CN109018170B

CN109018170B - Balance car control method, device, balance car and storage medium

Info

Publication number: CN109018170B
Application number: CN201810747207.3A
Authority: CN
Inventors: 李一鹏
Original assignee: Inmotion Technologies Co Ltd
Current assignee: Inmotion Technologies Co Ltd
Priority date: 2018-07-09
Filing date: 2018-07-09
Publication date: 2020-04-28
Anticipated expiration: 2038-07-09
Also published as: CN109018170A

Abstract

The present application relates to a balance vehicle control method, device, balance vehicle and storage medium. The method includes: acquiring monitoring information of the balance vehicle during operation; and controlling the wheels of the balance vehicle when it is determined that an alarm condition is satisfied according to the monitoring information during operation. Stop the operation; obtain the monitoring information of the balance car after the stop operation; when it is determined that the operation conditions are met according to the monitoring information after the stop operation, the wheel of the balance car is controlled to rotate. In this method, when the balance car is in a dangerous scene, it only controls the wheels to stop running, and does not turn off the power to the car body. After the stop operation, the wheels of the balance car are controlled to meet the operating conditions, and the whole process of restoring the car body to walking does not need to be carried out. The switch operation avoids the damage to the balance car caused by the current impact caused by frequent switch operations.

Description

Balance car control method and device, balance car and storage medium

Technical Field

The application relates to the technical field of balance cars, in particular to a balance car control method and device, a balance car and a storage medium.

Background

With the rapid development of the balance car technology and the increasing improvement of the living standard of people, more and more users select the balance car as a travel tool. When the balance car is driven, the user can realize actions such as acceleration, deceleration, turning and the like by changing the gravity center, and the operation is simple and easy to operate.

The traditional balance car is provided with protection actions such as flying protection and the like, and when a preset dangerous condition is sensed, wheels are controlled to stop and an alarm is given. After the balance car gives an alarm, a user loses response to any conventional operation of the car body, the motor does not have a motor car, the balance car cannot enter a balance control working mode, and the car body is automatically closed only after the user actively turns off the power supply or gives an alarm for a few seconds. When the user starts the power supply of the vehicle body again, the balance vehicle can enter a normal working mode.

And current impact caused by frequent startup and shutdown of the balance car in the running process can cause damage to the balance car.

Disclosure of Invention

In view of the above, it is necessary to provide a balance car control method, a balance car control device, a balance car, and a storage medium for solving the technical problem of frequent startup and shutdown of the balance car.

A balance car control method runs on a controller of a balance car and comprises the following steps:

acquiring monitoring information of the balance car during operation;

when the condition that an alarm condition is met is determined according to the monitoring information during the operation, controlling wheels of the balance car to stop running;

acquiring monitoring information of the balance car after the balance car stops running;

and controlling the wheels of the balance car to operate after determining that the operation condition is met according to the monitoring information after the operation is stopped.

A balance car control apparatus comprising:

the monitoring information acquisition module is used for acquiring monitoring information of the balance car during operation;

the operation control module is used for controlling the wheels of the balance car to stop operating when the condition of alarm is determined to be met according to the monitoring information during operation;

the monitoring information acquisition module is also used for acquiring monitoring information of the balance car after the balance car stops running;

and the operation control module is also used for controlling the operation of the wheels of the balance car after the operation condition is determined to be met according to the monitoring information after the operation is stopped.

A balance car comprising a car body, the car body comprising:

a load bearing assembly for supporting the vehicle body;

a running gear for running and operating the vehicle body;

the control assembly is used for controlling the running of the walking mechanism according to the bearing state of the bearing assembly so as to realize self-balancing of the vehicle body; and

a power supply device for supplying power to the control assembly;

the control assembly comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the balance car control method.

A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, realizes the steps of the balance car control method as described above.

According to the balance car control method, the balance car control device, the balance car and the storage medium, when the condition of alarm is met according to monitoring information of the balance car during operation, wheels of the balance car are controlled to stop operation, the balance car is stopped, the balance car is prevented from continuing to walk in a dangerous scene, when the condition after operation is met according to the monitoring information after operation stop, the wheels of the balance car are controlled to run, and the balance car continues to walk.

Drawings

FIG. 1 is a schematic flow chart of a balance car control method according to an embodiment;

FIG. 2 is a schematic structural diagram of a balance car in one embodiment;

FIG. 3 is a schematic structural diagram of a balance car in another embodiment;

FIG. 4 is a schematic flow chart of a control method of the balance car in another embodiment;

FIG. 5 is a block diagram showing a configuration of a control device of the balance car in one embodiment;

FIG. 6 is a schematic structural view of a first embodiment of a vehicle body of the self-balancing scooter shown in FIG. 3;

FIG. 7 is a schematic view of another perspective of the vehicle body;

FIG. 8 is an exploded view of the vehicle body shown in FIG. 6;

FIG. 9 is a cross-sectional view of the frame of the vehicle body illustrated in FIG. 8;

FIG. 10 is a schematic diagram of the electrical windings of the drive member in one embodiment;

FIG. 11 is a Hall commutation waveform of a drive member of the travel mechanism in one embodiment;

FIG. 12 is an exploded view of the travel mechanism in one embodiment;

FIG. 13 is a block diagram of a partial structure in a vehicle body in one embodiment;

FIG. 14 is an exploded view of a portion of the structure in the body shown in FIG. 6;

FIG. 15 is a schematic structural view of a second embodiment of a vehicle body of the self-balancing scooter shown in FIG. 3;

FIG. 16 is a schematic view of the structure of the pedals and the second support block in the vehicle body shown in FIG. 15.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In one embodiment, as shown in fig. 1, there is provided a balance car control method, operating on a controller of a balance car, the method comprising the steps of:

and S102, acquiring monitoring information of the balance car during operation.

The operation principle of the balance vehicle is mainly established on a basic principle called dynamic stabilization (dynamic stabilization), and the balance vehicle cannot keep balance when the vehicle is not powered on and adjusts balance through dynamic operation when the vehicle is started. The controller is a control system of the balance car and is used for controlling all parts of the balance car. When the balance car body is disturbed by external force and inclines forwards, the control system of the balance car controls the car body to accelerate forwards; when the vehicle body tilts backwards due to external force disturbance, the control system controls the vehicle body to accelerate backwards; when the vehicle body is ensured to be horizontal, the control system controls the wheels to keep running at the current speed. Wherein, the balance car can be provided with an attitude sensor, and the change of the car body attitude, such as the change of the car body forward tilting, backward tilting or horizontal attitude, can be captured by the attitude sensor. This balance car can include electrodynamic balance car, and this electrodynamic balance car can be called as body and feel car, thinking car, the car of taking a photograph, balanced swing car etc.. The number of wheels on the body of the balance car may be 1 or 2 or other numbers. When the number of the wheels on the vehicle body is 2, the 2 wheels can be coaxially arranged or can be non-coaxially arranged. In one embodiment, as shown in fig. 2 and 3, schematic diagrams of two different types of balance cars are respectively given. For example, the balance car may be a common 9 # balance car, a split swing car, etc., and the split swing car may be in the form of a self-balancing roller skate as shown in fig. 3, and may be used together in a set of 2 self-balancing roller skates.

The monitoring information refers to information which is generated by the balance car and can be used for monitoring the state of the balance car, and includes but is not limited to bearing information, speed information, angle information, running time, battery voltage information, car body temperature information and the like of the balance car.

The bearing information is used for showing whether the balance car has the information of load or not, and comprises a bearing state and a non-bearing state, and can also comprise information of a bearing user in the bearing state. For example, as shown in fig. 3, when the balance car detects that a user stands on the car body, if it is detected that the bearing assembly on the car body is stepped on by the user, that is, a load is detected on the car body, the bearing information may be in a bearing state; as another example, as shown in fig. 2, when there is no load on the balance car, the load information may be in a no-load state.

The angle information refers to the inclination angle of the balance car body monitored by the angle sensor of the balance car. Taking the balance car shown in fig. 3 as an example, taking the running direction of the balance car as the front of the balance car, when the angle sensor monitors that the body of the balance car inclines forward, inclines rightward, inclines leftward and inclines rightward, the corresponding roll angle and pitch angle can be detected.

The speed information refers to the running speed of the balance car, and it can be understood that the running speed is zero when the balance car stops.

When the balance car is in different states, the generated monitoring information is different. For example, when the balance car is in the running state, it is in the load state, and the speed information and the time length information are generated.

And S104, controlling the wheels of the balance car to stop running when the condition of alarm is met according to the monitoring information during running.

In one embodiment, the balance car is provided with an alarm condition, whether the balance car in the running state meets the alarm condition can be judged according to monitoring information when the balance car runs, and when the balance car in the running state meets the alarm condition, wheels of the balance car can be controlled to stop running.

Specifically, the alarm condition may be that the load information, the speed information, the angle information, the operation duration, the battery voltage information, the vehicle body temperature information, and the like generated when the balance vehicle operates exceed a threshold, where the threshold is a boundary value of normal operation, and when the monitoring information exceeds the threshold, the balance vehicle is in a dangerous operation state. When the alarm condition is met, the wheels of the balance car are controlled to stop rotating, so that the balance car is prevented from being damaged due to continuous operation in a dangerous state, and the stability and the safety of the balance car are improved.

In one embodiment, controlling the wheels of a balance vehicle to stop running comprises: freely stopping the wheels of the balance car by stopping supplying power to the balance car; or the wheels of the balance car are stopped by braking the balance car. After the balance car detects that the running stopping condition is met, the balance car freely stops by enabling wheels to lose power support; the driving part can be completely locked, and the vehicle can be stopped in a brake mode.

The method for controlling the wheels of the balance car to stop running is a way for enabling the balance car to enter a protection state, and not for enabling the balance car to be shut down, the balance car is still in a working state, for example, an indicator lamp on the balance car is still in a lighting state, and the balance car is waited to be restored to a normal running state again.

In the embodiment, when the controller determines that the alarm condition is met according to the monitoring information during operation, the wheels of the balance car are automatically controlled to stop running without manual control, namely, the wheels can be stopped without the help of parts such as keys, a handlebar and the like, so that the intelligent control performance of the balance car is improved.

And S106, acquiring monitoring information of the balance car after the balance car stops running.

The monitoring information of the balance car after the balance car stops running refers to bearing information, speed information, angle information, running time, battery voltage information, car body temperature information and the like of the balance car, which are acquired by a temperature sensor, an attitude sensor and the like of the balance car after the wheels of the balance car stop running. Whether the balance car has released the dangerous state or not can be judged through monitoring information after the operation is stopped, and when the balance car has released the dangerous state, the wheels of the balance car can be allowed to recover the operation.

And S108, controlling the wheels of the balance car to operate after determining that the operation conditions are met according to the monitoring information after the operation is stopped.

In one embodiment, the balance car is further provided with an operation condition, and the balance car can judge whether the balance car in the operation stop state meets the operation condition according to the monitoring information after the operation stop. When the running condition is met, the wheels of the balance car can be controlled to run, so that the balance car is started to enter a running state.

Specifically, the running condition may be that the load information, the speed information, the angle information, the running time, the battery voltage information, the vehicle body temperature information, the delay protection time, and the like generated when the balance car runs are within a threshold range, where the threshold is a boundary value of normal running, and when the monitoring information is within the threshold range, the balance car is in a normal state. When the running condition is met, the wheels of the balance car are controlled to rotate, so that the balance car enters a running state.

In one embodiment, controlling wheel operation of a balance vehicle comprises: the power supply to the balance car drives the wheels of the balance car to run.

In the embodiment, when the controller determines that the running condition is met according to the monitoring information after the running is stopped, the wheels of the balance car are automatically controlled to run without manual control, namely, the process from the wheel running stop to the running recovery can be realized without the help of parts such as keys, a handlebar and the like, and the intelligent control performance of the balance car is improved.

According to the balance car control method, when the condition that the alarm condition is met is determined according to the monitoring information of the balance car during running, the wheels of the balance car are controlled to stop running, the balance car is stopped, the balance car is prevented from continuing to run in a dangerous scene, when the condition that the operation condition is met is determined according to the monitoring information after running is stopped, the wheels of the balance car are controlled to run, and the balance car continues to run.

In another embodiment, when the alarm condition is determined to be met according to the monitoring information during operation, the balance car is controlled to generate alarm information.

The alarm information is used for indicating that the balance car of the user is currently in a dangerous state, and prompting the user to pay attention to safety.

In one embodiment, the control of the balance car to generate the alarm information comprises one or a combination of the following modes:

1) and controlling the balance car to give out a sound alarm.

2) Controlling the balance car to send out light alarm;

3) controlling the shaking of the balance car body;

4) and sending an alarm signal to control equipment connected with the balance car.

The balance car is provided with a buzzer capable of giving an alarm sound, and when an alarm condition is reached, the buzzer is controlled to give an audible alarm, such as a sudden dripping sound. When the balance car is a split type swing car as shown in fig. 3, a buzzer can be arranged on each car body 10, and when one car body 10 alarms due to overspeed, the other car body 10 can also alarm at the same time.

The balance car is also provided with a status indicator lamp. Specifically, the change in color of the status indicator lamp may be controlled according to the state of the vehicle body, so that the status indicator lamp may be used to indicate the operating state of the vehicle body 10. For example, when an alarm condition is reached, the control status indicator light appears red.

When the alarm condition is reached, the balance car can be controlled to shake to prompt the alarm state.

In one embodiment, the balance car can be further connected with other electronic devices through a preset connection mode to receive a control instruction or setting information and the like of the corresponding electronic device on the balance car, so that the balance car can be controlled through the electronic device. The electronic equipment connected with the balance car is the control equipment of the balance car. The connection mode may be a Wireless connection mode such as bluetooth connection, Wireless Fidelity (WiFi) connection, or Near Field Communication (NFC), or may also be a wired connection mode connected through a corresponding data line. Control instructions or setting information and the like sent by the control equipment to the balance car can be realized through a preset computer Application program (APP).

Specifically, when the alarm condition is reached, an alarm signal is sent to a control device connected to the balance car, for example, an alarm signal is sent to a mobile phone terminal connected to the balance car, and a user of the mobile phone terminal can receive the alarm signal through the mobile phone.

In one embodiment, a balance car control method is provided, as shown in fig. 4, the method comprising the steps of:

s402, acquiring monitoring information of the balance car during operation.

S404, when the condition of alarm is met according to the monitoring information during operation, controlling the balance car to generate alarm information and controlling wheels of the balance car to stop running.

And S406, acquiring monitoring information of the balance car after alarming.

S408, when the alarm removing condition is determined to be met according to the monitored information after the alarm, the alarm removing information is generated.

The alarm removing information is used for indicating the user to remove the alarm, and the balance car removes the dangerous state.

And S410, acquiring monitoring information of the balance car after the alarm is released.

Specifically, the monitoring information after the alarm is released refers to state information of the balance car monitored by each sensor of the balance car after the alarm is released, and the state information includes, but is not limited to, carrying information, speed information, angle information, running time, battery voltage information, car body temperature information and the like of the balance car.

And S412, controlling the wheels of the balance car to operate after the operation conditions are met according to the monitoring information after the alarm is relieved.

In one embodiment, the balance car is further provided with an operation condition, and the balance car can judge whether the balance car after the alarm is removed meets the operation condition according to the monitoring information after the alarm is removed. When the running condition is met, the wheels of the balance car can be controlled to run, so that the balance car is started to enter a running state.

According to the balance car control method, on one hand, when the balance car is in a dangerous scene, only the wheels are controlled to stop running, the power supply of the car body is not turned off, and after the balance car stops running, the wheels of the balance car are controlled to run if running conditions are met, the whole car body does not need to be turned on or turned off in the process of walking recovery, and damage to the balance car caused by current impact due to frequent turning on or off operations is avoided. On the other hand, when the balance car is in a dangerous scene, alarm information is generated to prompt the safety of a user.

In one embodiment, the alarm condition comprises one or a combination of the following conditions:

condition 1): the balance car is changed from a bearing state to a non-bearing state during running;

condition 2): the running time of the balance car in the no-bearing state exceeds a time threshold, and the starting time of the running time is the time when the bearing information is changed from the bearing state to the no-bearing state;

condition 3): after the bearing information shows that the bearing state is changed into the non-bearing state, the speed of the balance car exceeds a speed threshold;

condition 4): after the bearing information indicates that the bearing state is changed into the non-bearing state, the running distance of the balance car exceeds a preset distance threshold;

condition 5): when the balance car runs, wheels of the balance car spin and the idle speed exceeds an idle speed threshold;

condition 6): the temperature of equipment in the balance car exceeds a temperature threshold value during running;

condition 7): the roll angle/pitch angle of the body of the balance vehicle exceeds a safety angle threshold during operation.

The balance car can detect whether the bearing state of the balance car changes or not, and when the balance car detects that a user leaves the balance car, for example, the balance car detects that the user gets off or empties, the balance car can update the bearing information from the bearing state to the non-bearing state according to the detection result. When the balance car is changed from the loaded state to the unloaded state during operation, it can be judged that the above condition 1) is satisfied. For example, when the pressure information is not detected by the pedal sensor of the balance car, it is determined that the above condition 1) is satisfied.

The running time length represents the time when the balance car starts at the moment of detecting the change of the bearing state to the no-bearing state, and the counted time length of the balance car is maintained in the no-bearing state. The duration threshold may be any suitable duration that is preset, and may be, for example, 0.5 seconds, 1 second, 2 seconds, 5 seconds, etc. When the duration maintained in the no-bearer state exceeds the duration threshold, it may be determined that condition 2) described above is satisfied. For example, the time period threshold is set to 1 second, and when it is detected that the time period for the user to get off the vehicle exceeds 1 second, it is determined that the above condition 2) is satisfied.

The vehicle speed represents the real-time vehicle speed of the balance vehicle after the load state is detected to be changed into the no-load state. The speed threshold may also be a preset vehicle speed of any suitable magnitude, such as 5km/h, 8km/h, 3km/h, etc. When the vehicle speed maintained in the no-load state exceeds the vehicle speed threshold, it may be determined that condition 3) described above is satisfied. For example, the vehicle speed threshold is set to 5km/h, and when it is detected that the vehicle speed thereof exceeds 5km/h in the no-load state, it is determined that the above-described condition 3) is satisfied.

Similarly, the running distance represents the running distance of the balance car which is counted and maintained in the no-load state when the balance car is started at the moment of detecting the change of the load state to the no-load state. The distance threshold may also be any suitable distance of a preset magnitude, such as 0.2m, 0.8m, 1m, 2m, 3m, 5m, etc. When the travel distance maintained in the no-load state exceeds the distance threshold, it may be determined that condition 3) described above is satisfied. For example, the vehicle speed threshold is set to 1m, and when it is detected that the traveling distance thereof exceeds 1m in the no-load state, it is determined that the above-described condition 4) is satisfied. Further, the distance threshold value can be any value within 0.2-2 m, and the distance threshold value is set within a distance interval of 0.2-2 m, so that once the running distance of the balance car after the balance car is detected to be in a no-bearing state reaches the distance threshold value, wheels of the balance car are controlled to stop running, the control safety of the balance car is further improved, and the use experience of a user can be improved.

Wheel spin is the phenomenon that the wheel is still rotating when the balance car is off the ground. Wheel spin brings energy consumption problems and potential safety hazards. When the wheel is spinning more than the set speed, it is judged that the above condition 5) is satisfied. And once the wheels of the balance car are detected to idle and the idle speed exceeds the idle speed threshold value, the wheels of the balance car are controlled to stop running, so that the safety performance of the balance car is improved.

The balance car is also provided with a temperature sensor for detecting the temperature of equipment in the car. In particular, the drive of the balance car generates a large amount of heat during movement. In order to prevent the driving element from overheating and affecting the normal operation of the driving element, in this embodiment, the driving element further includes a temperature sensor, the temperature sensor can sense the temperature of the stator winding, and when the temperature is higher than a temperature threshold, it can be determined that the above condition 6) is satisfied. And once the temperature in the balance car is detected to be higher than the temperature threshold value, the wheels of the balance car are controlled to stop running, and damage to a driving part caused by overhigh temperature is avoided.

The balance car is also provided with an attitude sensor which can detect the inclination angle/pitching angle of the balance car body. When the vehicle body is in the tilted/tilted state and the angle of the tilt/tilt exceeds a safety angle (i.e., an angle threshold), it can be judged that the above-described condition 7) is satisfied. For example, when the pitch angle or the roll angle of the vehicle body is greater than 45 degrees, the attitude sensor can sense that the balance vehicle enters a safe mode by controlling the wheels of the balance vehicle to stop running, so that the wheels of the balance vehicle are prevented from continuously rotating after the balance vehicle turns over.

In one embodiment, the time duration threshold, the speed threshold, the distance threshold, the idle speed threshold, the temperature threshold, and/or the angle threshold may be automatically determined based on the acquired operational data. For example, as the operating speed in the operating data increases, the corresponding automatically determined time threshold, speed threshold, and/or distance threshold may be relatively large.

In one embodiment, the alarm release condition includes one or a combination of the following conditions:

1) the time length of stopping the operation of the wheels of the balance car exceeds a second delay threshold;

2) the vehicle body side inclination angle/pitching angle of the balance vehicle is within a second angle threshold range;

3) the balance car is changed from a non-bearing state before alarming to a bearing state;

4) and the balance car is changed from a bearing state before alarming to a non-bearing state.

The time length of the wheel stopping operation is the time length of the wheel delaying rotation by controlling the wheel not to be operated in the alarm state. The second delay threshold is used as a limit value for the period of time during which the wheels are not operating, for example 5 seconds. When the time length of the wheel stopping operation exceeds a second delay threshold value, an alarm removing condition 1) is reached, the alarm state of the balance car is removed, and after the alarm state is removed, the balance car enters a standby state. Wherein the second delay threshold should be distinguished from the first delay threshold as a criterion for determining whether the operating condition is reached, the first delay threshold being greater than the second delay threshold.

The balance car is provided with an attitude sensor which can detect the inclination angle/pitching angle of the balance car body. And when the vehicle body is in the tilt/pitch state and the tilt/pitch angle is reduced from exceeding the safety angle to within the second angle threshold value range, determining that the alarm cancellation condition 2) is reached. For example, the second threshold range is 0 degrees to 45 degrees. When a user rides the bicycle, the bicycle runs on uneven road surface, the bicycle body turns on one side accidentally after the user gets off the bicycle, the roll angle is larger than 45 degrees, the balance bicycle enters an alarm state, and the wheels are controlled to stop running. When the user right the vehicle body, that is, when it is detected that the roll angle is in the range of 0 to 45 degrees, it is judged that the alarm release condition 2 is reached), the alarm state of the balance car is released. After the alarm state is relieved, the balance car enters a standby state. The second angle threshold range should be distinguished from the first angle threshold range, and the first angle threshold range is used as a standard for judging whether the operating condition is met, and may be different from the second angle threshold according to the actual application situation.

When the state of the balance car changes relative to the bearing state before alarming, for example, the state is changed from the non-bearing state before alarming to the bearing state, or the state is changed from the bearing state before alarming to the non-bearing state, the alarming state of the balance car is released, and after the alarming state is released, the balance car enters the standby state.

In another embodiment, the operating conditions include one or a combination of the following conditions:

1) the balance car is changed from a non-bearing state to a bearing state;

2) the roll angle/pitch angle of the vehicle body is within a first angle threshold range;

3) the temperature of the equipment in the vehicle is within the temperature threshold range;

4) the battery voltage is within a voltage threshold range;

5) and the time for stopping the wheel is within the first delay threshold range.

Wherein, whether its bearing state of detectable balance car changes. When the user station is detected to be on the balance car, the balance car can update the bearing information from no bearing information to bearing information according to the detection result. When the balance car is in the state of no bearing state and is in the state of bearing after the alarm is relieved, the balance car can be judged to meet the condition 1). For example, when the pressure information is detected by the pedal sensor of the balance car, it is determined that the above condition 1) is satisfied.

The balance car is provided with an attitude sensor which can detect the inclination angle/pitching angle of the balance car body. When the vehicle body is in the tilt/pitch state and the tilt/pitch angle is within the first angle threshold range, it is judged that the alarm cancellation condition 2) is reached. For example, the first threshold range is 0 degrees to 45 degrees. For example, when the vehicle body is tilted forward, the vehicle body enters an acceleration state, and the running condition 2) is reached, and the wheel running of the balance vehicle is controlled. The first angle threshold range should be distinguished from the second angle threshold range, and the second angle threshold range is used as a standard for judging whether the alarm release condition is met, and may be different from the first angle threshold range according to the actual application condition.

The balance car is also provided with a temperature sensor for detecting the temperature of equipment in the car. The in-vehicle device is liable to cause damage when operating at an excessively high temperature, and it can be judged that the above condition 3) is satisfied when the temperature of the in-vehicle device is within the temperature threshold range, that is, the temperature of the balanced in-vehicle device satisfies the operating condition.

The control part of the balance car is also used for detecting the battery voltage of the balance car. When the battery voltage is within the voltage threshold range, the condition 4) is judged to be met, namely the battery voltage of the balance car meets the operation condition.

The time length of the wheel stopping operation is the time length of the wheel stopping operation under the alarm state, the wheel is controlled not to operate, the time length of the wheel delaying rotation is made, and the starting time is the time of controlling the wheel stopping operation. The first delay threshold value is used as a limit value for the period of time during which the wheel is not operating, for example 10 seconds. And when the wheel stop operation time exceeds a first delay threshold value, the operation condition 5) is reached, and the wheel operation of the balance car is controlled. The second delay threshold value is distinguished from the first delay threshold value, the second delay threshold value is used as a standard for judging whether the alarm is released, and the first delay threshold value is larger than the second delay threshold value.

In another embodiment, the control of the balance car to generate the alarm release information comprises one or a combination of the following modes:

1) controlling the sound alarm of the balance car to be closed;

2) controlling the light alarm of the balance car to be closed;

3) controlling the balance car to send standby sound prompt;

4) sending a standby light prompt by the balance car;

5) controlling wheels of the balance car to be in a free state;

6) controlling wheels of the balance car to be in a braking state;

7) and sending an alarm cancellation signal to control equipment connected with the balance car.

If the mode of generating the alarm information is to control the balance car to send out a sound alarm, the mode of generating the alarm release information is to control the sound alarm of the balance car to be turned off. Specifically, the buzzer of the vehicle body is controlled to be turned off.

For example, if the warning information is generated by controlling the balance car to emit a light warning, the warning cancellation information is generated by controlling the balance car to turn off the light warning. Specifically, the alarm indicator lamp of the vehicle body is controlled to be turned off.

For example, if the warning information is generated by transmitting the warning information to the control device connected to the balance car, the warning cancellation information is generated by transmitting the warning cancellation signal to the control device connected to the balance car. Specifically, the alarm cancellation signal is sent to the mobile phone terminal, and a user can know the state of the balance car through the mobile phone, so that the operation of the user is facilitated.

The mode of generating the alarm release information can also be to control the balance car to send a standby sound prompt or a light prompt to prompt a user that the balance car enters a standby state.

The mode of generating the alarm release information can also be to control the wheels to be in a free state or a braking state so as to provide preparation for the operation of the wheels of the balance car.

In another embodiment, the balance car control method further comprises: acquiring the setting information of the running state of the balance car; and determining state conditions corresponding to the running state according to the setting information, wherein the state conditions comprise alarm conditions, running conditions and alarm releasing conditions.

The step of acquiring the setting information of the running state of the balance car can be performed before the step of acquiring the monitoring information of the balance car in running. The setting information is used to set the condition of the operating state. The operation state comprises an operation state, an alarm state and a standby state. The operation state corresponds to a rotation condition, the alarm state corresponds to an alarm condition, and the standby state corresponds to a warning-releasing condition. The setting information may include information of a threshold corresponding to each state condition. The setting information of the alarm condition of the alarm state may include a time length threshold, a speed threshold, a distance threshold, an idle speed threshold, a temperature threshold, an angle threshold, and the like, for example. Taking the setting information of the operating condition of the operating state as an example, the setting information may include a first angle threshold range, a temperature threshold range, a voltage threshold range, a first delay threshold range, and the like. The setting information of the alarm release condition in the standby state may include a second delay threshold, a second angle threshold range, and the like, for example.

After the balance car acquires the setting information, the threshold information or conditions in the setting information can be identified, and the state conditions corresponding to the corresponding running states are determined according to the identified threshold information or conditions. By setting the status condition according to the setting information, diversity of setting of the status condition can be achieved.

In another embodiment, the step of acquiring the setting information of the running state of the balance car comprises the steps of acquiring the setting information of the running state of the balance car through an input device on the balance car; or receiving the setting information of the running state of the balance car, which is sent by the control equipment connected with the balance car.

The balance car may have an input device on which a user may input setting information for the shutdown condition. Alternatively, the setting information may be generated by some operation such as an operation switch, a vehicle body posture action, or the like.

Optionally, the user can input the setting information of the state condition on the electronic device, and send the setting information to the balance car through the corresponding APP. The balance car can receive the setting information sent by the control equipment, and the state condition of the balance car is set according to the setting information. The convenience of setting the stop condition on the balance car can be improved by the control device sending the setting information or acquiring the setting information through the input device on the balance car.

For example, when a user rides a bicycle, the bicycle body accidentally turns over when the user gets off the bicycle due to the fact that the road surface is uneven, the monitoring information comprises a roll angle exceeding a safety angle threshold value, the bicycle enters an alarm state, wheels of the balance bicycle are controlled to stop acting, and the bicycle body gives out sound and light alarm.

And acquiring monitoring information of the balance car after the alarm, if the time for stopping the operation of the wheels of the balance car reaches 5 seconds, reaching an alarm elimination condition, controlling the acousto-optic alarm to be eliminated, turning the indicator lamp to green, and waiting for a restart condition.

And acquiring monitoring information after the alarm is eliminated, and if the user rights the vehicle body and treads on the pedal, the acquired monitoring information comprises that the balance vehicle is changed from a non-bearing state to a bearing state, and the side inclination angle of the vehicle body of the balance vehicle is within a first angle threshold range, controlling the wheels of the balance vehicle to start to operate and entering a normal balance working mode again.

By adopting the method, the posture and various signal states of the vehicle body after alarming are accurately sensed, and the vehicle body can automatically return to a normal working mode without additional key interactive operation after the balance vehicle enters the alarming state, so that the restarting process is greatly simplified, and the smoothness of user experience is improved. Because frequent restarting action and startup and shutdown operations are avoided, the startup and shutdown times of the whole vehicle body are reduced, and the damage of an electrical system caused by current impact due to startup and shutdown is reduced.

It should be understood that although the steps in the flowcharts of fig. 1 and 4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps of fig. 1 and 4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 5, there is provided a balance car control apparatus including:

the monitoring information acquisition module 502 is used for acquiring monitoring information of the balance car during operation;

an operation control module 504, configured to control wheels of the balance car to stop operating 506 when it is determined that an alarm condition is satisfied according to the monitoring information during operation;

the monitoring information acquisition module 508 is further configured to acquire monitoring information of the balance car after the balance car stops running;

the operation control module 510 is further configured to control the operation of the wheels of the balance car when it is determined that the operation condition is satisfied according to the monitoring information after the operation is stopped.

According to the balance car control device, when the condition that the alarm condition is met is determined according to the monitoring information of the balance car during running, the wheels of the balance car are controlled to stop running, so that the balance car is stopped, the balance car is prevented from continuing to run in a dangerous scene, when the condition after running is determined to be met according to the monitoring information after running is stopped, the wheels of the balance car are controlled to run, so that the balance car continues to run.

In another embodiment, the balance car control device further comprises an alarm control module, which is used for controlling the balance car to generate alarm information when the alarm condition is determined to be met according to the monitoring information during operation.

In another embodiment, the monitoring information acquisition module is further used for acquiring monitoring information of the balance car after the balance car gives an alarm.

And the alarm control module is also used for generating alarm release information when the alarm release condition is determined to be met according to the monitored information after the alarm.

And the monitoring information module is specifically used for acquiring monitoring information of the balance car after the alarm is released.

By adopting the device, the posture and various signal states of the vehicle body after alarming are accurately sensed, after the balance vehicle enters the alarming state, the vehicle body can automatically return to the normal working mode without additional key interaction operation, the restarting process is greatly simplified, and the smoothness of user experience is improved. Because frequent restarting action and startup and shutdown operations are avoided, the startup and shutdown times of the whole vehicle body are reduced, and the damage of an electrical system caused by current impact due to startup and shutdown is reduced.

The division of each module in the balance car control device is only used for illustration, and in other embodiments, the balance car control device may be divided into different modules as needed to complete all or part of the functions of the balance car control device.

For specific limitations of the balance car control device, reference may be made to the above limitations of the balance car control method, which are not described herein again. All or part of each module in the balance car control device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

The implementation of each module in the balance car control device provided in the embodiment of the present application may be in the form of a computer program. The computer program may be run on a balance car, a mobile terminal or a server. The program modules constituted by the computer program may be stored on the memory of the terminal or the server. Which when executed by a processor, performs the steps of the method described in the embodiments of the present application.

The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the balance car control method described in any embodiment of the present application.

A computer program product containing instructions which, when run on a computer, cause the computer to perform the balance car control method described in any embodiment of the present application.

In one embodiment, a balance car is provided, the balance car including a car body, the car body including:

a load bearing assembly for supporting the vehicle body; a running gear for running and operating the vehicle body; the control assembly is used for controlling the running of the walking mechanism according to the bearing state of the bearing assembly so as to realize the self-balancing of the vehicle body; and a power supply device for supplying electrical energy to the control assembly; the control assembly comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the balance car control method described in any embodiment of the application.

In one embodiment, as shown in fig. 3 and 6 to 9, the self-balancing scooter of one embodiment comprises two vehicle bodies 10, wherein the vehicle bodies 10 are arranged corresponding to the feet of the user in a one-to-one manner, that is, one vehicle body 10 is used for corresponding to the left foot of the user, and the other vehicle body 10 is used for corresponding to the right foot of the user. In the present embodiment, the structures of the two vehicle bodies 10 are substantially the same, and the structure of one of the vehicle bodies 10 will be specifically described below by way of example.

The vehicle body 10 includes a bearing assembly 100, a traveling mechanism 200, a control assembly 300 and a power supply device 400, the bearing assembly 100 is used as a main supporting structure, the traveling mechanism 200, the control assembly 300 and the power supply device 400 are all installed on the bearing assembly 100, the control assembly 300 can control the state of the traveling mechanism 200 according to the state of the bearing assembly 100 so as to realize self-balancing of the vehicle body 10, and the power supply device 400 can provide electric energy for the control assembly 300.

In one embodiment, the bearing assembly 100 is a two-layer structure that is fastened up and down, and includes a frame 110 and a pedal 120, the frame 110 is a hollow structure, and the frame 110 and the pedal 120 are connected to form the cavity 102. The traveling mechanism 200 includes wheels 210 and a driving member 220, the wheels 210 are disposed on a side of the frame 110 away from the pedals 120 and between the pedals 120 and the ground, and the driving member 220 can drive the wheels 210 to rotate relative to the frame 110.

Specifically, the side of the frame 110 connected to the wheel 210 is recessed toward the footboard 120 to form the groove 112, and at this time, the longitudinal section of the frame 110 in the front-rear direction is W-shaped, and the cavity 102 is also divided into two front and rear chambers communicating with each other. Part of the structure of the wheel 210 is accommodated in the groove 112 to reduce the distance between the wheel 210 and the footboard 120, so that the overall height of the vehicle body 10 can be reduced and the stability of the vehicle body 10 can be improved. Also, the lowest point of the inner walls of the two chambers is lower than the highest point of the wheel 210.

In other embodiments, the bearing assembly 100 has an inner-outer double-layer structure, and includes a main body frame and a housing, wherein the main body frame is made of a metal material and is mainly used for mounting the traveling mechanism 200, the control assembly 300, the power supply device 400, and the like. The shell is arranged on the outer side of the main body framework and mainly plays a role in protection and decoration. The shell can be an integrated structure and is arranged on the main body framework from bottom to top. The housing may include a plurality of portions, such as an upper structure and a lower structure respectively installed at upper and lower sides of the main body frame, or a front structure and a rear structure respectively installed at front and rear sides of the main body frame, the front structure and the rear structure being respectively provided at front and rear sides of the traveling mechanism 200, and the like.

The side of the frame 110 remote from the footrest 120 is also provided with a handle slot 104 to facilitate the user's handling of the vehicle body 10.

The foot pedal 120 is used for a user to step on with a single foot, and the area on the foot pedal 120 for the user to stand is matched with the size of the single foot of the user. The projection of the geometric center of the pedal 120 on the ground coincides with the projection of the geometric center of the wheel 210 on the ground, so that the center of gravity of a user can pass through the contact point of the wheel 210 in a balanced state, and the stability of the vehicle body 10 during operation is improved.

The carrier assembly 100 further includes a non-slip pad 130, the non-slip pad 130 is disposed on a surface of the pedal 120 away from the wheel 120, and the non-slip pad 130 is made of sand paper, rubber or silica gel, which can increase friction between the non-slip pad 130 and the foot of the user, so that the user can drive the vehicle body 10 to perform a steering action with the leg as an axis, or a tilting action such as forward tilting or backward tilting. In this embodiment, the non-slip mat 130 may be a continuous integral structure, or may be divided into a plurality of blocks, and arranged on the pedal 120 at intervals. In other embodiments, the non-slip pad 130 may be omitted.

In this embodiment, the wheel 210 includes a tire for contacting the ground and a hub disposed in cooperation with the tire, the tire is a solid tire structure, the tire is provided with one or more tires, and when the tire is provided with a plurality of tires, the plurality of tires are disposed on one hub at intervals. The plurality as referred to herein is two or more.

In this embodiment, one of the wheel 210 and the driving member 220 is provided, and both are integrated as a hub motor. As shown in fig. 10 to 12, the driving member 220 is a three-phase winding brushless motor, and includes a central shaft 230, a stator 240, a rotor 250 and a hall sensor 260, the central shaft 230, the stator 240 and the rotor 250 are coaxially disposed, the wheel 210 is connected to the rotor 250, and the rotor 250 can drive the wheel 210 to rotate relative to the stator 240. The hall sensor 260 is connected to the central shaft 230, the hall sensor 260 is used for sensing the commutation position of the rotor 250, and the control assembly 300 can realize the continuous rotation of the rotor 250 according to the detection result of the hall sensor 260. In other embodiments, the driving member 220 may be connected to the wheel 210 via a gear assembly or the like.

For the drive member 220 of this embodiment, the rotor 250 is external and the stator 240 is internal. The stator 240 includes a stator core 242 and a stator winding, the stator winding is disposed on the stator core 242, a copper wire of the stator winding is used for generating magnetic force to drive the rotor 250 to rotate, and three phase wires are led out and connected in a star shape, and the three phase wires are a U phase wire, a V phase wire and a W phase wire respectively. The hall sensor 260 includes three hall chips 262 corresponding to the three phase lines, respectively, and signals detected by the three hall chips 262 are a signal, a signal B, and a signal C, respectively, each signal being represented by a binary number 0 or 1. Normally, the combination results of 000 and 111 do not occur, and thus, the combination results of the a signal, the B signal, and the C signal are 6 in total, each corresponding to one physical position of the rotor 250. After the hall sensor 260 transmits the physical position information of the rotor 250 to the control assembly 300, the control assembly 300 can change the direction of the current in the stator winding to achieve continuous rotation of the rotor 250.

The hall signal detected by the hall sensor 260 allows the controller 320 to sense the distance information and the speed information of the rotation of the wheel 210, so as to ensure that the vehicle body 10 is in a safe state, for example, to prevent the vehicle body 10 from rolling, which means that when a user is not on the vehicle body 10, the vehicle body 10 still runs at a certain speed due to the inertia of the original speed of the vehicle body 10, the uneven center of gravity, or the uneven road surface.

In one embodiment, the distance between the highest point on the vehicle body 10 and the ground is greater than or equal to the ground contact width of the wheel 210, and in particular, the ratio of the distance between the highest point on the vehicle body 10 and the ground to the ground contact width of the wheel 210 is less than 6:1, where the ground contact width of the wheel 210 refers to the distance between the two most distant intersection points of the plurality of collinear intersection points between the wheel 210 and the ground.

The height is small for the vehicle body 10, and the axial dimension of the wheel 210 is large, so that the vehicle body 10 can be automatically balanced without being tilted left and right after a user gets off the vehicle.

In the present embodiment, the ground contact width of the wheel 210 is equal to or greater than the diameter of the wheel 210, and specifically, the ratio of the ground contact width of the wheel 210 to the diameter of the wheel 210 is 1-2.

Referring to fig. 8 and 13, the control assembly 300 includes an attitude sensor 310 and a controller 320, the attitude sensor 310 can detect the tilt angle of the frame 110, the controller 320 is connected to the driving member 220, and the controller 320 can control the rotation speed of the driving member 220 according to the detection result of the attitude sensor 310. Specifically, the attitude sensor 310 includes a gyroscope 312 and an accelerometer 314, and can obtain an absolute angle of the vehicle relative to gravity, that is, an attitude angle of the frame 110 in real time in a dynamic state and a static state, and the controller 320 can enable the driving element 220 to exhibit a motion state corresponding to the attitude angle of the frame 110.

For example, when the user drives the frame 110 to tilt forward, the attitude sensor 310 can sense the forward tilting angle of the frame 110, and the controller 320 can control the driving element 220 to rotate forward according to the forward tilting angle, so that the vehicle body 10 completes the forward movement, and the greater the forward tilting angle, the greater the rotation speed of the driving element 220, and the faster the vehicle body 10 moves forward. When the user drives the frame 110 to lean backward, the driving member 220 rotates reversely, so that the vehicle body 10 moves backward, and the larger the tilting angle is, the faster the vehicle body 10 moves backward.

In the present embodiment, the attitude sensor 310 and the controller 320 are integrated on a circuit board, and the circuit board is accommodated in the cavity 102. It is understood that in other embodiments, the attitude sensor 310 and the controller 320 may be disposed separately, the attitude sensor 310 may be disposed at other positions of the frame 110, and the controller 320 may be disposed on the traveling mechanism 200.

Referring to fig. 14, the control assembly 300 further includes a pedal sensor 332, the pedal sensor 332 is disposed on the pedal plate 120, and in the embodiment, the pedal sensor 332 is located between the pedal plate 120 and the non-slip mat 130. The foot sensor 332 is used to determine whether the vehicle body 10 is manned and to sense the weight carried, and may be an electro-optical switch, a pressure sensor, a membrane switch, or a mechanical crash switch. In order to improve the accuracy of detection, two foot sensors 332 are provided, which are provided at the places corresponding to the toe and the heel of the foot pedal 120, respectively. In other embodiments, only one of the foot sensors 332 may be provided, and may be disposed at a middle position of the foot pedal 120.

In other embodiments, as shown in fig. 15 and 16, the control assembly 300 further includes a strain gauge 334, the strain gauge 334 being configured to sense changes in the load.

Specifically, in this embodiment, the load bearing assembly 100 further includes a first support block 106 and a second support block 108, the first support block 106 being located within the cavity 102 and being connected to an inner wall of the frame 110. The second supporting block 108 is disposed on a side of the footboard 120 close to the wheel 210, and the second supporting block 108 abuts against the first supporting block 106. The first support blocks 106 are arranged in a plurality and are distributed in the frame 110 at intervals, and the second support blocks 108 are arranged corresponding to the first support blocks 106 one by one. A gap is formed between the pedal 120 and the frame 110, so that the first supporting block 106 plays a main role in bearing force.

The strain gauge 334 is installed at a central region of the carrier assembly 100, and specifically, the strain gauge 334 may be disposed on an inner wall of the cavity 102 extending in the front-rear direction at a middle position of the inner wall and near the pedal plate 120, or at a middle position of the pedal plate 120. The strain gauge 334 is connected with a signal conditioning amplifying circuit, senses the micro deformation of the stress of the vehicle body 10 in a loaded state, and changes an initial weak voltage signal into a recognizable load signal through signal conditioning and amplification, and if the load signal exceeds a preset threshold value, the vehicle body 10 is in a manned state.

When the vehicle body 10 carries a person, the first support block 106 is subjected to a large pressure, and a gap is left between the pedal plate 120 and the vehicle frame 110, so that the pressure applied to the vehicle body 10 in the vertical direction is converted into a tensile force in the front-rear direction of the vehicle body 10, and no matter the side of the vehicle frame 110 close to the pedal plate 120 or the middle part of the pedal plate 120 itself, the tensile force is subjected to the tensile force in the front-rear direction and is deformed, and the strain gauge 334 can sense the tensile force, so that the person carried on the vehicle body 10 is judged.

Meanwhile, it is also possible to recognize whether the user is an adult or a child through the load signal output from the strain gauge 334. By comparing the load information sensed by the strain gauges 334 of the two vehicle bodies 10, it is possible to determine whether the center of gravity of the user is placed on one foot or both feet. When the user is a child or the user's center of gravity is placed on one foot, the vehicle body 10 can enter a safety mode in which performance is limited, for example, the balance response becomes slow, the top speed decreases, the current is limited, and the like.

It should be noted that the load signal output from the strain gauge 334 is an analog signal, so that the strain gauge 334 can recognize a continuous change in the load, so that the controller 320 adjusts the state of the vehicle body 10 in real time according to the change in the load. And because the vehicle body with self-balancing capability is not shut down in time after a user gets off the vehicle, the vehicle body is easy to automatically accelerate on a slope and impact other objects. Therefore, when the strain gauge 334 senses that the vehicle body 10 is not occupied, the controller 320 will issue a command to control the wheels 210 to stop running to avoid the vehicle body 10 slipping, and the command issued by the controller 320 includes the following schemes: after the preset time is exceeded, the controller 320 controls the wheel 210 to stop running, and the preset time can be designed to be 1 second; the rotation speed of the wheel 210 exceeds a preset threshold value, and the controller 320 controls the wheel 210 to stop running, wherein the preset threshold value can be 5 km/h; the vehicle body 10 slides over a predetermined distance, which may be 1m, and the controller 320 controls the wheels 210 to stop operating. The wheel 210 may stop, be it without power, or may stop freely, or the driving member 220 may be completely locked, and may be in a braking state.

It is understood that the vehicle body 10 may include either one of the foot pedal sensor 332 and the strain gauge 334, or both the foot pedal sensor 332 and the strain gauge 334 may be provided.

Of course, the body 10 may be configured to accommodate the presence or absence of a person without the foot pedal sensor 332 or the strain gauge 334.

Specifically, the driver 220 is not directly activated when the vehicle body 10 is first powered on. The vehicle body 10 may be freely placed on the ground while the footboard 120 is inclined, and one side thereof may contact the ground. When the user first erects the pedal 120 to the horizontal position, the attitude sensor 310 can sense the angle change of the pedal 120 and trigger the starting action of the vehicle body 10, and then the controller 320 controls the vehicle body 10 to enter the normal self-balancing state. In this control mode, after the user gets off the vehicle, the vehicle body 10 may continue to maintain the balance since it cannot recognize that the user has got off the vehicle.

After the parking state standby or the in-place hovering state exceeds a preset time, for example, ten minutes, the controller 320 turns off the power supply, and the vehicle body 10 enters the shutdown state until the user turns on the vehicle next time. Therefore, the electric quantity waste caused by the fact that the user forgets to turn off the power supply can be avoided, and convenience is improved.

Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A balance car control method runs on a controller of a balance car and comprises the following steps:

acquiring monitoring information of the balance car during operation;

when the condition that an alarm condition is met is determined according to the monitoring information during operation, determining that the balance car is in a dangerous state and cannot normally operate, and controlling wheels of the balance car to stop operating so as to enable the balance car to enter a protected operating state;

acquiring monitoring information of the balance car after the balance car stops running, wherein the monitoring information after the balance car stops running is used for judging whether the balance car relieves the dangerous state or not;

when the running condition is met according to the monitoring information after the running is stopped, controlling the wheels of the balance car to run;

the alarm condition comprises one or a combination of several of the following conditions:

the running time of the balance car in the no-bearing state exceeds a time threshold, and the starting time of the running time is the time when the bearing information is changed from the bearing state to the no-bearing state;

after the bearing information indicates that the bearing state is changed into the non-bearing state, the speed of the balance car exceeds a speed threshold value;

after the bearing information indicates that the bearing state is changed into the non-bearing state, the running distance of the balance car exceeds a preset distance threshold;

wheels of the balance car spin while running and the idle speed exceeds an idle speed threshold;

the temperature of the equipment in the balance car exceeds a temperature threshold value when the balance car runs;

the roll/pitch angle of the body of the balance vehicle exceeds a safety angle threshold during operation.

2. The method according to claim 1, characterized in that when it is determined that an alarm condition is satisfied according to the monitoring information during operation, the balance car is controlled to generate alarm information.

3. The method of claim 2, further comprising:

acquiring monitoring information of the balance car after alarming;

when the condition of releasing the alarm is determined to be met according to the monitoring information after the alarm, controlling the balance car to generate alarm releasing information;

acquiring monitoring information of the balance car after the balance car stops running, wherein the monitoring information comprises the following steps: and acquiring monitoring information of the balance car after the alarm is released.

4. The method of claim 1 or wherein the operating conditions comprise one or a combination of the following conditions:

the balance car is changed from a non-bearing state to a bearing state;

the body side tilt angle/pitch angle of the balance car is within a first angle threshold range;

the temperature of equipment in the balance car is within a temperature threshold range;

the voltage of the battery of the balance car is within a voltage threshold range;

the wheel of the balance car stops running for a time within a first delay threshold range.

5. The method of claim 3, wherein the alarm-resolution condition comprises one or a combination of the following conditions:

the length of the stop operation of the wheels of the balance car exceeds a second delay threshold;

the body side tilt angle/pitch angle of the balance car is within a second angle threshold range;

the balance car is changed from a non-bearing state before alarming to a bearing state;

the balance car is changed from a bearing state before alarming to a non-bearing state.

6. The method of claim 2, wherein the controlling the balance car to generate the alarm information comprises one or a combination of the following modes:

controlling the balance car to give out an audible alarm;

controlling the balance car to give out a light alarm;

controlling the shaking of the balance car body;

and sending an alarm signal to control equipment connected with the balance car.

7. The method of claim 3, wherein controlling the balance car to generate the alarm release message comprises one or a combination of the following:

controlling the sound alarm of the balance car to be turned off;

controlling the light alarm of the balance car to be turned off;

controlling the balance car to send standby sound prompt;

sending a standby light prompt sent by the balance car;

controlling wheels of the balance car to be in a free state;

controlling wheels of the balance car to be in a braking state;

and sending an alarm cancellation signal to control equipment connected with the balance car.

8. A balance car control apparatus comprising:

the operation control module is used for determining that the balance car is in a dangerous state and cannot normally operate when determining that an alarm condition is met according to the monitoring information during operation, and controlling wheels of the balance car to stop operating so as to enable the balance car to enter a protected working state;

the monitoring information acquisition module is also used for acquiring monitoring information of the balance car after the balance car stops running, and the monitoring information after the balance car stops running is used for judging whether the balance car relieves the dangerous state or not;

the operation control module is also used for controlling the wheels of the balance car to operate after the operation condition is determined to be met according to the monitoring information after the operation is stopped;

9. The balance car control device according to claim 8, further comprising an alarm control module configured to control the balance car to generate an alarm message when it is determined that an alarm condition is satisfied based on the monitoring information during operation.

10. The balance car control device according to claim 9, wherein the monitoring information acquisition module is further configured to acquire monitoring information of the balance car after the warning;

the alarm control module is also used for generating alarm release information when the alarm release condition is met according to the monitored information after the alarm;

the monitoring information module is specifically used for acquiring monitoring information of the balance car after the alarm is released.

11. A balance car comprising a car body, the car body comprising:

a load bearing assembly for supporting the vehicle body;

a running gear for running and operating the vehicle body;

a power supply device for supplying power to the control assembly;

the control assembly comprises a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to perform the steps of the balance car control method according to any one of claims 1 to 7.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the balance car control method according to any one of claims 1 to 7.