阅读说明：本技术 一种智能互动平衡车的运动控制方法 (Motion control method of intelligent interactive balance car ) 是由 钭俊龙 于 2021-09-15 设计创作，主要内容包括：本发明公开了一种智能互动平衡车的运动控制方法,第一步,长按开关键开机,电量指示灯亮起,电池开始供电,平衡车进入工作状态；第二步,再次长按开关键,报警器进行声音警示,平衡车进入平衡调试状态,调试过程中侧灯条灯光闪烁多次,控制器内预设有灯光闪烁次数,闪烁完毕后,整机平衡调试状态完成；第三步,当用户单脚站立平衡车上方时,平衡车进入0.5秒-10秒的自平衡状态,当用户双脚均站立平衡车上方后,平衡车自动开启安全模式,本发明通过设置电压传感器和温度保护感应器,使电池在欠压时可以及时提醒到使用者,并在电机出现过热状态时,及时将电机关闭,避免出现电机过热损坏的情况。(The invention discloses a motion control method of an intelligent interactive balance car, which comprises the following steps that firstly, a long-time press switch key is started, an electric quantity indicator lamp is lightened, a battery starts to supply power, and the balance car enters a working state; secondly, long pressing the switch key again, carrying out sound warning by the alarm, enabling the balance car to enter a balance debugging state, flashing the light of the side light bar for multiple times in the debugging process, presetting the light flashing times in the controller, and finishing the balance debugging state of the whole balance car after the flashing is finished; and thirdly, when a user stands on the balance car with one foot, the balance car enters a self-balancing state of 0.5-10 seconds, and when the user stands on the balance car with both feet, the balance car automatically starts a safety mode.)

1. A motion control method of an intelligent interactive balance car is characterized by comprising the following steps: the method comprises the following steps:

firstly, a long-time pressing switch key is started, an electric quantity indicator lamp is turned on, a battery starts to supply power, and the balance car enters a working state;

secondly, long pressing the on-off key again, carrying out sound warning by the alarm, enabling the balance car to enter a balance debugging state, enabling the side light bar (12) to flicker for multiple times in the debugging process, presetting the light flickering times in the controller, and finishing the balance debugging state of the whole balance car after the flickering is finished;

thirdly, when a user stands on the balance car with one foot, the balance car enters a self-balancing state of 0.5-10 seconds, and when the user stands on the balance car with both feet, the balance car automatically starts a safety mode, wherein the balance car slowly slides forwards or backwards for 5-10 meters at the speed of 1-5 meters/second in the safety mode;

fourthly, after the safety mode is finished, the balance car enters a user self-control mode, and a motor in the balance car is controlled to work according to a signal given to the controller by the pressure sensor, so that the balance car is controlled to move forwards, move backwards, turn and pause;

and fifthly, pressing a switch key for a long time, shutting down the balance car and turning off the electric quantity indicating lamp.

2. The motion control method of the intelligent interactive balance car according to claim 1, characterized in that: the electric quantity indicating lamp is provided with a green light state and a red light state, the electric quantity indicating lamp is connected with a battery in the balance car and is simultaneously connected with the controller, and when the electric quantity of the battery of the balance car is within a safety range, the electric quantity indicating lamp is in the green light state, otherwise, the electric quantity indicating lamp is in the red light state.

3. The motion control method of the intelligent interactive balance car according to claim 2, characterized in that: the rated voltage of the balance car battery is 36V, when the voltage is 35-36V, the electric quantity indicator lamp enters a green light state, otherwise, the electric quantity indicator lamp enters a red light state, and when the voltage is 35-36V, the electric quantity safety range is formed;

when the balance car battery charges, the electric quantity indicator light is in a yellow light flashing state.

4. The motion control method of the intelligent interactive balance car according to claim 1, characterized in that: the balance car is internally provided with an angle inclination alarm module, the angle inclination alarm module is connected with the controller, when the angle inclination alarm is triggered, the angle indicator lamp lights a red light, if the alarm is not cancelled for 3-5 seconds, the motor of the balance car cannot work, otherwise, the angle indicator lamp lights a green light.

5. The motion control method of the intelligent interactive balance car according to claim 4, wherein: the angle inclination alarm triggering condition is that the inclination angle of the balance car is greater than 30 degrees.

6. The motion control method of the intelligent interactive balance car according to claim 4, wherein: the balance car is internally provided with a motor temperature protection module, the motor temperature protection module is connected with the controller, after the motor temperature protection in the balance car is triggered, the motor reduces the rotating speed until the motor stops moving so as to protect a user to smoothly stop the balance car, and the motor is locked at the same time, so that the balance car cannot be used, when the motor temperature returns to a normal state, the motor is unlocked, and the balance car can be normally used; the balance car starts temperature protection of the motor and simultaneously shields the angle inclination alarm.

7. The motion control method of the intelligent interactive balance car according to claim 6, wherein: the motor temperature protection triggering conditions are that the motor temperature is higher than 70 ℃, and the normal temperature of the motor is lower than 40 ℃.

8. The motion control method of the intelligent interactive balance car according to claim 1, characterized in that: when the number of the batteries of the balance car is 10 knots, the current of the balance car is adjusted to be 8-9A through the controller, and when the number of the batteries is 14 knots and 20 knots respectively, the current of the balance car is adjusted to be 10A through the controller.

Technical Field

The invention relates to the field of balance cars, in particular to a motion control method of an intelligent interactive balance car.

Background

The electric balance car is also called a body-sensing car, a thinking car, a camera car and the like. The market mainly comprises a single wheel and two wheels, wherein a gyroscope and an acceleration sensor in a vehicle body are used for detecting the change of the posture of the vehicle body, and a servo control system is used for accurately driving a motor to perform corresponding adjustment so as to keep the balance of the system. Is a novel green and environment-friendly product used as a travel tool and leisure and entertainment by modern people.

The existing balance car utilizes the motion posture of feet to realize the control of the motion state of the human-computer interaction motion car. However, current balance car function singleness does not possess angle slope protect function, still can continue to work when the balance car degree of inclination is great, makes the accident that the user of standing on the balance car very easily appears empting, and traditional balance car does not have real time monitoring and does not design emergent protect function to battery voltage and motor temperature simultaneously, has certain potential safety hazard.

Disclosure of Invention

The invention aims to provide a motion control method of an intelligent interactive balance car, and aims to solve the problems that a user is very easy to topple when the inclination degree of the balance car is large, and the traditional balance car does not monitor the voltage of a battery and the temperature of a motor in real time and has potential safety hazards in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: a motion control method of an intelligent interactive balance car comprises the following steps:

firstly, a long-time pressing switch key is started, an electric quantity indicator lamp is turned on, a battery starts to supply power, and the balance car enters a working state;

secondly, long pressing the switch key again, carrying out sound warning by the alarm, enabling the balance car to enter a balance debugging state, flashing the light of the side light bar for multiple times in the debugging process, presetting the light flashing times in the controller, and finishing the balance debugging state of the whole balance car after the flashing is finished;

thirdly, when a user stands on the balance car with one foot, the balance car enters a self-balancing state of 0.5-10 seconds, and when the user stands on the balance car with both feet, the balance car automatically starts a safety mode, wherein the balance car slowly slides forwards or backwards for 5-10 meters at the speed of 1-5 meters/second in the safety mode;

fourthly, after the safety mode is finished, the balance car enters a user self-control mode, and a motor in the balance car is controlled to work according to a signal given to the controller by the pressure sensor, so that the balance car is controlled to move forwards, move backwards, turn and pause;

and fifthly, pressing a switch key for a long time, shutting down the balance car and turning off the electric quantity indicating lamp.

Preferably, the electric quantity indicating lamp has green light state and red light state, and the electric quantity indicating lamp is connected with the battery in the balance car, is connected with the controller simultaneously, and when balance car battery electric quantity was in safety range, the electric quantity indicating lamp was green light state, otherwise was red light state.

Preferably, the rated voltage of the balance car battery is 36V, when the voltage is 35-36V, the electric quantity indicator lamp enters a green light state, otherwise, the electric quantity indicator lamp enters a red light state, and the voltage is 35-36V, which is an electric quantity safety range; when the balance car battery charges, the electric quantity indicator light is in a yellow light flashing state.

Preferably, an angle inclination alarm module is arranged in the balance car and connected with the controller, when the angle inclination alarm is triggered, the angle indicator lamp is turned on, if the alarm is not cancelled for 3-5 seconds, the motor of the balance car cannot work, and otherwise, the angle indicator lamp is turned on.

Preferably, the angle inclination alarm triggering condition is that the inclination angle of the balance car is greater than 30 degrees.

Preferably, a motor temperature protection module is arranged in the balance car and is connected with the controller, after the motor temperature protection in the balance car is triggered, the motor reduces the rotating speed until the motor stops moving, so that a user can be protected to stop the motor smoothly, the motor is locked at the same time, the balance car cannot be used, and when the motor temperature returns to a normal state, the motor is unlocked, and the balance car can be normally used; the balance car starts temperature protection of the motor and simultaneously shields the angle inclination alarm.

Preferably, the motor temperature protection triggering condition is that the motor temperature is higher than 70 ℃, and the normal temperature of the motor is lower than 40 ℃.

Preferably, the current of the balance car is adjusted to be between 8 and 9A by the controller when the number of the batteries of the balance car is 10 knots, and the current of the balance car is adjusted to be 10A by the controller when the number of the batteries is 14 knots and 20 knots respectively.

Compared with the prior art, the invention has the beneficial effects that: on one hand, the battery under-voltage warning device can timely remind a user when the battery is under-voltage by arranging the voltage sensor and the temperature protection sensor, and the motor is timely turned off when the motor is in an overheat state, so that the motor is prevented from being damaged due to overheat.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic flow chart of the warning of the angular inclination of the balance car;

fig. 3 is a schematic flow chart of the direction control of the balance car.

In the figure: 12. side lamp strip.

Detailed Description

Referring to fig. 1-3, the present invention provides a motion control method for an intelligent interactive balance car, comprising:

a motion control method of an intelligent interactive balance car comprises the following steps:

firstly, a long-time pressing switch key is started, an electric quantity indicator lamp is turned on, a battery starts to supply power, and the balance car enters a working state;

secondly, long pressing the on-off key again, carrying out sound warning by the alarm, enabling the balance car to enter a balance debugging state, flashing the light of the side light bar 12 for multiple times in the debugging process, presetting the light flashing times in the controller, and finishing the balance debugging state of the whole balance car after the flashing is finished;

thirdly, when a user stands on the balance car with one foot, the balance car enters a self-balancing state of 0.5-10 seconds, and when the user stands on the balance car with both feet, the balance car automatically starts a safety mode, wherein the balance car slowly slides forwards or backwards for 5-10 meters at the speed of 1-5 meters/second in the safety mode;

fourthly, after the safety mode is finished, the balance car enters a user self-control mode, and a motor in the balance car is controlled to work according to a signal given to the controller by the pressure sensor, so that the balance car is controlled to move forwards, move backwards, turn and pause;

and fifthly, pressing a switch key for a long time, shutting down the balance car and turning off the electric quantity indicating lamp.

In one embodiment, the electric quantity indicator lamp has a green light state and a red light state, the electric quantity indicator lamp is connected with a battery in the balance car and is simultaneously connected with the controller, when the electric quantity of the battery of the balance car is within a safe range, the electric quantity indicator lamp is in the green light state, otherwise, the electric quantity indicator lamp is in the red light state.

In one embodiment, the rated voltage of the battery of the balance car is 36V, when the voltage is 35-36V, the electric quantity indicator lamp enters a green light state, otherwise, the electric quantity indicator lamp enters a red light state, and the voltage is 35-36V, which is an electric quantity safety range;

when the balance car battery charges, the electric quantity indicator light is in a yellow light flashing state.

In one embodiment, an angle inclination alarm module is arranged in the balance car and is connected with the controller, when the angle inclination alarm is triggered, the angle indicator lamp is turned on, if the alarm is not cancelled for 3-5 seconds, the motor of the balance car cannot work, and otherwise, the angle indicator lamp is turned on.

In one embodiment, the angular tilt alarm triggering condition is that the tilt angle of the balance car is greater than 30 degrees.

In one embodiment, a motor temperature protection module is arranged in the balance car and is connected with the controller, after the motor temperature protection in the balance car is triggered, the rotating speed of the motor is reduced until the motor stops moving, so that a user can be protected to stop smoothly, the motor is locked at the same time, the balance car cannot be used, and when the temperature of the motor returns to a normal state, the motor is unlocked, and the balance car can be normally used;

the balance car starts the temperature protection of the motor and simultaneously shields the angle inclination alarm.

In one embodiment, the motor temperature protection triggering condition is that the motor temperature is greater than 70 degrees centigrade, and the normal motor temperature is less than 40 degrees centigrade.

In one embodiment, the current of the single side of the balance car is adjusted to be between 8 and 9A through the controller when the number of the batteries of the balance car is 10 knots, and the current of the single side of the balance car is adjusted to be 10A through the controller when the number of the batteries is 14 knots and 20 knots respectively.

When the user uses the balance car, the user treads on the surface of the balance car with feet to normally use the balance car, the pressure sensor acts at the moment, when the front side of the feet of the user simultaneously exerts force forwards and the force error of the feet does not exceed a certain numerical value, the balance car moves forwards, and when the rear feet simultaneously exert force backwards and the force error of the feet does not exceed a certain numerical value, the balance car moves backwards; the left foot strength of the single side is greater than the right foot strength, the balance car turns to the left, and the right foot strength of the single side is greater than the left foot strength, the balance car turns to the right.

When the user uses, the inclination angle of balance car is detected constantly to angle slope alarm module, triggers angle slope when the balance car inclination is greater than 30 degrees and reports to the police, and the red light is lighted to the angle pilot lamp, reports to the police 3-5 seconds and does not cancel then the slow rotational speed that reduces of balance car motor is to stopping, if balanced angle is not greater than 30 degrees, the green light is lighted to the angle pilot lamp.