阅读说明：本技术 一种智能控制平衡车的运动控制方法 (Motion control method of intelligent control 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控制平衡车的运动控制方法,属于平衡车领域。一种智能控制平衡车的运动控制方法,包括一种智能控制平衡车的运动控制方法,所述方法包括以下步骤：第一步,长按开关键开机,电量指示灯亮起,电池开始供电,控制器开始运转,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,本发明首先通过设置防堵转报警功能,保证当动力模块被限制无法运转时能够及时向使用者提供报警并及时将动力模块关闭,使动力模块不易受到损坏。(The invention discloses a motion control method for an intelligent control balance car, and belongs to the field of balance cars. A motion control method of an intelligent control balance car comprises the following steps: the method comprises the following steps that firstly, a switch key is pressed for a long time to start the vehicle, an electric quantity indicator lamp is turned on, a battery starts to supply power, a controller starts to operate, and the balance vehicle enters a working state; and secondly, long pressing a switch key again, giving a sound warning by an alarm, enabling the balance car to enter a balance debugging state, enabling the side light strip to flicker for multiple times in the debugging process, presetting light flicker times in the controller, and completing the balance debugging state of the whole balance car after the flicker is finished.)

1. A motion control method of an intelligent control balance car is characterized in that: the method comprises the following steps:

the method comprises the following steps that firstly, a switch key is pressed for a long time to start the vehicle, an electric quantity indicator lamp is turned on, a battery starts to supply power, a controller starts to operate, and the balance vehicle 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 above the pedals (11) of the balance car, the user treads pressure sensors respectively arranged below the pedals (11) with both feet, then the balance car automatically starts a safety mode of low-speed linear running, in the safety mode, the balance car needs to slowly slide forwards or backwards for 5-10 meters at the speed of 1-5 meters per second, and then the safety mode is automatically released;

fourthly, after the safety mode is finished, the balance car enters a self-control mode of self-operation of a user, according to different treading force of the user on the pressure sensors through pedals (11), the pressure sensors transmit signals to the controller for processing, and then the controller transmits instructions to a power module (10) in the balance car, so that the power module (10) controls the balance car to move forwards, move backwards and turn;

fifthly, in a user self-control mode, when the road surface is uneven and the balance car suddenly vibrates, automatically starting a damping and buffering mode, in the damping and buffering mode, starting a damping and buffering module, absorbing and buffering the vibration generated by the balance car, and controlling a power module (10) to reduce power output through a controller;

and sixthly, after the user finishes using, 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 control balance car according to claim 1, characterized in that: in the self-control mode, a quantitative value is preset in the controller, the pressure sensor collects a treading force signal of a user to the pressure sensor through a pedal (11), the treading force signal is transmitted to the controller for processing, the signal is finally fed back to the power module (10) for execution, the force is exerted forward by the feet of the user and is greater than the quantitative value, the balance car moves forward linearly at the moment, the force is exerted backward by the feet of the user and is greater than the quantitative value, and the balance car moves backward linearly at the moment;

when pressure sensor senses that user's both feet exert force the dynamics different, under the unchangeable prerequisite of direction of travel that keeps original, left foot trampled when the dynamics is great, the balance car turns left, and right foot trampled when the dynamics is great, the balance car turns right.

3. The motion control method of the intelligent control balance car according to claim 1, characterized in that: when the number of the batteries 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.

4. The motion control method of the intelligent control balance car according to claim 1, characterized in that: an angle inclination alarm module is arranged in the balance car and is connected with the controller, and when the angle inclination alarm is not cancelled within 3-5 seconds after being triggered, a power module (10) in the balance car cannot work;

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

5. The motion control method of the intelligent control balance car according to claim 1, characterized in that: the balance car is internally provided with an anti-locked-rotor alarm module and an alarm indicator light, the anti-locked-rotor alarm module is connected with the controller, the alarm indicator light is connected with the battery, and when the anti-locked-rotor alarm is triggered for 10 seconds, the alarm indicator light flickers and stops the power module (10) from running;

the anti-stalling alarm triggering condition is that a power module (10) of the balance car operates and the balance car cannot be driven to normally move.

6. The motion control method of the intelligent control balance car according to claim 1, characterized in that: the electric quantity indicator lamp is in a green light state when the electric quantity of the battery of the balance car is within a safe range, or in a red light alarm or yellow light alarm state;

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

7. The motion control method of the intelligent control balance car according to claim 6, characterized in that: the rated voltage of the balance car battery is 36V, when the voltage is 35.5-36V, the electric quantity indicator lamp enters a green light state, when the voltage is 35-35.5V, the electric quantity indicator lamp enters a yellow light alarm state, otherwise, the electric quantity indicator lamp enters a red light alarm state, and when the voltage is 36-35.5V, the electric quantity safety range is formed.

8. The motion control method of the intelligent control balance car according to claim 1, characterized in that: the damping and buffering module is connected with the controller and the pedal (11), when the balance car meets uneven road surface and jerky vibration occurs, the controller controls the electromagnet (21) to release the adsorption on the pedal (11), the pedal (11) is jacked up by the elastic element (22), the vibration generated by the balance car is buffered and adsorbed by the elastic element (22), when the balance car keeps stable running, the damping and buffering module is closed, and the controller controls the electromagnet (21) to adsorb the pedal (11);

when the damping buffer module is triggered, the controller controls the power module (10) to reduce power output, and the running speed of the balance car needs to be reduced to 1-5 m/s;

the triggering condition of the damping and buffering module is that the jerk of the balance car exceeds 5S, and the closing condition of the damping and buffering module is that the stable running of the balance car exceeds 2S.

9. The motion control method of the intelligent control balance car according to claim 4, characterized in that: the balance car is characterized in that 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 power module (10) reduces power output until the balance car stops moving, the balance car stops smoothly and enables a user to leave the balance car, meanwhile, the power module (10) is locked, the balance car cannot be used, when the temperature of the power module (10) returns to a normal state, the power module (10) is unlocked, and the balance car can be normally used;

the balance car starts temperature protection of a motor and shields an angle inclination alarm at the same time;

the motor temperature protection triggering condition is that the temperature of the power module (10) is higher than 70 ℃, and the normal temperature of the power module (10) is lower than 40 ℃.

10. The motion control method of the intelligent control balance car according to claim 1, characterized in that: the balance car bears a load not higher than 70 kilograms and can creep on a road surface with an inclination angle of 10 degrees without buffering.

Technical Field

The invention relates to the field of balance cars, in particular to a motion control method for an intelligent control 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 operating function singleness, still need lean on the handle that touches balance car middle part setting to turn when carrying out the balance car and turn, the balance car does not possess angle slope protect function simultaneously, still can continue work when the balance car inclination is great, make the accident that the user of standing on the balance car very easily appears toppling over, traditional balance car does not prevent stifled commentaries on classics alarming function simultaneously, when power module can't normally rotate the during operation, can't make it close, cause the damage of power module easily, still can take place the jerkiness vibrations when the balance car is gone on the road surface of relatively poor environment, the use that influences the user is experienced and also has the user because of the potential safety hazard such as focus shakedown simultaneously.

Disclosure of Invention

The invention aims to provide a motion control method of an intelligent control balance car, which aims to solve the problems that the traditional balance car provided in the background art is single in function, does not have an angle inclination protection function, is easy to cause danger to a user, does not have a locked-rotor prevention alarm function, is easy to cause damage to a power module, and cannot generate rapid vibration adsorption and buffering on the balance car.

In order to achieve the purpose, the invention provides the following technical scheme: a motion control method of an intelligent control balance car comprises the following steps: the method comprises the following steps that firstly, a switch key is pressed for a long time to start the vehicle, an electric quantity indicator lamp is turned on, a battery starts to supply power, a controller starts to operate, and the balance vehicle 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 above the pedals of the balance car, the user treads pressure sensors respectively arranged below the pedals with both feet, then the balance car automatically starts a safety mode of low-speed straight-line running, in the safety mode, the balance car needs to slowly slide forwards or backwards for 5-10 meters at the speed of 1-5 meters per second, and then the safety mode is automatically released; fourthly, after the safety mode is finished, the balance car enters a self-control mode of self-operation of a user, according to different treading force of the user on the pressure sensors through pedals (11), the pressure sensors transmit signals to the controller for processing, and then the controller transmits instructions to a power module (10) in the balance car, so that the power module (10) controls the pressure sensor controller of the pressure sensors for advancing, retreating and turning of the balance car; fifthly, in a user self-control mode, when the road surface is uneven and the balance car suddenly vibrates, automatically starting a damping and buffering mode, in the damping and buffering mode, starting a damping and buffering module, absorbing and buffering the vibration generated by the balance car, and controlling a power module to reduce power output through a controller; and sixthly, after the user finishes using, pressing a switch key for a long time, shutting down the balance car, and turning off the electric quantity indicating lamp.

Preferably, in the self-control mode, a quantitative value is preset in the controller, the pressure sensor collects a treading force signal of a user to the pressure sensor through a pedal, the treading force signal is transmitted to the controller to be processed, the signal is finally fed back to the power module to be executed, the force is exerted forwards by the feet of the user and is greater than the quantitative value, the balance car moves forwards and linearly, the force is exerted backwards by the feet of the user and is greater than the quantitative value, and the balance car moves backwards and linearly; when pressure sensor senses that user's both feet exert force the dynamics different, under the unchangeable prerequisite of direction of travel that keeps original, left foot trampled when the dynamics is great, the balance car turns left, and right foot trampled when the dynamics is great, the balance car turns right.

Preferably, the current of the balance car is adjusted to be 8-9A by the controller when the number of the batteries 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.

Preferably, an angle inclination alarm module is arranged in the balance car and connected with the controller, and when the angle inclination alarm module is not cancelled within 3-5 seconds after being triggered, the power module in the balance car cannot work; the angle inclination alarm triggering condition is that the inclination angle of the balance car is greater than 30 degrees.

Preferably, an anti-locked-rotor alarm module and an alarm indicator lamp are arranged in the balance car, the anti-locked-rotor alarm module is connected with the controller, the alarm indicator lamp is connected with the battery, and when the anti-locked-rotor alarm is triggered for 10 seconds, the alarm indicator lamp flickers and the power module stops running; the anti-stalling alarm triggering condition is that a power module of the balance car operates and cannot drive the balance car to normally move.

Preferably, the electric quantity indicator lamp has a green lamp state, a red lamp alarm state, a yellow lamp alarm state and a yellow lamp flashing state, the electric quantity indicator lamp is connected with a battery in the balance car, when the electric quantity of the battery of the balance car is within a safety range, the electric quantity indicator lamp is in the green lamp state, otherwise, the electric quantity indicator lamp is in the red lamp alarm state or the yellow lamp alarm state; when the balance car battery charges, the electric quantity indicator light is in a yellow light flashing state.

Preferably, the rated voltage of the balance car battery is 36V, when the voltage is 35.5-36V, the electric quantity indicator lamp enters a green light state, when the voltage is 35-35.5V, the electric quantity indicator lamp enters a yellow light alarm state, otherwise, the electric quantity indicator lamp enters a red light alarm state, and when the voltage is 36-35.5V, the electric quantity safety range is formed.

Preferably, the damping and buffering module is connected with the controller and the pedal, when the balance car encounters uneven road surface and jerky vibration, the controller controls the electromagnet to release the adsorption of the pedal, the pedal is jacked up by the elastic element, the vibration generated by the balance car is buffered and adsorbed by the elastic element, when the balance car keeps running stably, the damping and buffering module is closed, and the controller controls the electromagnet to adsorb the pedal; when the damping buffer module is triggered, the controller controls the power module to reduce power output, and the running speed of the balance car needs to be reduced to 1-5 m/s; the triggering condition of the damping and buffering module is that the jerk of the balance car exceeds 5S, and the closing condition of the damping and buffering module is that the stable running of the balance car exceeds 2S.

Preferably, a motor temperature protection module is arranged in the balance car and is connected with the controller, when the motor temperature protection in the balance car is triggered, the power module reduces the power output until the balance car stops moving, the balance car stops smoothly and enables a user to leave the balance car, the power module is locked, the balance car cannot be used at the moment, when the temperature of the power module returns to a normal state, the power module is unlocked, and the balance car can be normally used at the moment; the balance car starts temperature protection of a motor and shields an angle inclination alarm at the same time; the motor temperature protection triggering condition is that the temperature of the power module is higher than 70 ℃, and the normal temperature of the power module is lower than 40 ℃.

Preferably, the balance car bears a load of not more than 70 kilograms and can climb on a road surface with an inclination angle of 10 degrees without buffering.

Compared with the prior art, the invention has the beneficial effects that: at first through setting up anti-stalling alarming function, guarantee can in time provide the warning and in time close power module to the user when power module is restricted unable operation, make power module be difficult for receiving the damage, secondly design angle slope alarming function, when angle slope alarming function starts, can make the motor in time stall, thereby guarantee that the user can not take place the accident of empting because of inclination is too big, and still replace traditional handle through pressure sensor, make the turn of balance car more convenient and intelligent with the operation of going straight, can also adsorb the buffering with the vibrations that the balance car produced when the relatively poor condition in road surface meets at last at the balance car, finally make the balance car slowly stop, user's safety has been guaranteed.

Drawings

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

FIG. 2 is a schematic flow chart of the self-control mode of the present invention;

FIG. 3 is a schematic flow diagram of an anti-stall warning of the present invention;

fig. 4 is a schematic structural diagram of a shock absorption and buffering module according to the present invention.

In the figure: 10. a power module; 11. a pedal; 21. an electromagnet; 22. a resilient element.

Detailed Description

Example 1:

referring to fig. 1-4, the present invention provides a technical solution: a motion control method for an intelligent control balance car comprises the following steps: the method comprises the following steps that firstly, a switch key is pressed for a long time to start the vehicle, an electric quantity indicator lamp is turned on, a battery starts to supply power, a controller starts to operate, and the balance vehicle 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 above the pedal 11 of the balance car, the user treads pressure sensors respectively arranged below the pedal 11 with both feet, then the balance car automatically starts a safety mode of low-speed straight-line running, in the safety mode, the balance car needs to slowly slide forwards or backwards for 5-10 meters at the speed of 1-5 meters per second, and then the safety mode is automatically released; fourthly, after the safety mode is finished, the balance car enters a self-control mode of self-operation of a user, according to different treading force of the user on the pressure sensors through pedals (11), the pressure sensors transmit signals to the controller for processing, and then the controller transmits instructions to a power module (10) in the balance car, so that the power module (10) controls the pressure sensor controller of the pressure sensors for advancing, retreating and turning of the balance car; fifthly, in a user self-control mode, when the road surface is uneven and the balance car suddenly vibrates, automatically starting a damping and buffering mode, in the damping and buffering mode, starting a damping and buffering module, absorbing and buffering the vibration generated by the balance car, and controlling the power module 10 to reduce the power output through a controller; and sixthly, after the user finishes using, pressing a switch key for a long time, shutting down the balance car, and turning off the electric quantity indicating lamp.

In one embodiment, in a self-control mode, a quantitative value is preset in a controller, a pressure sensor collects a treading force signal of a user to the pressure sensor through a pedal 11, the treading force signal is transmitted to the controller for processing, the signal is finally fed back to a power module 10 for execution, the force is exerted forward by the feet of the user and is greater than the quantitative value, the balance car moves forward linearly, the force is exerted backward by the feet of the user and is greater than the quantitative value, and the balance car moves backward linearly; when the pressure sensor senses that the strength of the two feet of the user is different, the balance car turns left on the premise of keeping the original running direction unchanged, when the left foot is pedaled by a large force, and when the right foot is pedaled by a large force, the balance car turns right.

In one embodiment, the current of the balance car is adjusted to be 8-9A by the controller when the number of the batteries 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.

In one embodiment, an angle inclination alarm module is arranged in the balance car and is connected with the controller, and when the angle inclination alarm is not cancelled within 3-5 seconds after being triggered, the power module 10 in the balance car cannot work; the triggering condition of the angle inclination alarm is that the inclination angle of the balance car is larger than 30 degrees.

In one embodiment, the balance car is internally provided with an anti-locked-rotor alarm module and an alarm indicator light, the anti-locked-rotor alarm module is connected with a controller, the alarm indicator light is connected with a battery, and when the anti-locked-rotor alarm is triggered for 10 seconds, the alarm indicator light flickers and stops the power module 10 from running; the anti-stalling alarm triggering condition is that the power module 10 of the balance car runs and cannot drive the balance car to normally move.

In one embodiment, the electric quantity indicator lamp has a green lamp state, a red lamp alarm state, a yellow lamp alarm state and a yellow lamp flashing state, the electric quantity indicator lamp is connected with a battery in the balance car, 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 lamp state, otherwise, the electric quantity indicator lamp is in the red lamp alarm state or the yellow lamp alarm state; when the balance car battery charges, the electric quantity indicator light is in a yellow light flashing state.

In one embodiment, the rated voltage of the battery of the balance car is 36V, when the voltage is 35.5-36V, the electric quantity indicator lamp enters a green light state, when the voltage is 35-35.5V, the electric quantity indicator lamp enters a yellow light alarm state, otherwise, the electric quantity indicator lamp enters a red light alarm state, and when the voltage is 36-35.5V, the electric quantity safety range is formed.

In one embodiment, the damping and buffering module is connected with the controller and the pedal 11, when the balance car meets uneven road surface and sudden vibration occurs, the controller controls the electromagnet 21 to release the adsorption on the pedal 11, the pedal 11 is jacked up by the elastic element 22, the vibration generated by the balance car is buffered and adsorbed by the elastic element 22, when the balance car keeps running stably, the damping and buffering module is closed, and the controller controls the electromagnet 21 to adsorb the pedal 11; when the damping buffer module is triggered, the controller controls the power module 10 to reduce power output, and the running speed of the balance car needs to be reduced to 1-5 m/s; the triggering condition of the damping and buffering module is that the jerk of the balance car exceeds 5S, and the closing condition of the damping and buffering module is that the stable running of the balance car exceeds 2S.

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 power module 10 reduces the power output until the balance car stops moving, the balance car stops smoothly and enables a user to leave the balance car, meanwhile, the power module 10 is locked, the balance car cannot be used, when the temperature of the power module 10 returns to a normal state, the power module 10 is unlocked, and the balance car can be normally used; the balance car starts the temperature protection of the motor and shields the angle inclination alarm at the same time; the motor temperature protection triggering conditions are that the temperature of the power module 10 is higher than 70 ℃, and the normal temperature of the power module 10 is lower than 40 ℃.

In one embodiment, the balance car can bear a load of not more than 70 kilograms and can climb on a road surface with an inclination angle of 10 degrees without buffering.

When the user is in use: trample on the balance car surface at the both feet, carry out normal use to the balance car, pressure sensor effect this moment, when user's foot front side is sent forth simultaneously, then the balance car moves forward, and the back foot is sent forth simultaneously and then the balance car moves backward, and left foot dynamics is greater than right foot dynamics then the balance car turns left, and right foot dynamics is greater than left foot dynamics then the balance car turns right.

When a user uses the balance car, the angle inclination alarm module detects the inclination angle of the balance car constantly, when the inclination angle of the balance car is larger than 30 degrees, the angle inclination alarm is triggered, if the alarm is not cancelled for 3-5 seconds, the power module 10 of the balance car slowly reduces the power output to stop outputting, and if the balance angle is not larger than 30 degrees, the angle indicator lamp is turned on.

After the damping buffer module of the balance car is triggered, the controller controls the electromagnet 21 to be powered off, so that the pedal 11 is not adsorbed, meanwhile, the elastic element 22 jacks the pedal 11 upwards, the jerky vibration generated by the balance car is filtered by the elastic element 22, so that the vibration transmitted to the upper part of the pedal 11 is reduced, and after the damping buffer module is closed, the controller controls the electromagnet 21 to be powered on, so that the pedal 11 is adsorbed, and the pedal 11 is in contact with the balance car and is normally used.