CN106200637A - A kind of method utilizing balance car loading and balance car - Google Patents
A kind of method utilizing balance car loading and balance car Download PDFInfo
- Publication number
- CN106200637A CN106200637A CN201610527872.2A CN201610527872A CN106200637A CN 106200637 A CN106200637 A CN 106200637A CN 201610527872 A CN201610527872 A CN 201610527872A CN 106200637 A CN106200637 A CN 106200637A
- Authority
- CN
- China
- Prior art keywords
- balance car
- loading
- barrier
- method utilizing
- safe velocity
- 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.)
- Pending
Links
Classifications
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of method utilizing balance car loading and balance car.The method of this balance car loading includes step: obtains control signal and enters loading pattern；Balance car starts self-balancing in the unloaded state；Calculate the weight of loading after a preset amount of time；Safe velocity is calculated according to the loading weight measured；Start balance car to run.Use the present invention need not change circuit and the structure of existing balance car, it is possible to allow the balance car can reliably and securely loading.
Description
Technical field
The present invention relates to balance car control field, in particular, relate to a kind of method peace utilizing balance car loading
Weighing apparatus car.
Background technology
Electrodynamic balance car, is again body-sensing car, thinking car, and its operation principles is mainly built upon one and is referred to as " the most steady
In ultimate principle calmly ", utilize gyroscope and the acceleration transducer of vehicle body, detect the change of vehicle body attitude, utilize
Servo-control system, accurately drives motor to be adjusted correspondingly, to keep the balance of system.
Existing electrodynamic balance car typically has two kinds, and one is to have an action bars on car body, and user stands in electronic
On the foot platform of balance car operating action bars, thus advance, retreat and stop, such control is also referred to as " manual ".
Another kind is that car body is made up of two parts, realizes mutually rotating by rotating mechanism, thus realize between left half and right half
" foot control ".Existing balance car is all based on manned design, and does not takes into account the situation of loading.
Summary of the invention
The technical problem to be solved be to provide a kind of can allow balance car loading utilize balance car loading
Method and balance car.
It is an object of the invention to be achieved through the following technical solutions:
According to an aspect of the present invention, a kind of method that the invention discloses balance car loading, including step:
Obtain control signal and enter loading pattern；
Balance car starts self-balancing in the unloaded state；
Calculate the weight of loading after a preset amount of time；
Safe velocity is calculated according to the loading weight measured；
Start balance car to run.
Further, the step of described acquisition control signal entrance loading pattern includes:
Balance car is matched with mobile intelligent terminal；
The control signal receiving mobile intelligent terminal enters loading pattern；
The step that described startup balance car runs includes:
The distance of calculated equilibrium car to-controller in real time, the distance controlling balance car to-controller is maintained at predeterminable range
In；When detecting that balance car is run by safe velocity, the distance of balance car and controller the most persistently widens, and sends announcement
Alarming information；
The maximum operational speed of described balance car is less than or equal to safe velocity.
The technical program original creation follow the mode, is connected with mobile phone, bracelet etc. by bluetooth, and when people walks about, balance car is followed away
Dynamic.Route planning that need not be complicated, navigation, and owing to there being people " to lead the way ", operational reliability is higher, and go for various multiple
Miscellaneous environment and way, significantly improve the application scenarios of balance car loading.
Further, the described method utilizing balance car loading also includes prestoring the step of route information, and described startup is put down
The step that weighing apparatus car runs includes: control balance car by route information, travel at the uniform speed with safe velocity.
Further, the step of route information of prestoring described in also includes:
Communication connection is set up with mobile intelligent terminal；
The route information that storage mobile intelligent terminal sends；
Described control balance car is included by route information, the step that travels at the uniform speed with safe velocity:
Based on navigation system control balance car by route information, travel at the uniform speed with safe velocity.
By navigation (GPS, the Big Dipper, Galileo etc. can) can programme path in advance, allow balance car by projected route
Walking.
Further, the described method utilizing balance car loading also includes the step of avoiding barrier:
Calculated equilibrium front side object height, is barrier by the object marker highly exceeding preset value；
Measure barrier width；
According to barrier width and coordinate position planning travelling line；
Mark barrier coordinate position also updates to barrier map data base；
With neighbouring balance car networking share barrier map data base.
Prior art is passive detection barrier, real-time detection, calculating, and operand is big, and algorithm is complicated.The present invention is first
By judgment object height, first get rid of the object that a part of balance car can be directed across, and cannot cross for balance car
Barrier, technical solution of the present invention the most only calculates the width of article, it is not necessary to the shape and size of component barrier, algorithm letter
Single, operand is the least.Furthermore, the present invention can be by newfound barrier real-time update to barrier map, for oneself and its
His balance car reference, along with the accumulation of data, it is judged that barrier and planning travelling line can be more and more accurate, possess from growing up
Ability, intelligence degree is higher, and avoids unnecessary double counting.
Further, the described step according to barrier width and coordinate position planning travelling line also includes:
The picture of shooting barrier；
Picture is uploaded to cloud server be identified；
According to recognition result correction traffic route.
Some article, such as sponge, haystack, although the highest, but balance car still may be directly across the past.But it is same
The article of height, if converted to be brick, have to detour.
Further, the described step according to barrier width and coordinate position planning travelling line also includes:
Access universal map data base；
Obtain road information；
Based on road information planning travelling line.
Universal map data base refers to the map that Baidu's map, high moral map, Tengxun's map etc. are conventional, and the inside contains respectively
The information of individual road, therefore balance car can under the qualifications of road planning travelling line.Traditional universal map is
The border giving the border of road, i.e. road is equal to barrier, but road-map can not be obstacle present in road
Thing marks, and therefore both combine, and traffic route just can be made to have more operability, and safe coefficient is higher.
Further, described mark barrier coordinate position renewal include to barrier map data base:
The kinestate of disturbance in judgement thing；
Only the barrier of resting state is updated barrier map data base.
Dynamic barrier moves at any time, updates and does not has practical significance to map.
Further, the method for described avoiding barrier also includes:
The kinestate of disturbance in judgement thing；
When barrier is kept in motion, controls balance car and slow down or suspend.
According to another aspect of the present invention, the invention discloses a kind of balance car, including:
The device of loading pattern is entered for obtaining control signal；
For starting the device of balance car self-balancing；
For calculating the device of the weight of loading after a preset amount of time；
For calculating the device of safe velocity according to the loading weight measured；
For starting the device that balance car runs.
Further, the described device entering loading pattern for obtaining control signal includes:
For the device that balance car is matched with mobile intelligent terminal；
The device of loading pattern is entered for receiving the control signal of mobile intelligent terminal；
The device run for starting balance car includes:
For the distance of real-time calculated equilibrium car to-controller, control the distance of balance car to-controller be maintained at preset away from
From interior；When detecting that balance car is run by safe velocity, the distance of balance car and controller the most persistently widens, and sends
The device of warning information；
The maximum operational speed of described balance car is less than or equal to safe velocity.
Compared with prior art, the solution have the advantages that: after balance car enters loading pattern, in the unloaded state
Start self-balancing, thus can be at the most stably placing articles, after waiting placement, calculate the weight of loading, according to weight
Amount arranges safe velocity, finally controls balance car and runs.In general, the heaviest article inertia is the biggest, safety traffic
Speed is the lowest.Use the present invention need not change circuit and the structure of existing balance car, it is possible to allow the balance car can be safe and reliable
Ground loading.
Accompanying drawing explanation
Fig. 1 is balance car principle schematic of the present invention；
Fig. 2 is the method schematic diagram that the present invention utilizes balance car loading.
Detailed description of the invention
It should be mentioned that, some exemplary embodiments are described as before being discussed in greater detail exemplary embodiment
The process described as flow chart or method.Although flow chart operations is described as order process, but therein permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.Additionally, the order of operations can be rearranged.When it
When having operated, described process can be terminated, it is also possible to have the additional step being not included in accompanying drawing.Described process
Can correspond to method, function, code, subroutine, subprogram etc..
The most alleged mobile intelligent terminal (such as smart mobile phone, panel computer, wearable device or intelligent glasses), meter
Calculation machine, AI (artificial intelligence), robot, VR (virtual reality), AR (augmented reality), intelligent home device or intelligent industrial control
Equipment etc. all can perform the predetermined process mistake such as numerical computations and/or logical calculated by running preset program or instruction
Journey, it can include processor and memorizer, processor the survival instruction performing to prestore in memory performs book office
Reason process, or performed predetermined process process by the hardware such as ASIC, FPGA, DSP, or combined by said two devices and realize.Meter
Calculate machine equipment and include but not limited to server, PC, notebook computer, panel computer, smart mobile phone etc..
The network equipment include but not limited to server group that single network server, multiple webserver form or based on
The cloud being made up of a large amount of computers or the webserver of cloud computing (Cloud Computing), wherein, cloud computing is distributed
The one calculated, the super virtual machine being made up of a group loosely-coupled computer collection.Wherein, described computer sets
Standby isolated operation can realize the present invention, it is possible to access network by the interactive operation with other computer equipments in network
Realize the present invention.Wherein, the network residing for described computer equipment includes but not limited to the Internet, wide area network, Metropolitan Area Network (MAN), office
Territory net, VPN etc..
It should be noted that described subscriber equipment, the network equipment and network etc. are only for example, other are existing or from now on may be used
Computer equipment or the network that can occur such as are applicable to the present invention, within also should being included in scope, and to draw
It is incorporated herein by mode.
Method (some of them are illustrated by flow chart) discussed hereafter can pass through hardware, software, firmware, centre
Part, microcode, hardware description language or its combination in any are implemented.When implementing by software, firmware, middleware or microcode
Time, program code or code segment in order to implement necessary task can be stored in machine or computer-readable medium (is such as deposited
Storage media) in.(one or more) processor can implement the task of necessity.
Concrete structure disclosed herein and function detail are the most representational, and are for describing showing of the present invention
The purpose of example embodiment.But the present invention can be implemented by many alternative forms, and is not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be appreciated that here may have been used term " first ", " second " etc. to describe unit,
But these unit should not be limited by these terms.These terms are used to be only used to a unit and another unit
Make a distinction.For example, in the case of without departing substantially from the scope of exemplary embodiment, it is single that first module can be referred to as second
Unit, and second unit can be referred to as first module similarly.Term "and/or" used herein above include one of them or
Any and all combination of more listed associated item.
It should be appreciated that when a unit is referred to as " connection " or during " coupled " to another unit, and it can directly connect
Connect or be coupled to another unit described, or temporary location can be there is.On the other hand, it is referred to as " directly connecting when a unit
Connect " or " direct-coupling " to another unit time, the most there is not temporary location.Should explain in a comparable manner and be used for retouching
Other words stating the relation between unit (such as " are in...Between " compared to " being directly in...Between ", " with...Adjacent
Closely " compared to " with...It is directly adjacent to " etc.).
Term used herein above is only used to describe specific embodiment and be not intended to limit exemplary embodiment.Unless
Context refers else clearly, and singulative the most used herein above " ", " one " also attempt to include plural number.Also should
When being understood by, term used herein above " include " and/or " comprising " specify stated feature, integer, step, operation,
Unit and/or the existence of assembly, and do not preclude the presence or addition of other features one or more, integer, step, operation, unit,
Assembly and/or a combination thereof.
It should further be mentioned that in some replace implementation, the function/action being previously mentioned can be attached according to being different from
The order indicated in figure occurs.For example, depending on involved function/action, the two width figures in succession illustrated actually may be used
Substantially simultaneously to perform or sometimes can perform in a reverse order.
Below in conjunction with the accompanying drawings 1,2 and preferred embodiment the invention will be further described..
As one embodiment of the present of invention, the invention discloses a kind of balance car, including:
Switching device 10: be used for obtaining control signal and enter loading pattern；
Bascule 20: be used for starting balance car self-balancing；
Weight-measuring device 30: for calculating the weight of loading after a preset amount of time；
Calculate device 40: for calculating safe velocity according to the loading weight measured；
Driving means 50: be used for starting balance car and run.
Optionally, described switching device includes:
Pairing unit: for balance car is matched with mobile intelligent terminal；
Control unit: enter loading pattern for receiving the control signal of mobile intelligent terminal；
Driving means is configured to: for the distance of real-time calculated equilibrium car to-controller, controls balance car to-controller
Distance be maintained in predeterminable range；When detecting that balance car is run by safe velocity, balance car and controller away from
From the most persistently widening, send warning information；
The maximum operational speed of described balance car is less than or equal to safe velocity.
Balance car manned when, as long as pedal detection load-carrying, will startup optimization, this operational mode is to enter
Row loading.And the balance car of the present invention enters after loading pattern, start self-balancing in the unloaded state, thus can be
The most stably placing articles, after waiting placement, calculates the weight of loading, arranges safe velocity according to weight,
Rear control balance car runs.In general, the heaviest article inertia is the biggest, and safe velocity is the lowest.The employing present invention need not
Change circuit and the structure of existing balance car, it is possible to allow the balance car can reliably and securely loading.
Based on above-mentioned balance car, present embodiment discloses a kind of method of balance car loading, and the method can be applied but not office
It is limited to the balance car of the present invention.
The method of this balance car loading includes step:
Obtain control signal and enter loading pattern；
Balance car starts self-balancing in the unloaded state；
Calculate the weight of loading after a preset amount of time；
Safe velocity is calculated according to the loading weight measured；
Start balance car to run.
Optionally, the step of described acquisition control signal entrance loading pattern includes:
Balance car is matched with mobile intelligent terminal；
The control signal receiving mobile intelligent terminal enters loading pattern；
The step that described startup balance car runs includes:
The distance of calculated equilibrium car to-controller in real time, the distance controlling balance car to-controller is maintained at predeterminable range
In；When detecting that balance car is run by safe velocity, the distance of balance car and controller the most persistently widens, and sends announcement
Alarming information；
The maximum operational speed of described balance car is less than or equal to safe velocity.
The technical program original creation follow the mode, is connected with mobile phone, bracelet etc. by bluetooth, and when people walks about, balance car is followed away
Dynamic.Route planning that need not be complicated, navigation, and owing to there being people " to lead the way ", operational reliability is higher, and go for various multiple
Miscellaneous environment and way, significantly improve the application scenarios of balance car loading.In such a mode, substantially human pilot manipulation is flat
The environment that weighing apparatus car can run, the balance car under loading state can be suitable for, and application scenarios is broader.Balance car and controller
Real time distance has various ways it is achieved that following range finding with bluetooth is illustrated.
Bluetooth is a kind of electromagnetic wave, it is possible to use the range finding of electromagnetic wave principle.Launch position and receiving position away from
From, can in the middle of have a mirror to carry out reflecting.Find range with the reception time according to launch time, certainly, this method
Take less than on computer.And error is about +/-1M.Temporally draw with the speed propagated.
Another mode, can allow the ripple of bluetooth simultaneously puberty different wave length, can be processed accordingly after reception,
Because be to launch to hit, and different ripple check that it looks into the phase place of pass after the receipt simultaneously.Then the calculating of some complexity is carried out, if
Two wavelength again time phase coincidence, then this distance must be the integral multiple of wavelength least common multiple.Wavelength is the most more accurate,
The principle of similar laser diastimeter, the most accurate.
Optionally, the described method utilizing balance car loading also includes prestoring the step of route information, and described startup balances
The step that car runs includes: control balance car by route information, travel at the uniform speed with safe velocity.
Optionally, the step of route information of prestoring described in also includes:
Communication connection is set up with mobile intelligent terminal；
The route information that storage mobile intelligent terminal sends；
Described control balance car is included by route information, the step that travels at the uniform speed with safe velocity:
Based on navigation system control balance car by route information, travel at the uniform speed with safe velocity.
By navigation (GPS, the Big Dipper, Galileo etc. can) can programme path in advance, allow balance car by projected route
Walking.
Optionally, the described method utilizing balance car loading also includes the step of avoiding barrier:
Calculated equilibrium front side object height, is barrier by the object marker highly exceeding preset value；
Measure barrier width；
According to barrier width and coordinate position planning travelling line；
Mark barrier coordinate position also updates to barrier map data base；
With neighbouring balance car networking share barrier map data base.
Prior art is passive detection barrier, real-time detection, calculating, and operand is big, and algorithm is complicated.The present invention is first
By judgment object height, first get rid of the object that a part of balance car can be directed across, and cannot cross for balance car
Barrier, technical solution of the present invention the most only calculates the width of article, it is not necessary to the shape and size of component barrier, algorithm letter
Single, operand is the least.Furthermore, the present invention can be by newfound barrier real-time update to barrier map, for oneself and its
His balance car reference, along with the accumulation of data, it is judged that barrier and planning travelling line can be more and more accurate, possess from growing up
Ability, intelligence degree is higher, and avoids unnecessary double counting.
Optionally, the described step according to barrier width and coordinate position planning travelling line also includes:
The picture of shooting barrier；
Picture is uploaded to cloud server be identified；
According to recognition result correction traffic route.
Some article, such as sponge, haystack, although the highest, but balance car still may be directly across the past.But it is same
The article of height, if converted to be brick, have to detour.
Optionally, the described step according to barrier width and coordinate position planning travelling line also includes:
Access universal map data base；
Obtain road information；
Based on road information planning travelling line.
Universal map data base refers to the map that Baidu's map, high moral map, Tengxun's map etc. are conventional, and the inside contains respectively
The information of individual road, therefore balance car can under the qualifications of road planning travelling line.Traditional universal map is
The border giving the border of road, i.e. road is equal to barrier, but road-map can not be obstacle present in road
Thing marks, and therefore both combine, and traffic route just can be made to have more operability, and safe coefficient is higher.
Optionally, described mark barrier coordinate position renewal include to barrier map data base:
The kinestate of disturbance in judgement thing；
Only the barrier of resting state is updated barrier map data base.
Dynamic barrier moves at any time, updates and does not has practical significance to map.
Optionally, the method for described avoiding barrier also includes:
The kinestate of disturbance in judgement thing；
When barrier is kept in motion, controls balance car and slow down or suspend.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of present inventive concept, it is also possible to make some simple deduction or replace, all should be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. the method utilizing balance car loading, it is characterised in that include step:
Obtain control signal and enter loading pattern；
Balance car starts self-balancing in the unloaded state；
Calculate the weight of loading after a preset amount of time；
Safe velocity is calculated according to the loading weight measured；
Start balance car to run.
The method utilizing balance car loading the most according to claim 1, it is characterised in that described acquisition control signal enters
The step of loading pattern includes:
Balance car is matched with mobile intelligent terminal；
The control signal receiving mobile intelligent terminal enters loading pattern；
The step that described startup balance car runs includes:
The distance of calculated equilibrium car to-controller in real time, the distance controlling balance car to-controller is maintained in predeterminable range；When
Detecting when balance car is run by safe velocity, the distance of balance car and controller the most persistently widens, and sends alarm letter
Breath；
The maximum operational speed of described balance car is less than or equal to safe velocity.
The method utilizing balance car loading the most according to claim 1, it is characterised in that described utilize balance car loading
Method also includes prestoring the step of route information, and the step that described startup balance car runs includes: control balance car by route letter
Cease, travel at the uniform speed with safe velocity.
The method utilizing balance car loading the most according to claim 3, it is characterised in that described in prestore the step of route information
Suddenly also include:
Communication connection is set up with mobile intelligent terminal；
The route information that storage mobile intelligent terminal sends；
Described control balance car is included by route information, the step that travels at the uniform speed with safe velocity:
Based on navigation system control balance car by route information, travel at the uniform speed with safe velocity.
5. according to the arbitrary described method utilizing balance car loading of claim 1-4, it is characterised in that described utilize balance car
The method of loading also includes the step of avoiding barrier:
Calculated equilibrium front side object height, is barrier by the object marker highly exceeding preset value；
Measure barrier width；
According to barrier width and coordinate position planning travelling line；
Mark barrier coordinate position also updates to barrier map data base；
With neighbouring balance car networking share barrier map data base.
The method utilizing balance car loading the most according to claim 5, it is characterised in that described according to barrier width and
The step of coordinate position planning travelling line also includes:
The picture of shooting barrier；
Picture is uploaded to cloud server be identified；
According to recognition result correction traffic route.
The method utilizing balance car loading the most according to claim 5, it is characterised in that described according to barrier width and
The step of coordinate position planning travelling line also includes:
Access universal map data base；
Obtain road information；
Based on road information planning travelling line.
The method utilizing balance car loading the most according to claim 5, it is characterised in that described mark barrier coordinate bit
Put and update barrier map data base and include:
The kinestate of disturbance in judgement thing；
Only the barrier of resting state is updated barrier map data base.
The method utilizing balance car loading the most according to claim 5, it is characterised in that the method for described avoiding barrier
Also include:
The kinestate of disturbance in judgement thing；
When barrier is kept in motion, controls balance car and slow down or suspend.
10. a balance car, it is characterised in that including:
The device of loading pattern is entered for obtaining control signal；
For starting the device of balance car self-balancing；
For calculating the device of the weight of loading after a preset amount of time；
For calculating the device of safe velocity according to the loading weight measured；
For starting the device that balance car runs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610527872.2A CN106200637A (en) | 2016-07-06 | 2016-07-06 | A kind of method utilizing balance car loading and balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610527872.2A CN106200637A (en) | 2016-07-06 | 2016-07-06 | A kind of method utilizing balance car loading and balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106200637A true CN106200637A (en) | 2016-12-07 |
Family
ID=57466000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610527872.2A Pending CN106200637A (en) | 2016-07-06 | 2016-07-06 | A kind of method utilizing balance car loading and balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106200637A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018006298A1 (en) * | 2016-07-06 | 2018-01-11 | 尚艳燕 | Method for using balancing vehicle to carry object, and balancing vehicle |
| CN108121340A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | A kind of automatic parking scheme of balance car based on Quick Response Code and system |
| CN108897329A (en) * | 2018-09-29 | 2018-11-27 | 苏州博众机器人有限公司 | A kind of robot speed's control method, device, equipment and storage medium |
| CN110857859A (en) * | 2018-08-23 | 2020-03-03 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN112061296A (en) * | 2020-08-07 | 2020-12-11 | 浙江阿尔郎科技有限公司 | Balance car and control method thereof |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102077150A (en) * | 2008-06-27 | 2011-05-25 | 西门子公司 | Control for an autonomous conveyer vehicle and method for operating an autonomous conveyer vehicle |
| CN102473013A (en) * | 2009-07-02 | 2012-05-23 | 克朗设备公司 | Apparatus for remotely controlling a materials handling vehicle |
| CN103552637A (en) * | 2013-11-14 | 2014-02-05 | 无锡联创薄板有限公司 | Climbing self-balancing shopping trolley |
| CN104527909A (en) * | 2015-01-15 | 2015-04-22 | 南京快轮智能科技有限公司 | Barycenter controlling hollow single wheel self-balancing electromobile without spoke and controlling method thereof |
| CN104527456A (en) * | 2014-12-23 | 2015-04-22 | 纳恩博（天津）科技有限公司 | Dynamic balance scooter and speed-limiting control method and system thereof |
| CN104991557A (en) * | 2015-07-02 | 2015-10-21 | 深圳乐行天下科技有限公司 | Autonomous following dolly and system thereof |
| CN104986281A (en) * | 2015-07-09 | 2015-10-21 | 郑磊 | Self-adapting manual-automatic integrated power-driven balance vehicle |
| CN105223952A (en) * | 2015-09-28 | 2016-01-06 | 小米科技有限责任公司 | The control method of balance car and device |
| CN105352521A (en) * | 2015-10-30 | 2016-02-24 | 小米科技有限责任公司 | Balance car navigation method and device |
| CN105446338A (en) * | 2015-12-21 | 2016-03-30 | 福州华鹰重工机械有限公司 | Cloud-assisted automatic driving method and system thereof |
| CN105538326A (en) * | 2016-01-04 | 2016-05-04 | 杭州亚美利嘉科技有限公司 | Robot operation setting method and server |
-
2016
- 2016-07-06 CN CN201610527872.2A patent/CN106200637A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102077150A (en) * | 2008-06-27 | 2011-05-25 | 西门子公司 | Control for an autonomous conveyer vehicle and method for operating an autonomous conveyer vehicle |
| CN102473013A (en) * | 2009-07-02 | 2012-05-23 | 克朗设备公司 | Apparatus for remotely controlling a materials handling vehicle |
| CN103552637A (en) * | 2013-11-14 | 2014-02-05 | 无锡联创薄板有限公司 | Climbing self-balancing shopping trolley |
| CN104527456A (en) * | 2014-12-23 | 2015-04-22 | 纳恩博（天津）科技有限公司 | Dynamic balance scooter and speed-limiting control method and system thereof |
| CN104527909A (en) * | 2015-01-15 | 2015-04-22 | 南京快轮智能科技有限公司 | Barycenter controlling hollow single wheel self-balancing electromobile without spoke and controlling method thereof |
| CN104991557A (en) * | 2015-07-02 | 2015-10-21 | 深圳乐行天下科技有限公司 | Autonomous following dolly and system thereof |
| CN104986281A (en) * | 2015-07-09 | 2015-10-21 | 郑磊 | Self-adapting manual-automatic integrated power-driven balance vehicle |
| CN105223952A (en) * | 2015-09-28 | 2016-01-06 | 小米科技有限责任公司 | The control method of balance car and device |
| CN105352521A (en) * | 2015-10-30 | 2016-02-24 | 小米科技有限责任公司 | Balance car navigation method and device |
| CN105446338A (en) * | 2015-12-21 | 2016-03-30 | 福州华鹰重工机械有限公司 | Cloud-assisted automatic driving method and system thereof |
| CN105538326A (en) * | 2016-01-04 | 2016-05-04 | 杭州亚美利嘉科技有限公司 | Robot operation setting method and server |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018006298A1 (en) * | 2016-07-06 | 2018-01-11 | 尚艳燕 | Method for using balancing vehicle to carry object, and balancing vehicle |
| CN108121340A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | A kind of automatic parking scheme of balance car based on Quick Response Code and system |
| CN110857859A (en) * | 2018-08-23 | 2020-03-03 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN110857859B (en) * | 2018-08-23 | 2022-02-08 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN108897329A (en) * | 2018-09-29 | 2018-11-27 | 苏州博众机器人有限公司 | A kind of robot speed's control method, device, equipment and storage medium |
| CN112061296A (en) * | 2020-08-07 | 2020-12-11 | 浙江阿尔郎科技有限公司 | Balance car and control method thereof |
| CN112061296B (en) * | 2020-08-07 | 2022-07-12 | 浙江阿尔郎科技有限公司 | Balance car control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108284833B (en) | The method and apparatus that Driving control is carried out to vehicle | |
| CN106200637A (en) | A kind of method utilizing balance car loading and balance car | |
| CN106251173A (en) | A kind of supermarket based on balance car shopping guide method and balance car | |
| CN106123906A (en) | A kind of auxiliary navigation method and terminal | |
| KR102139426B1 (en) | Vehicle location point delivery method for autonomous vehicles | |
| CN106156742A (en) | A kind of balance car barrier bypassing method and device | |
| CN108089571A (en) | For predicting the vehicular traffic behavior of automatic driving vehicle to make the method and system of Driving Decision-making | |
| CN109491377A (en) | The decision and planning based on DP and QP for automatic driving vehicle | |
| CN106184520A (en) | A kind of balance car rotating direction control method and balance car | |
| CN107024215A (en) | The object in dynamic environment is followed the trail of to improve positioning | |
| CN110389580A (en) | Method for planning the drift correction in the path of automatic driving vehicle | |
| WO2008036325A2 (en) | Indoor navigation system and method | |
| CN106020198A (en) | Method for somatosensory vehicle to carry object, and somatosensory vehicle | |
| CN108628298A (en) | Control type planning for automatic driving vehicle and control system | |
| US20230266140A1 (en) | Mobility assistance device and method of providing mobility assistance | |
| JP2019056674A (en) | Display system, electronic device, and map information display method | |
| US20190126921A1 (en) | Computer-assisted or autonomous driving method and apparatus with consideration for travelers' intent | |
| US20080109164A1 (en) | Lead Route Guidance System, Portable Route Lead Guidance Device, And Program | |
| CN110554692A (en) | map information update system | |
| CN106444747A (en) | Balancing vehicle and loading method thereof | |
| CN109085818A (en) | The method and system of car door lock based on lane information control automatic driving vehicle | |
| CN106184519A (en) | A kind of balance car method of controlling security and device | |
| CN102721416A (en) | A positioning method and mobile terminal | |
| CN110793532A (en) | Path navigation method, device and computer readable storage medium | |
| CN109324614A (en) | Operable balance mobile device and control method thereof, storage medium and electronic terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |