or more somatosensory operation information is sent.

Optionally, the determination module includes:

The query sub-module is configured to query the correspondence between the pre-stored operation instructions and the control instructions, and obtain the control instructions corresponding to the operation instructions.

Optionally, the device also includes:

An acquisition module configured to acquire the remaining power of the balance car;

The first sending module is configured to send the remaining power to the control device, so that the control device sends an alarm when the remaining power is lower than a set threshold.

Optionally, the device also includes:

A calculation module configured to calculate the remaining cruising range of the self-balancing car based on the remaining power;

The second sending module is configured to send the remaining cruising range to the control device, so that the control device displays the remaining cruising range on a control interface.

According to a third aspect of the embodiments of the present disclosure, there is provided a self-balancing vehicle, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to:

receiving an operation instruction sent by the control device, where the operation instruction is issued by the control device based on the detected user operation information;

determining a control instruction based on the operation instruction;

The balance vehicle is controlled based on the control instruction.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

In this disclosure, the balance car controls the balance car by receiving the operation instruction sent by the control device based on the detected user's operation information, and determines the control instruction corresponding to the operation instruction, and realizes the control of the balance car through the control device The control method provides convenience for users who are inconvenient to use their legs to control the self-balancing car, and users who want to control the self-balancing car in more ways.

In the present disclosure, the balance car can control the control key for controlling the speed of the balance car, the direction control key for controlling the direction of the balance car, and the start-stop control key for controlling the start and stop of the balance car based on the detection of the user by the receiving control device. It is determined that the operation information for controlling the self-balancing vehicle has been detected by the operation instruction sent by any one or more of the pressing operation information.

In this disclosure, the self-balancing car can control the speed of the self-balancing car, the module for controlling the direction of the self-balancing car, and the module for controlling the start and stop of the self-balancing car displayed on the control interface by receiving the control device. Any one or more operation instructions sent by dragging the operation information to determine that the operation information for controlling the self-balancing vehicle has been detected.

In the present disclosure, the self-balancing car can determine that the user has detected a balance car by receiving an operation instruction sent by the control device based on the detected user's somatosensory operation information for controlling any one or more of the speed, direction, and start-stop of the self-balancing car. Control the operation information of the self-balancing car.

In the present disclosure, the balance car can query the preset correspondence list between the operation instruction and the control instruction, so as to obtain the control instruction corresponding to the operation instruction.

In this disclosure, the balance car can obtain the remaining power and send it to the control device, so that the control device will send an alarm when the remaining power is lower than the set threshold of the power, so as to remind the user to charge in time, so as not to delay the user's use.

In this disclosure, the balance car can also calculate the remaining cruising range based on the remaining power, and send it to the control device, so that the control device displays the remaining cruising range, and provides it to the user as a reference, so that the user can judge whether the remaining power can meet the user's needs.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a flow chart of a control method of a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 2 is a flow chart of another control method of a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 3 is a schematic diagram of an application scenario of a control method for a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 4 is a block diagram of a control device of a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 5 is a block diagram of another control device of a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 6 is a block diagram of another control device of a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 7 is a block diagram of another control device of a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 8 is a block diagram of another control device of a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 9 is a block diagram of another control device of a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 10 is a block diagram of another control device of a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

Fig. 11 is a schematic structural diagram of a control device for a self-balancing vehicle according to an exemplary embodiment of the present disclosure.

detailed description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only, and is not intended to limit the present disclosure. As used in this disclosure and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present disclosure, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination."

As shown in Fig. 1, Fig. 1 is a flow chart of a control method of a self-balancing car according to an exemplary embodiment, the method can be used in a self-balancing car, and includes the following steps:

Step 101, receiving an operation instruction sent by a control device.

The vehicles in the embodiments of the present disclosure include means of transportation such as balance vehicles and two-wheeled vehicles. The balance car is taken as an example below for illustration. The control device in the embodiment of the present disclosure includes a terminal, an external device, etc. The control device is used for the user to control the balancing vehicle, and the operation instruction is issued by the control device based on the detected user's operation information.

The terminal in the present disclosure may be any intelligent terminal with an Internet access function, for example, it may specifically be a mobile phone, a tablet computer, a PDA (Personal Digital Assistant, personal digital assistant) and the like. Among them, the terminal can be connected with the self-balancing car through WiFi (Wireless Fidelity, wireless fidelity), Bluetooth wireless connection, and the terminal is installed with App (Application, application). Driving is controlled. The external devices in this disclosure may include peripherals such as USB (Universal Serial Bus, Universal Serial Bus) handles, Bluetooth handles or keyboards, which can be connected to the balance car through a USB interface, or through Bluetooth (Bluetooth) and other methods. Wireless connection in order to control the driving of the balance car. Among them, the external equipment can be designed into various shapes suitable for the user's operation based on ergonomics, so as to broaden the playing methods of the self-balancing car and improve the usability.

Step 102. Determine a control instruction based on the operation instruction.

In the embodiment of the present disclosure, there is a one-to-one corresponding operation instruction and control instruction stored in the self-balancing vehicle, so the corresponding control instruction can be determined through the operation instruction.

Step 103, control the balance car based on the control instruction.

In the embodiment of the present disclosure, the self-balancing vehicle controls its own driving based on the control instruction.

In the above embodiment, the self-balancing vehicle controls itself by receiving the operation instruction sent by the control device and determining the control instruction corresponding to the operation instruction. It provides convenience for users who control the balance car, and users who want to control the balance car in more ways.

As shown in Figure 2, Figure 2 is a flow chart of another control method for a self-balancing vehicle according to an exemplary embodiment. This method can be used for example for a self-balancing vehicle, a two-wheeled vehicle, etc., and includes the following steps:

Step 201, establishing a communication connection with a control device.

In the steps of the present disclosure, the control device may be a terminal, and then the self-balancing vehicle may establish a communication connection with the terminal through wireless communication methods such as WiFi and Bluetooth. The control device can also be a handle or a keyboard. For a USB handle, the balance car can establish a communication connection with the USB handle through the USB interface; for a Bluetooth handle, the balance car can establish a communication connection with the Bluetooth handle through Bluetooth; Establish a communication connection with the keyboard by means of wire or wireless.

Step 202, setting the control information on the balance car, and storing the control information.

In the embodiment of this application, the control mode of the balance car can be set through the corresponding drive configuration in the control device, for example, by writing the control program into the terminal App, writing the handle or keyboard, you can set the speed, direction, start-up and control of the balance car. The corresponding relationship between the stop operation mode and the corresponding control command, then when the operation command corresponding to the operation mode is detected, the corresponding control command can be queried to control the self-balancing vehicle.

Step 203: Receive the control instruction sent by the control device, the control instruction is sent by the control device based on the detected user's pressing operation information on the speed control key used to control the speed of the self-balancing vehicle.

In the embodiment of the present disclosure, when the control device is a keyboard, a handle based on button operation, or a terminal App, certain keys can be set as speed control keys, such as accelerator keys and deceleration keys, or the speed can be divided into different levels. The speed corresponds to different levels, so that by pressing different speed control keys, the speed control of the balance car can be realized. The control device can also set some keys as direction control keys, such as left-turn key, right-turn key, forward key, back-turn key, etc., so that by pressing different direction control keys, the direction control of the self-balancing vehicle can be realized. Some keys can also be set in the control device as start control keys or stop control keys, so that by pressing the start or stop control keys, the control of the start and stop of the balance car can be realized.

For a control device with a control interface that supports touch, the control interface can include a dashboard with a moving point that can be dragged by the user. The distance between the moving point and the center point of the dashboard can represent the speed , that is to say, the larger the distance, the faster the speed of the balance car. Then by dragging the moving point of the instrument panel, the control device can detect the drag operation information, and send an operation command to the balance car based on the drag operation information, and the balance car determines the corresponding speed control command based on the operation command, so that it can Realize the control of the speed of the balance car.

In another disclosed manner, the control interface of the control device may also include a speed control bar, on which a moving point that the user can drag is provided, and the distance between the moving point and the starting end of the speed control bar can be Indicates the speed, that is to say, the farther the moving point is from the start of the speed control bar, the faster the balance car will be. Then by dragging the moving point of the speed control bar, the control device can detect the drag operation information, and send an operation command to the balance car based on the drag operation information, and the balance car determines the corresponding speed control command based on the drag operation command , so that the speed control of the balance car can be realized.

The control interface may have a sliding module for controlling the direction. By sliding the sliding module in different directions, the control device can detect the sliding operation information and send an operation instruction to the balance vehicle based on the sliding operation information. The balance vehicle is based on The operation instruction determines the corresponding direction control instruction, so that the direction control of the self-balancing vehicle can be realized. The start module and stop module can also be set on the control device, such as double-click to stop, double-click to start and other operation modes.

In another disclosed manner, for a handle-type control device controlled by somatosensory information, the user can also control the direction, speed, or start and stop of the self-balancing vehicle by tilting the body in different directions.

In the embodiment of the present disclosure, the user can customize a personalized control device through the open source balancing vehicle control device interface, because the driver is universal, and the user can customize various types of control devices or Apps.

Step 204, querying the correspondence between the pre-stored operation instruction and the control instruction, and obtaining the control instruction corresponding to the operation instruction.

It can be seen from the above step 202 that the user can set the control mode in advance, so in this step, the control instruction corresponding to the operation instruction can be obtained by querying the corresponding relationship.

Step 205, control the balance car based on the control instruction.

The balance car finds the control command and can execute the corresponding control, such as turning left, accelerating, etc.

Step 206, obtain the remaining power of the balance car.

Step 207, sending the remaining power to the control device, so that the control device sends an alarm when the remaining power is lower than the set threshold.

Usually the balance car is a rechargeable vehicle, and the balance car can actively send the remaining power to the control device. In order to better control the balance car, the control device can also send a power acquisition request to the balance car to obtain the remaining power of the balance car, and the control device The set power threshold can be stored in the battery, and when the remaining power is lower than the power threshold, an alarm will be issued to remind the user to charge in time to avoid inconvenience to the user due to power depletion.

In the embodiment of the present disclosure, the balance car can also calculate the remaining mileage of the vehicle based on the remaining power, and send the remaining mileage to the control device, so that the remaining mileage is displayed on the control interface of the control device for the user to judge the remaining mileage. Is the power enough to use the balance car this time?

In another disclosed manner, the self-balancing car can also obtain information such as the speed of the self-balancing car and the temperature of the car body and send it to the control device for display on the control interface for user reference.

In the above-mentioned embodiment, the self-balancing vehicle can determine the control instruction by receiving the operation instruction sent by the control device, which provides a great solution for users who are inconvenient to control the self-balancing vehicle through the existing methods, such as inconvenient legs and poor sense of balance. Great convenience; and provide users with more choices of balance car operation methods, balance car players can set more tricks, more in line with user needs and personalized control methods through control devices such as handles, and improve the fun of the balance car. In addition, since the user stands on the balance car and holds the control device to control the balance car, the distance between the control device and the balance car is relatively fixed and relatively close, so the signal strength can be guaranteed, and there is basically no signal attenuation And other issues.

As shown in FIG. 3 , FIG. 3 is a schematic diagram of an application scenario of a control method for a self-balancing vehicle according to an exemplary embodiment of the present disclosure. In the scene shown in FIG. 3 , it includes: a balance car, and also includes a handle as a control device.

The balance car and the handle are connected via Bluetooth. When the handle detects the user’s pressing operation information on the left turn button, it generates the corresponding operation instruction and sends the pressing operation instruction to the balance car. The balance car reads the correspondence between the pre-stored operation instruction and the control instruction, and finds the corresponding Press the left-turn control instruction corresponding to the operation instruction, and then the self-balancing vehicle controls the self-balancing vehicle to turn left based on the left-turn control instruction.

In the application scenario shown in FIG. 3 , the specific process of realizing the control of the self-balancing car can refer to the description in FIGS. 1-2 above, and will not be repeated here.

Corresponding to the aforementioned embodiments of the control method for the self-balancing vehicle, the present disclosure also provides embodiments of the control device for the self-balancing vehicle and the self-balancing vehicle to which it is applied.

As shown in FIG. 4 , FIG. 4 is a block diagram of a control device of a self-balancing vehicle according to an exemplary embodiment of the present disclosure. The device can be applied in a self-balancing vehicle and is used to execute the method of the embodiment shown in FIG. 1 , The device may include: a receiving module 410 , a determining module 420 and a control module 430 .

The receiving module 410 is configured to receive an operation instruction sent by the control device, the operation instruction is issued by the control device based on the detected user operation information;

The determining module 420 is configured to determine a control instruction based on the operation instruction received by the receiving module 410;

The control module 430 is configured to control the self-balancing vehicle based on the control instruction.

In the above embodiment, the balance car controls the balance car by receiving the operation instruction sent by the control device and determining the control instruction corresponding to the operation instruction, and realizes the control method of controlling the balance car through the control device. It provides convenience for users who control the balance car, and users who want to control the balance car in more ways.

As shown in FIG. 5, FIG. 5 is a block diagram of another balance car control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in FIG. 4, the receiving module 410 may include: The first receiving sub-module 411 .

Wherein, the first receiving sub-module 411 is configured to receive the control instruction sent by the control device, the control instruction is based on the detected user's control of the speed control key for controlling the speed of the balance car, the speed control key for controlling the balance car, and the The press operation information of any one or more of the direction control key for the direction of the car and the start-stop control key for controlling the start and stop of the balance car is sent.

In the above-mentioned embodiments, the balance car can determine the detection by receiving the operation instruction sent by the control device based on the user's pressing operation information on any one or more of the control keys used to control the speed, direction, start and stop of the balance car. The operation information for controlling the balance car has arrived.

As shown in FIG. 6, FIG. 6 is a block diagram of another balance car control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in FIG. 4, the receiving module 410 may include: The second receiving sub-module 412 .

The second receiving sub-module 412 is configured to receive the control instruction sent by the control device, the control instruction is used by the control device to control the speed of the balance car based on the detected user on the control interface of the control device. The drag operation information of any one or more of the modules in the direction of the balance car and the modules used to control the start and stop of the balance car is sent.

In the above-mentioned embodiment, the balance car can receive the operation instruction sent by the control device based on the touch operation information of the control keys used to control any one or more of the speed, direction, start and stop of the balance car on the control interface, to determine that the operation information for controlling the balance car has been detected.

As shown in FIG. 7, FIG. 7 is a block diagram of another balance car control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in FIG. 4, the receiving module 410 may include: The third receiving sub-module 413 .

The third receiving sub-module 413 is configured to receive the control instruction sent by the control device, the control instruction is used by the control device to control any one of the speed of the balance car, the direction of the balance car, the start and stop of the balance car Multiple somatosensory operation information is issued.

In the above-mentioned embodiments, the balance car can determine that the balance car has been detected by receiving the operation instruction sent by the control device based on the somatosensory operation information used to control any one or more of the speed, direction, start and stop of the balance car. information about the operation of the vehicle.

As shown in Fig. 8, Fig. 8 is a block diagram of another control device of a self-balancing vehicle according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in Fig. 4, the determining module 420 may include: Query sub-module 421.

The query sub-module 421 is configured to query the pre-stored correspondence between the operation instruction and the control instruction, and obtain the control instruction corresponding to the operation instruction.

In the foregoing embodiment, the control device may query a preset list of correspondences between operation instructions and control instructions, so as to obtain control instructions corresponding to the operation instructions.

As shown in Fig. 9, Fig. 9 is a block diagram of another balance car control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in Fig. 4, the device may also include: An acquisition module 440 and a first sending module 450 .

The obtaining module 440 is configured to obtain the remaining power of the balance car;

The first sending module 450 is configured to send the remaining power obtained by the obtaining module 440 to the control device, so that the control device sends an alarm when the remaining power obtained by the obtaining module 440 is lower than a set threshold.

In the above embodiment, the balance car can obtain the remaining power and send it to the control device, so that the control device will send an alarm when the remaining power is lower than the set threshold of power, so as to remind the user to charge in time, so as not to delay the user's use.

As shown in Fig. 10, Fig. 10 is a block diagram of another balance car control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in Fig. 9, the device may also include: A calculation module 460 and a second sending module 470 .

The calculation module 460 is configured to calculate the remaining cruising range of the self-balancing vehicle based on the remaining power;

The second sending module 470 is configured to send the remaining cruising range calculated by the calculating module 460 to the control device, so that the control device displays the remaining cruising range calculated by the calculating module 460 on the control interface.

In the above embodiments, the balance car can also calculate the remaining cruising range based on the remaining power, and send it to the control device to display the remaining cruising range, and provide it to the user as a reference, so that the user can judge whether the remaining power can meet the user's needs.

The embodiment of the control device of the self-balancing vehicle shown in Fig. 4 to Fig. 10 above can be applied in the control device.

For the implementation process of the functions and effects of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method for details, and will not be repeated here.

As for the device embodiment, since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment. The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the disclosed solution. It can be understood and implemented by those skilled in the art without creative effort.

Corresponding to FIG. 4 , the present disclosure also provides a self-balancing vehicle, the self-balancing vehicle includes a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to:

receiving an operation instruction sent by the control device, where the operation instruction is issued by the control device based on the detected user operation information;

determining a control instruction based on the operation instruction;

The balance vehicle is controlled based on the control instruction.

As shown in FIG. 11 , FIG. 11 is a schematic structural diagram (vehicle side) of a control device 1100 for a self-balancing vehicle according to an exemplary embodiment of the present disclosure. For example, the apparatus 1100 may be a mobile phone with a routing function, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like.

11, device 1100 may include one or more of the following components: processing component 1102, memory 1104, power supply component 1106, multimedia component 1108, audio component 1110, input/output (I/O) interface 1112, sensor component 1114, and communication component 1116.

The processing component 1102 generally controls the overall operations of the device 1100, such as those associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 1102 may include one or more processors 1120 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 1102 may include one or more modules that facilitate interaction between processing component 1102 and other components. For example, processing component 1102 may include a multimedia module to facilitate interaction between multimedia component 1108 and processing component 1102 .

The memory 1104 is configured to store various types of data to support operations at the device 1100 . Examples of such data include instructions for any application or method operating on device 1100, contact data, phonebook data, messages, pictures, videos, and the like. The memory 1104 can be implemented by any type of volatile or non-volatile memory device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

The power supply component 1106 provides power to various components of the device 1100 . Power components 1106 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for device 1100 .

The multimedia component 1108 includes a screen that provides an output interface between the device 1100 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense a boundary of a touch or swipe action, but also detect a duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 1108 includes a front camera and/or a rear camera. When the device 1100 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capability.

The audio component 1110 is configured to output and/or input audio signals. For example, the audio component 1110 includes a microphone (MIC), which is configured to receive external audio signals when the device 1100 is in operation modes, such as call mode, recording mode and voice recognition mode. Received audio signals may be further stored in memory 1104 or sent via communication component 1116 . In some embodiments, the audio component 1110 also includes a speaker for outputting audio signals.

The I/O interface 1112 provides an interface between the processing component 1102 and a peripheral interface module, which may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: a home button, volume buttons, start button, and lock button.

Sensor assembly 1114 includes one or more sensors for providing various aspects of status assessment for device 1100 . For example, the sensor component 1114 can detect the open/closed state of the device 1100, the relative positioning of components, such as the display and keypad of the device 1100, and the sensor component 1114 can also detect a change in the position of the device 1100 or a component of the device 1100 , the presence or absence of user contact with the device 1100 , the device 1100 orientation or acceleration/deceleration and the temperature change of the device 1100 . Sensor assembly 1114 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 1114 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 1114 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, a microwave sensor or a temperature sensor.

The communication component 1116 is configured to facilitate wired or wireless communication between the apparatus 1100 and other devices. The device 1100 can access wireless networks based on communication standards, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1116 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1116 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, apparatus 1100 may be programmed by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation for performing the methods described above.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as the memory 1104 including instructions, which can be executed by the processor 1120 of the device 1100 to implement the above method. For example, the non-transitory computer readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

The present disclosure also provides a non-transitory computer-readable storage medium. When the instructions in the storage medium are executed by the processor of the self-balancing vehicle, the self-balancing vehicle can execute a method for controlling the self-balancing vehicle, and the method includes :

receiving an operation instruction sent by the control device, where the operation instruction is issued by the control device based on the detected user operation information;

determining a control instruction based on the operation instruction;

The balance vehicle is controlled based on the control instruction.

Other embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The present disclosure is intended to cover any modification, use or adaptation of the present disclosure. These modifications, uses or adaptations follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. . The specification and examples are to be considered exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

The above descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the present disclosure within the scope of protection.

Claims (15)

1. the control method of a balance car, it is characterised in that including:

Receiving control apparatus send operational order, described operational order by described control equipment based on detection To the operation information of user and send；

Control instruction is determined based on described operational order；

Described balance car is controlled based on described control instruction.

Method the most according to claim 1, it is characterised in that described receiving control apparatus sends Operational order, including:

Receiving control apparatus send control instruction, described control instruction by described control equipment based on detection To user to the speed controlling key for controlling balance car speed, for controlling the direction in balance car direction Control key, for controlling any one in the on off control key of balance car start and stop or multiple pressing operation letter Cease and send.

Method the most according to claim 1, it is characterised in that described receiving control apparatus sends Operational order, including:

Receiving control apparatus send control instruction, described control instruction by described control equipment based on detection To user described control equipment controlled display on interface for control balance car speed module, For control balance car direction module, in the module controlling balance car start and stop any one or multiple Drag operation information and send.

Method the most according to claim 1, it is characterised in that described receiving control apparatus sends Operational order, including:

Receiving control apparatus send control instruction, described control instruction by described control equipment based on detection To user to for control in balance car speed, balance car direction, balance car start and stop any one or many Individual somatosensory operation information and send.

Method the most according to claim 1, it is characterised in that described true based on described operational order Determine control instruction, including:

The operational order of inquiry pre-stored and the corresponding relation of control instruction, obtain and described operational order pair The control instruction answered.

Method the most according to claim 1, it is characterised in that described based on described control instruction control After making described balance car, described method also includes:

Obtain the dump energy of described balance car；

Described dump energy is sent to described control equipment, so that described control equipment is at described residue electricity Amount, less than when setting threshold value, sends warning.

Method the most according to claim 6, it is characterised in that remaining of the described balance car of described acquisition After remaining electricity, described method also includes:

The residue course continuation mileage of described balance car is calculated based on described dump energy；

Described residue course continuation mileage is sent to described control equipment, so that described control equipment is controlling boundary Face shows described residue course continuation mileage.

8. the control device of a balance car, it is characterised in that including:

Receiver module, is configured to the operational order that receiving control apparatus sends, and described operational order is by institute State control equipment operation based on the user detected information and send；

Determine module, be configured to determine control instruction based on described operational order；

Control module, is configured to control balance car based on described control instruction.

Device the most according to claim 8, it is characterised in that described receiver module includes:

First receives submodule, is configured to the control instruction that receiving control apparatus sends, and described control refers to Make by described control equipment based on the user detected to the speed controlling key for controlling balance car speed, For controlling the direction controlling key in balance car direction, in the on off control key controlling balance car start and stop Any one or multiple pressing operation information and send.

Device the most according to claim 8, it is characterised in that described receiver module includes:

Second receives submodule, is configured to the control instruction that receiving control apparatus sends, and described control refers to Order is controlled the use shown on interface by described control equipment based on the user detected to described control equipment In controlling the module of balance car speed, for controlling the module in balance car direction, opening for controlling balance car Any one or multiple drag operation information in the module stopped and send.

11. devices according to claim 8, it is characterised in that described receiver module includes:

3rd receives submodule, is configured to the control instruction that receiving control apparatus sends, and described control refers to Make by described control equipment based on the user detected to for control balance car speed, balance car direction, Any one or multiple somatosensory operation information in balance car start and stop and send.

12. devices according to claim 8, it is characterised in that described determine that module includes:

Inquiry submodule, is configured to the corresponding relation of operational order and the control instruction inquiring about pre-stored, Obtain the control instruction corresponding with described operational order.

13. devices according to claim 8, it is characterised in that described device also includes:

Acquisition module, is configured to obtain the dump energy of described balance car；

First sending module, is configured to be sent to described dump energy described control equipment, so that institute State control equipment at described dump energy less than when setting threshold value, send warning.

14. devices according to claim 13, it is characterised in that described device also includes:

Computing module, is configured to calculate the residue course continuation mileage of described balance car based on described dump energy；

Second sending module, is configured to described residue course continuation mileage is sent to described control equipment, with Described control equipment is made to show described residue course continuation mileage in controlling interface.

15. 1 kinds of balance cars, it is characterised in that including: processor；Can perform for storing processor The memorizer of instruction；Wherein, described processor is configured to:

Receiving control apparatus send operational order, described operational order by described control equipment based on detection To the operation information of user and send；

Control instruction is determined based on described operational order；

Balance car is controlled based on described control instruction.