CN106494544B - The control method and device of balance car - Google Patents
The control method and device of balance car Download PDFInfo
- Publication number
- CN106494544B CN106494544B CN201611178871.8A CN201611178871A CN106494544B CN 106494544 B CN106494544 B CN 106494544B CN 201611178871 A CN201611178871 A CN 201611178871A CN 106494544 B CN106494544 B CN 106494544B
- Authority
- CN
- China
- Prior art keywords
- route
- balance car
- information
- route information
- instructions
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004891 communication Methods 0.000 claims description 16
- 230000009183 running Effects 0.000 abstract description 15
- 238000009790 rate-determining step (RDS) Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 11
- 238000012545 processing Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 230000005236 sound signal Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- KLDZYURQCUYZBL-UHFFFAOYSA-N 2-[3-[(2-hydroxyphenyl)methylideneamino]propyliminomethyl]phenol Chemical compound OC1=CC=CC=C1C=NCCCN=CC1=CC=CC=C1O KLDZYURQCUYZBL-UHFFFAOYSA-N 0.000 description 1
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 201000001098 delayed sleep phase syndrome Diseases 0.000 description 1
- 208000033921 delayed sleep phase type circadian rhythm sleep disease Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K3/00—Bicycles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
Abstract
The disclosure is directed to a kind of control method of balance car and devices.Wherein, method includes: the route instructions of receiving control apparatus；Corresponding route information is obtained according to route instructions；Balance car operation is controlled according to route information.The control method for the balance car that the embodiment of the present disclosure provides, so that can be controlled according to route automatic running, the person of being convenient to use balance car after balance car gets route information according to the route instructions of control equipment, simplify rate-determining steps.
Description
Technical field
This disclosure relates to the control method and device of mobile communication technology field more particularly to a kind of balance car.
Background technique
Balance car is also known as electrodynamic balance vehicle, is a kind of short distance vehicles emerging at present.Balance car drives by electric power
It is dynamic.User may stand on balance car, be ridden instead of walk by balance car.
Currently, balance car cannot be driven in some places (such as office space, some public places).But at nobody
In the case where driving, driving balance car be it is very inconvenient, can only substantially lean on hand push or by cell phone software control balance
Chinese herbaceous peony into.Specifically, during user's cell phone software controls balance car, user is flat by cell phone software input control
The control instruction of weighing apparatus vehicle, balance car change the operating status of oneself according to the control instruction received.However, flat in above-mentioned control
It weighs in the mode of vehicle, operating procedure is relatively complicated.
Summary of the invention
To overcome the problems in correlation technique, the embodiment of the present disclosure provides the control method and dress of a kind of balance car
It sets.The technical solution is as follows:
According to the first aspect of the embodiments of the present disclosure, a kind of control method of balance car is provided, which comprises receive
Control the route instructions of equipment；Corresponding route information is obtained according to the route instructions；It is flat according to route information control
Weigh Che Yunhang.
Method as described above, it is described to obtain corresponding route information according to the route instructions, comprising:
In the corresponding relationship of route instructions according to the pre-stored data and route information, the corresponding road of the route instructions is searched
Line information.
Method as described above, the route information include destination, directional information, rotation angle information and walking speed
Degree, wherein described that the balance car operation is controlled according to the route information, comprising:
Obtain the current location of the balance car；
The running speed of the balance car is adjusted according to the speed of travel；
The balance car is controlled since the current location, according to the directional information and the rotation angle information row
It sails to the destination.
Method as described above, before the route instructions of the receiving control apparatus, the method also includes:
It establishes and is wirelessly connected with the control equipment.
Method as described above, the method also includes:
The speed command of receiving control apparatus, wherein the speed command includes velocity information；
It is wherein, described that balance car operation is controlled according to the route information, comprising:
According to the velocity information and route information control balance car operation.
According to the second aspect of an embodiment of the present disclosure, a kind of control device of balance car is provided, described device includes: first
Receiving module is configured as the route instructions of receiving control apparatus；Module is obtained, is configured as being obtained according to the route instructions
Corresponding route information；Control module is configured as controlling balance car operation according to the route information.
Device as described above, described device further include:
The acquisition module, comprising:
Submodule is searched, is configured as in the corresponding relationship of route instructions according to the pre-stored data and route information, is searched
The corresponding route information of the route instructions.
Device as described above, the route information include destination, directional information, rotation angle information and walking speed
Degree, wherein described control unit, comprising:
Acquisition submodule is configured as obtaining the current location of the balance car；
Adjusting submodule is configured as adjusting the running speed of the balance car according to the speed of travel；
First control submodule is configured as controlling the balance car since the current location, according to the direction
Information and the rotation angle information are travelled to the destination.
Device as described above, described device further include:
Communication module is configured as establishing wireless connection with the control equipment.
Device as described above, described device further include:
Second receiving module is configured as the speed command of receiving control apparatus, wherein the speed command includes speed
Information；
Wherein, institute's control module, comprising:
Second control submodule is configured as according to the velocity information and route information control balance car operation.
According to the third aspect of an embodiment of the present disclosure, a kind of control device of balance car is provided, which includes: place
Manage device；Memory for storage processor executable instruction；Wherein, the processor is configured to:
The route instructions of receiving control apparatus；
Corresponding route information is obtained according to the route instructions；
Balance car operation is controlled according to the route information.
The technical solution that the embodiment of the present disclosure provides can include the following benefits:
Route information corresponding with route instructions is obtained according to the route instructions of control equipment, and controls balance car according to road
Line information is run, as a result, after balance car gets route information according to the route instructions of control equipment, it can basis
Route automatic running, the person of being convenient to use control balance car, simplify rate-determining steps.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and be configured as explaining the principle of the disclosure together with specification.
Fig. 1 is a kind of flow chart of the control method of balance car shown according to an exemplary embodiment；
Fig. 2 is a kind of flow chart of the control method of the balance car shown according to another exemplary embodiment；
Fig. 3 is a kind of block diagram of the control device of balance car shown according to an exemplary embodiment；
Fig. 4 is a kind of block diagram of the control device of the balance car shown according to another exemplary embodiment；
Fig. 5 is a kind of block diagram of the control device of the balance car shown according to another exemplary embodiment；
Fig. 6 is a kind of block diagram of the control device of the balance car shown according to another exemplary embodiment；
Fig. 7 is a kind of block diagram of the control device of the balance car shown according to another exemplary embodiment；
Fig. 8 is a kind of block diagram of the control device 800 of balance car shown according to an exemplary embodiment.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Fig. 1 is a kind of flow chart of the control method of balance car shown according to an exemplary embodiment, as shown in Figure 1,
The control method of the balance car of the embodiment is suitable for balance car, wherein the balance car may, for example, be two-wheel balance car, single-wheel
Balance car, balance car with pedal etc., which is not construed as limiting the type of balance car, the control method packet of the balance car
Include following steps.
In a step 101, the route instructions of receiving control apparatus.
Specifically, user by control equipment control balance car during, if user need balance car by
According to some some destination of regular course automatic running, it is wirelessly connected at this point, user can establish control equipment and balance car,
And the corresponding route instructions of some regular course are sent to control equipment by control equipment.
The embodiment of property as one embodiment, selects route for the convenience of the users, in control equipment and balance car
It establishes after being wirelessly connected, user can check a plurality of route information in balance car by controlling equipment, and according to demand from more
Route information selects target route.Accordingly, control equipment receives the target route of user's selection, and acquisition and target
The corresponding route instructions of route, and route instructions are sent to balance car.Accordingly, balance car receiving control apparatus is sent
Route instructions.
Wherein, control equipment may, for example, be the equipment such as mobile phone, tablet computer, intelligent wearable equipment.
Wherein, balance car and control equipment between can establish wireless connection in several ways, for example, can by bluetooth,
Modes such as infrared and WiFi (Wireless Fidelity, Wireless Fidelitys) establish wireless communication connection, in practical applications, can
It is selected to establish the mode for wirelessly communicating connection according to scene demand, which is not construed as limiting this.
In a step 102, corresponding route information is obtained according to route instructions.
After the route instructions that balance car receives control equipment, balance car can route instructions according to the pre-stored data and road
In the corresponding relationship of line information, the corresponding route information of route instructions is searched.
Wherein, it should be noted that the corresponding relationship of route instructions according to the pre-stored data and route information is balance car
What the route information according to added by user pre-generated.
The embodiment of property as an example uses during user controls balance car by control equipment
Person can send route to balance car by control equipment and remember sign on.Accordingly, balance car receiving control apparatus is sent
Route remember sign on, and from receive route memory sign on when, the route information that start recording balance car is passed through,
And when receiving route memory END instruction, terminate record route information.
As an example, when from route memory sign on is received, balance car can obtain the present bit of balance car
Confidence breath, and using current location information as the starting point of route, and the route letter passed through from starting point start recording balance car
Current location locating for balance car is as the end point of route when ceasing, and will receive route memory END instruction.
Wherein, route information can include but is not limited to navigation routine, directional information, rotation angle information and walking speed
Degree.
In step 103, balance car operation is controlled according to route information.
In embodiment of the disclosure, after getting route information, the current location of balance car can be obtained, and judges to work as
Whether front position is on navigation routine, if judging current location on navigation routine, controls balance car according to navigation routine, side
To information, rotation angle information and the speed of travel, travel from current location to the destination of navigation routine.
Specifically, balance car is believed according to direction during travelling from current location to the destination of navigation routine
The information such as breath, rotation angle information and the speed of travel control itself traveling to destination.
For example, it is assumed that user is unable to riding-balance vehicle from A point to B point often from A point to B point, if used
Person has been pre-saved in balance car after from A point to the route information of B point, in user again from A point to B point when, user
Corresponding route instructions being sent to balance car by smart phone, (wherein, which believes with from A point to the route of B point
The correspondence of breath).Accordingly, balance car obtains the route information from A point to B point according to route instructions, and certainly according to route information
Dynamic traveling is not convenient to use person as a result, and controls balance car, simplify rate-determining steps to B point.
To sum up, the control method of balance car provided in this embodiment, according to the route instructions acquisition of control equipment and route
Corresponding route information is instructed, and controls balance car and is run according to route information, as a result, balance car is set according to control
After standby route instructions get route information, balance car can be controlled according to route automatic running, the person of being convenient to use
System, simplifies rate-determining steps.
Fig. 2 is a kind of flow chart of the control method of the balance car shown according to another exemplary embodiment, such as Fig. 2 institute
Show, the control method of the balance car of the embodiment is suitable for balance car, wherein the balance car may, for example, be two-wheel balance car,
Single-wheel balance car, balance car with pedal etc., which is not construed as limiting the type of balance car, the controlling party of the balance car
Method includes following steps.
In step 201, the route instructions of receiving control apparatus.
Specifically, user by control equipment control balance car during, if user need balance car by
According to some some destination of regular course automatic running, it is wirelessly connected at this point, user can establish control equipment and balance car,
And the corresponding route instructions of some regular course are sent to control equipment by control equipment.
The embodiment of property as one embodiment, selects route for the convenience of the users, in control equipment and balance car
It establishes after being wirelessly connected, user can check a plurality of route information in balance car by controlling equipment, and according to demand from more
Route information selects target route.Accordingly, control equipment receives the target route of user's selection, and acquisition and target
The corresponding route instructions of route, and route instructions are sent to balance car.Accordingly, balance car receiving control apparatus is sent
Route instructions.
Wherein, control equipment may, for example, be the equipment such as mobile phone, tablet computer, intelligent wearable equipment.
Wherein, balance car and control equipment between can establish wireless connection in several ways, for example, can by bluetooth,
Modes such as infrared and WiFi (Wireless Fidelity, Wireless Fidelitys) establish wireless communication connection, in practical applications, can
It is selected to establish the mode for wirelessly communicating connection according to scene demand, which is not construed as limiting this.
In step 202, corresponding route information is obtained according to route instructions.
After the route instructions that balance car receives control equipment, balance car can route instructions according to the pre-stored data and road
In the corresponding relationship of line information, the corresponding route information of route instructions is searched.
Wherein, it should be noted that the corresponding relationship of route instructions according to the pre-stored data and route information is balance car
What the route information according to added by user pre-generated.
The embodiment of property as an example uses during user controls balance car by control equipment
Person can send route to balance car by control equipment and remember sign on.Accordingly, balance car receiving control apparatus is sent
Route remember sign on, and from receive route memory sign on when, the route information that start recording balance car is passed through,
And when receiving route memory END instruction, terminate record route information.
As an example, when from route memory sign on is received, balance car can obtain the present bit of balance car
Confidence breath, and using current location information as the starting point of route, and the route letter passed through from starting point start recording balance car
Current location locating for balance car is as the end point of route when ceasing, and will receive route memory END instruction.
Wherein, route information can include but is not limited to navigation routine, directional information and rotation angle information.
In step 203, the speed command of receiving control apparatus, wherein speed command includes velocity information.
In one embodiment of the present disclosure, after user sends route instructions to balance car by control equipment, make
User can also set the travel speed in driving process for balance car.Specifically, control equipment receives the speed of user's setting
Information is spent, and velocity information is sent to balance car.
In step 204, according to velocity information and route information control balance car operation.
In embodiment of the disclosure, after getting route information, the current location of balance car can be obtained, and judges to work as
Whether front position on navigation routine, if judging current location on navigation routine, control balance car according to route information and
Row velocity information is travelled from current location to the destination of navigation routine.
For example, it is assumed that user is unable to riding-balance vehicle from A point to B point often from A point to B point, if used
Person has been pre-saved in balance car after from A point to the route information of B point, in user again from A point to B point when, user
Corresponding route instructions being sent to balance car by smart phone, (wherein, which believes with from A point to the route of B point
The correspondence of breath).Accordingly, balance car is obtained from A point to the route information of B point and balance car according to route instructions and is being obtained
To after route information, confirmation instruction can be returned to mobile phone, at this point, the speed letter of balance car can also be arranged in user according to demand
Breath, balance car, can be according to velocity information and route information automatic runnings to B after the velocity information for receiving user's setting
Point is not convenient to use person as a result, and controls balance car, simplifies rate-determining steps.
It in summary it can be seen, the control method of the balance car of the embodiment, pass through control equipment control balance in user
During vehicle automatic running, speed when balance car automatic running can also be arranged in user according to demand, be convenient to use
Person controls the speed during balance car automatic running, and the person of being convenient to use controls balance car.
To sum up, the control method of balance car provided in this embodiment, according to the route instructions acquisition of control equipment and route
Corresponding route information is instructed, and according to the velocity information control balance car operation of route information and control equipment setting, as a result,
Speed when convenient for users to setting balance car automatic running, the person of being convenient to use control balance car, simplify control
Step.
Corresponding with the embodiment of the control method of balance car above-mentioned, the disclosure additionally provides a kind of control of balance car
The embodiment of device.
Fig. 3 is a kind of block diagram of the control device of balance car shown according to an exemplary embodiment, the control of the balance car
Device processed being implemented in combination with by software, hardware or both, as shown in figure 3, the control device of the balance car includes:
First receiving module 110 is configured as the route instructions of receiving control apparatus.
Module 120 is obtained to be configured as obtaining corresponding route information according to route instructions.
Control module 130 is configured as controlling balance car operation according to route information.
The control device of balance car provided in this embodiment obtains and route instructions pair according to the route instructions of control equipment
The route information answered, and control balance car and run according to route information, as a result, road of the balance car according to control equipment
After line gets route information, balance car can be controlled according to route automatic running, the person of being convenient to use, be simplified
Rate-determining steps.
Fig. 4 is a kind of block diagram of the control device of the balance car shown according to another exemplary embodiment, which exists
On the basis of aforementioned embodiment illustrated in fig. 3, as shown in figure 4, acquisition module 120 may include:
It searches submodule 121 to be configured as in the corresponding relationship of route instructions according to the pre-stored data and route information, look into
Look for the corresponding route information of route instructions.
Wherein, route information can include but is not limited to navigation routine, directional information, rotation angle information and walking speed
Degree.
In embodiment of the disclosure, on the basis of embodiment shown in Fig. 3, as shown in figure 5, control module 130 is wrapped
It includes:
Acquisition submodule 131 is configured as obtaining the current location of balance car；
Whether judging submodule 132 is configured as judging current location on navigation routine；
First control submodule 133 be configured as judging current location when on navigation routine, control balance car according to
Navigation routine, directional information, rotation angle information and the speed of travel are travelled from current location to the destination of navigation routine
Wherein, it should be noted that acquisition submodule 131 in Installation practice shown in earlier figures 5 judges submodule
The structure of block 132 and the first control submodule 133 also may be embodied in the Installation practice in Fig. 4, to this disclosure not into
Row limits.
Fig. 6 is a kind of block diagram of the control device of the balance car shown according to another exemplary embodiment, which exists
On the basis of aforementioned embodiment illustrated in fig. 3, as shown in fig. 6, above-mentioned apparatus can also include:
Communication module 140 is configured as establishing with control equipment and be wirelessly connected.
Wherein, it should be noted that the structure of the communication module 140 in Installation practice shown in earlier figures 6 can also
With comprising in Installation practice in figures 4 and 5, to this disclosure without limiting.
Fig. 7 is a kind of block diagram of the control device of the balance car shown according to another exemplary embodiment, which exists
On the basis of aforementioned embodiment illustrated in fig. 3, as shown in fig. 7, above-mentioned apparatus can also include:
Second receiving module 150 is configured as the speed command of receiving control apparatus, wherein speed command includes speed letter
Breath；
Wherein, control module 130 may include:
Second control submodule 134 is configured as according to velocity information and route information control balance car operation.
The control device of balance car provided in this embodiment obtains and route instructions pair according to the route instructions of control equipment
The route information answered, and according to the velocity information control balance car operation of route information and control equipment setting, conveniently make as a result,
Speed when balance car automatic running is arranged in user, and the person of being convenient to use controls balance car, simplifies rate-determining steps.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein being used as separate part description
Unit may or may not be physically separated, component shown as a unit may or may not be
Physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to the actual needs
Some or all of the modules therein is selected to realize the purpose of disclosure scheme.Those of ordinary skill in the art are not paying wound
In the case that the property made is worked, it can understand and implement.
Correspondingly, the disclosure also provides a kind of balance car, which includes the control of the balance car in above-described embodiment
Device.
To sum up, balance car provided in this embodiment obtains corresponding with route instructions according to the route instructions of control equipment
Route information, and control balance car and run according to route information, as a result, balance car refers to according to the route of control equipment
After order gets route information, balance car can be controlled according to route automatic running, the person of being convenient to use, simplify control
Step processed.
Correspondingly, the disclosure also provides a kind of balance car, balance car include memory and one or more than one
Program, one of them perhaps more than one program be stored in memory and be configured to by one or more than one
Manage device execution one or more than one program includes the instruction for performing the following operation: the route of receiving control apparatus refers to
It enables；Corresponding route information is obtained according to route instructions；Balance car operation is controlled according to route information.
Fig. 8 is a kind of block diagram of the control device 800 of balance car shown according to an exemplary embodiment.
Referring to Fig. 8, device 800 may include following one or more components: processing component 802, memory 804, electric power
Component 806, multimedia component 808, audio component 810, the interface 812 of input/output (I/O), sensor module 814, and
Communication component 816.
The integrated operation of the usual control device 800 of processing component 802, such as data communication, record operate associated behaviour
Make.Processing component 802 may include one or more processors 820 to execute instruction, with complete above-mentioned method whole or
Part steps.In addition, processing component 802 may include one or more modules, convenient between processing component 802 and other assemblies
Interaction.For example, processing component 802 may include multi-media module, with facilitate multimedia component 808 and processing component 802 it
Between interaction.
Memory 804 is configured as storing various types of data to support the operation in equipment 800.These data are shown
Example includes the instruction of any application or method for operating on device 800.Memory 804 can be by any kind of
Volatibility or non-volatile memory device or their combination are realized, such as static random access memory (SRAM), electrically erasable
Except programmable read only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory
(PROM), read-only memory (ROM), magnetic memory, flash memory, disk or CD.
Electric power assembly 806 provides electric power for the various assemblies of device 800.Electric power assembly 806 may include power management system
System, one or more power supplys and other with for device 800 generate, manage, and distribute the associated component of electric power.
Multimedia component 808 includes the screen of one output interface of offer between device 800 and user.In some realities
It applies in example, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen can
To be implemented as touch screen, to receive input signal from the user.Touch panel include one or more touch sensors with
Sense the gesture on touch, slide, and touch panel.Touch sensor can not only sense the boundary of a touch or slide action, and
And also detect duration and pressure relevant to touch or slide.In some embodiments, multimedia component 808 includes
One front camera and/or rear camera.It is such as in a shooting mode or a video mode, preceding when equipment 800 is in operation mode
It sets camera and/or rear camera can receive external multi-medium data.Each front camera and rear camera can
Be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 810 is configured as output and/or input audio signal.For example, audio component 810 includes a Mike
Wind (MIC), when device 800 is in operation mode, when such as logging mode and speech recognition mode, microphone is configured as receiving outer
Portion's audio signal.The received audio signal can be further stored in memory 804 or send via communication component 816.
In some embodiments, audio component 810 further includes a loudspeaker, is used for output audio signal.
I/O interface 812 provides interface between processing component 802 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: volume button, start button and locking press button.
Sensor module 814 includes one or more sensors, and the state for providing various aspects for device 800 is commented
Estimate.For example, sensor module 814 can detecte the state that opens/closes of device 800, the relative positioning of component, such as component
For the display and keypad of device 800, sensor module 814 can be with the position of 800 1 components of detection device 800 or device
Set change, the existence or non-existence that user contacts with device 800, the temperature in 800 orientation of device or acceleration/deceleration and device 800
Variation.Sensor module 814 may include proximity sensor, be configured to detect without any physical contact near
The presence of object.Sensor module 814 can also include optical sensor, such as CMOS or ccd image sensor, for answering in imaging
With middle use.In some embodiments, which can also include acceleration transducer, gyro sensor, magnetic
Sensor, pressure sensor or temperature sensor.
Communication component 816 is configured to facilitate the communication of wired or wireless way between device 800 and other equipment.Device
800 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.In an exemplary implementation
In example, communication component 816 receives broadcast singal or broadcast related information from external broadcasting management system via broadcast channel.
In one exemplary embodiment, communication component 816 further includes near-field communication (NFC) module, to promote short range communication.For example,
Radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology, bluetooth can be based in NFC module
(BT) technology and other technologies are realized.
In the exemplary embodiment, device 800 can be believed by one or more application specific integrated circuit (ASIC), number
Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
It such as include the memory 804 of instruction, above-metioned instruction can be executed by the processor 820 of device 800 to complete the above method.For example,
Non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and light
Data storage device etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in storage medium is held by the processor of mobile terminal
When row, so that mobile terminal is able to carry out a kind of control method of balance car, method includes:
The route instructions of receiving control apparatus；
Corresponding route information is obtained according to route instructions；
Balance car operation is controlled according to route information.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (9)
1. a kind of control method of balance car, which comprises the following steps:
The route instructions of receiving control apparatus；
Corresponding route information is obtained according to the route instructions；
Balance car operation is controlled according to the route information；
It is described to obtain corresponding route information according to the route instructions, comprising:
The corresponding relationship of route instructions according to the pre-stored data and route information searches the corresponding route letter of the route instructions
Breath, wherein the corresponding relationship of the pre-stored route instructions and route information is balance car according to added by user
What route information pre-generated, route information added by user includes: to receive control equipment in the balance car to send
Route remember sign on when, the route information that start recording balance car is passed through, and receive route memory terminate
When instruction, terminate record route information.
2. the method as described in claim 1, which is characterized in that the route information includes navigation routine, directional information, rotation
Angle information and the speed of travel, wherein described that the balance car operation is controlled according to the route information, comprising:
Obtain the current location of the balance car；
Judge the current location whether on the navigation routine；
If judging the current location on the navigation routine, the balance car is controlled according to the navigation routine, direction
Information, rotation angle information and the speed of travel are travelled from the current location to the destination of the navigation routine.
3. method according to claim 1 or 2, which is characterized in that before the route instructions of the receiving control apparatus, institute
State method further include:
It establishes and is wirelessly connected with the control equipment.
4. the method as described in claim 1, which is characterized in that the method also includes:
The speed command of receiving control apparatus, wherein the speed command includes velocity information；
It is wherein, described that balance car operation is controlled according to the route information, comprising:
According to the velocity information and route information control balance car operation.
5. a kind of control device of balance car characterized by comprising
First receiving module is configured as the route instructions of receiving control apparatus；
Module is obtained, is configured as obtaining corresponding route information according to the route instructions；
Control module is configured as controlling balance car operation according to the route information；
The acquisition module, comprising:
Submodule is searched, the corresponding relationship of route instructions according to the pre-stored data and route information is configured as, searches the road
The corresponding route information of line, wherein the corresponding relationship of the pre-stored route instructions and route information is balance car
What the route information according to added by user pre-generated, route information added by user includes: in the balance car
When receiving the route memory sign on that control equipment is sent, the route information that start recording balance car is passed through, Yi Ji
When receiving route memory END instruction, terminate record route information.
6. device as claimed in claim 5, which is characterized in that the route information includes navigation routine, directional information, rotation
Angle information and the speed of travel, wherein the control module, comprising:
Acquisition submodule is configured as obtaining the current location of the balance car；
Whether judging submodule is configured as judging the current location on the navigation routine；
First control submodule is configured as judging that the current location when on the navigation routine, controls the balance
Vehicle is travelled to described from the current location and is led according to the navigation routine, directional information, rotation angle information and the speed of travel
The destination of air route line.
7. such as device described in claim 5 or 6, which is characterized in that described device further include:
Communication module is configured as establishing wireless connection with the control equipment.
8. device as claimed in claim 5, which is characterized in that described device further include:
Second receiving module is configured as the speed command of receiving control apparatus, wherein the speed command includes speed letter
Breath；
Wherein, institute's control module, comprising:
Second control submodule is configured as according to the velocity information and route information control balance car operation.
9. a kind of control device of balance car characterized by comprising
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
The route instructions of receiving control apparatus；
Corresponding route information is obtained according to the route instructions；
Balance car operation is controlled according to the route information；
It is described to obtain corresponding route information according to the route instructions, comprising:
The corresponding relationship of route instructions according to the pre-stored data and route information searches the corresponding route letter of the route instructions
Breath, wherein the corresponding relationship of the pre-stored route instructions and route information is balance car according to added by user
What route information pre-generated, route information added by user includes: to receive control equipment in the balance car to send
Route remember sign on when, the route information that start recording balance car is passed through, and receive route memory terminate
When instruction, terminate record route information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611178871.8A CN106494544B (en) | 2016-12-19 | 2016-12-19 | The control method and device of balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611178871.8A CN106494544B (en) | 2016-12-19 | 2016-12-19 | The control method and device of balance car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106494544A CN106494544A (en) | 2017-03-15 |
| CN106494544B true CN106494544B (en) | 2019-09-20 |
Family
ID=58334898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611178871.8A Active CN106494544B (en) | 2016-12-19 | 2016-12-19 | The control method and device of balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106494544B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112070973A (en) * | 2020-07-30 | 2020-12-11 | 中国汽车技术研究中心有限公司 | Intelligent electric balance car system and intelligent park oriented short-refute operation method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102478657A (en) * | 2010-11-23 | 2012-05-30 | 上海新世纪机器人有限公司 | Self-navigation robot system |
| CN204323601U (en) * | 2014-12-16 | 2015-05-13 | 东莞易步机器人有限公司 | A kind of intelligent guide to visitors electrodynamic balance car and guide system thereof |
| CN104986281A (en) * | 2015-07-09 | 2015-10-21 | 郑磊 | Self-adapting manual-automatic integrated power-driven balance vehicle |
| CN204871366U (en) * | 2015-07-30 | 2015-12-16 | 林双梅 | Student is with balanced electric motor car |
| CN205292951U (en) * | 2015-12-25 | 2016-06-08 | 惠州市优科光电科技有限公司 | Novel energy -conserving electrodynamic balance car |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2533078A (en) * | 2014-09-03 | 2016-06-15 | Artemev Timur | Entity presence detection system for a self-balancing powered unicycle device |
-
2016
- 2016-12-19 CN CN201611178871.8A patent/CN106494544B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102478657A (en) * | 2010-11-23 | 2012-05-30 | 上海新世纪机器人有限公司 | Self-navigation robot system |
| CN204323601U (en) * | 2014-12-16 | 2015-05-13 | 东莞易步机器人有限公司 | A kind of intelligent guide to visitors electrodynamic balance car and guide system thereof |
| CN104986281A (en) * | 2015-07-09 | 2015-10-21 | 郑磊 | Self-adapting manual-automatic integrated power-driven balance vehicle |
| CN204871366U (en) * | 2015-07-30 | 2015-12-16 | 林双梅 | Student is with balanced electric motor car |
| CN205292951U (en) * | 2015-12-25 | 2016-06-08 | 惠州市优科光电科技有限公司 | Novel energy -conserving electrodynamic balance car |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106494544A (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2642150C2 (en) | Method and device for programmable control of user's motion path to elevator/escalator | |
| KR101935181B1 (en) | Flight control method and device, and electronic equipment | |
| KR102025544B1 (en) | Wearable video device and video system having the same | |
| EP3214894B1 (en) | Device and method for adaptively changing task-performing subjects | |
| CN108064360A (en) | The control method and device of unmanned plane | |
| US20170365162A1 (en) | Control switching method and control terminal, and storage medium | |
| KR101990040B1 (en) | Mobile terminal and cloud system using the mobile terminal | |
| CN109658927A (en) | Wake-up processing method, device and the management equipment of smart machine | |
| CN105882528B (en) | Road conditions sharing method, device and the balance car of balance car | |
| CN105208215A (en) | Locating control method, device and terminal | |
| WO2018207210A1 (en) | Vehicle monitoring system and method using a connected camera architecture | |
| CN110377195B (en) | Method and device for displaying interaction function | |
| KR20190117477A (en) | Control device and method | |
| KR20150095124A (en) | Mobile terminal and control method for the mobile terminal | |
| KR20160086684A (en) | Mobile terminal and method for controlling the same | |
| CN110991260B (en) | Scene marking method, device, equipment and storage medium | |
| EP3565374B1 (en) | Region configuration methods and devices | |
| KR20190045919A (en) | Control method, apparatus, program and storage medium of an equalizer | |
| EP3225510B1 (en) | Methods and devices for controlling self-balanced vehicle to park | |
| WO2018220852A1 (en) | Mobile terminal device with function limitation, function limitation method thereof, and processing program used in same | |
| CN105188027A (en) | Nearby user searching method and device | |
| KR101746503B1 (en) | Mobile terminal and method for controlling the same | |
| CN106494544B (en) | The control method and device of balance car | |
| KR101685361B1 (en) | Mobile terminal and operation method thereof | |
| CN111223311B (en) | Traffic flow control method, device, system, control equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |