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CN107890660B - A kind of anti-skidding guard method of Segway Human Transporter, control method, apparatus and system - Google Patents

A kind of anti-skidding guard method of Segway Human Transporter, control method, apparatus and system Download PDF

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Publication number
CN107890660B
CN107890660B CN201711364282.3A CN201711364282A CN107890660B CN 107890660 B CN107890660 B CN 107890660B CN 201711364282 A CN201711364282 A CN 201711364282A CN 107890660 B CN107890660 B CN 107890660B
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China
Prior art keywords
load value
strain transducer
human transporter
segway human
state
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CN201711364282.3A
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CN107890660A (en
Inventor
朱炳强
郑慧
皮德义
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ZHEJIANG HANGYING LOCK Co.,Ltd.
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Beijing Meisian Technology Co Ltd
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    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/12Roller skates; Skate-boards with driving mechanisms
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/0006Accessories
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/01Skateboards
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/14Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/26Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices

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  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a kind of anti-skidding guard method of Segway Human Transporter, control method, apparatus and systems; the anti-skidding guard method determines the total load value of Segway Human Transporter by obtaining the load value on the first strain transducer of Segway Human Transporter and the second strain transducer;When the total load value of Segway Human Transporter is greater than the first preset threshold, then Segway Human Transporter is in first state, first state is for indicating that rider is in process of getting on the bus, and electric braking force is generated according to the load value driving motor of the load value of the first strain transducer and the second strain transducer, control Segway Human Transporter is in 0 speed state.The anti-skidding guard method of Segway Human Transporter provided by the invention can prevent rider from falling down or malfunctioning because losing center of gravity during upper slide.

Description

A kind of anti-skidding guard method of Segway Human Transporter, control method, apparatus and system
Technical field
The present invention relates to four-wheels to move Segway Human Transporter technical field, more particularly to a kind of anti-skidding guarantor of Segway Human Transporter Maintaining method, control method, apparatus and system.
Background technique
With the rise of scooter, four-wheel sports scooter is all greatly favored by consumers all the time.Initial four-wheel movement is slided Wooden handcart is purely the component of mechanical structure, and user needs through means such as boostings to scooter acceleration, deceleration and the direction of motion Control, in recent years, Segway Human Transporter is increasingly becoming fashion trend, likes for user.
In existing Segway Human Transporter, scooter is accelerated, deceleration and the control of the direction of motion can pass through remote control The terminal devices such as device are controlled, and still, for rider, during getting on or off the bus, scooter is sometimes prone to slide back and forth It is dynamic, so as to cause rider to fall down or malfunction.
Summary of the invention
It is an object of the invention to propose a kind of anti-skidding guard method of Segway Human Transporter, control method, apparatus and system, To prevent rider during getting on or off the bus, rider is caused to fall down or malfunction.
In order to achieve the above objectives, the present invention provides following technical schemes:
A kind of anti-skidding guard method of Segway Human Transporter, is applied to Segway Human Transporter, and the Segway Human Transporter includes: connection Pedal, the first support bracket of wheel and the second support bracket, the first strain for being fixed at first support bracket pass Sensor, the second strain transducer being fixed on second support bracket, first strain transducer and described Two strain transducers are connected with the controller of the Segway Human Transporter respectively, this method comprises:
Obtain the load value on the load value and second strain transducer of first strain transducer, determine described in The total load value of Segway Human Transporter;
When the total load value of the Segway Human Transporter is greater than the first preset threshold, it is determined that the Segway Human Transporter is in First state, the first state is for indicating that rider is in process of getting on the bus;
It is produced according to the load value driving motor of the load value of first strain transducer and second strain transducer Raw electric braking force, controls the Segway Human Transporter and is in 0 speed state.
Preferably, further includes:
It is not more than first preset threshold in the total load value of the Segway Human Transporter, and the Segway Human Transporter is total When load value is greater than the second preset threshold, it is determined that the Segway Human Transporter is still in first state, wherein described second is default Threshold value is less than first preset threshold.
Preferably, when the total load value in the Segway Human Transporter is greater than the first preset threshold, it is determined that the electricity Dynamic scooter is in first state, and the first state is for indicating that rider is in process of getting on the bus, comprising:
When the total load value of the Segway Human Transporter is greater than the first preset threshold, first strain transducer The size of the load value of load value and second strain transducer;
When the load value of first strain transducer is greater than the load value of second strain transducer, it is determined that institute It states Segway Human Transporter and is in car state on first;
When the load value of first strain transducer is less than the load value of second strain transducer, it is determined that institute It states Segway Human Transporter and is in car state on second.
A kind of anti-skid protector of Segway Human Transporter, comprising:
Acquiring unit, it is negative on the load value and second strain transducer for obtaining first strain transducer Load value determines the total load value of the Segway Human Transporter;
Judging unit, for judging whether the total load value of the Segway Human Transporter is greater than the first preset threshold;
Determination unit, when being greater than the first preset threshold for the total load value in the Segway Human Transporter, it is determined that described Segway Human Transporter is in first state, and the first state is for indicating that rider is in process of getting on the bus;
Control unit, for the load according to the load value and second strain transducer of first strain transducer It is worth driving motor and generates electric braking force, controls the Segway Human Transporter and be in 0 speed state.
Preferably, the determination unit is also used to:
It is not more than first preset threshold in the total load value of the Segway Human Transporter, and the Segway Human Transporter is total When load value is greater than the second preset threshold, it is determined that the Segway Human Transporter is still in first state, wherein described second is default Threshold value is less than first preset threshold.
Preferably, the determination unit includes:
Comparing unit, when being greater than the first preset threshold for the total load value in the Segway Human Transporter, more described the The size of the load value of the load value of one strain transducer and second strain transducer;
First determines subelement, is greater than second strain transducer for the load value in first strain transducer Load value when, it is determined that the Segway Human Transporter be in first on car state;
Second determines subelement, is less than second strain transducer for the load value in first strain transducer Load value when, it is determined that the Segway Human Transporter be in second on car state.
A kind of control method of Segway Human Transporter is applied to Segway Human Transporter, and the Segway Human Transporter includes: that connection is stepped on Plate, the first support bracket of wheel and the second support bracket, the first strain sensing for being fixed at first support bracket Device, the second strain transducer being fixed on second support bracket, first strain transducer and described second Strain transducer is connected with the controller of the Segway Human Transporter respectively, which includes:
Obtain the load value on the load value and second strain transducer of first strain transducer, determine described in The total load value of Segway Human Transporter;
When the total load value of the Segway Human Transporter is greater than the first preset threshold, first strain transducer The size of the load value of load value and second strain transducer;
When the load value of first strain transducer is greater than the load value of second strain transducer, it is determined that institute It states Segway Human Transporter and is in car state on first, driving motor generates electric braking force, controls the Segway Human Transporter and be in 0 speed State;
When the load value of first strain transducer is less than the load value of second strain transducer, it is determined that institute It states Segway Human Transporter and is in car state on second, driving motor generates electric braking force, controls the Segway Human Transporter and be in 0 speed State;
The Segway Human Transporter be in first on car state when, judge first strain transducer load value whether Greater than the load value of second strain transducer;
When the load value of second strain transducer is greater than the load value of first strain transducer, it is determined that institute It states Segway Human Transporter and is in the second motion state, second state is for indicating that the rider is in somatosensory motion state;
When the Segway Human Transporter is in car state on second, the load value of first strain transducer and institute State the size of the load value of the second strain transducer;
It is described electronic when the load value of first strain transducer is greater than the load value of second strain transducer Scooter is in the second motion state, and second motion state is for indicating that the rider is in somatosensory motion state;
When the Segway Human Transporter is in second motion state, according to the load value of first strain transducer The Segway Human Transporter movement is controlled with the load value of second strain transducer.
Preferably, when the Segway Human Transporter is in car state in car state or second on first, further includes:
Judge whether the total load value of the Segway Human Transporter is greater than second preset threshold, if so, according to described The load value of the load value of first strain transducer and second strain transducer triggers described in the Segway Human Transporter entrance Second motion state;
If it is not, the motor is not driven then to generate driving force and electric braking force, controls the Segway Human Transporter and be in static State.
Preferably, when the Segway Human Transporter is in second motion state, further includes:
Judge whether the total load value of the Segway Human Transporter is greater than second preset threshold;
If so, the Segway Human Transporter is still in second motion state, according to first strain transducer The load value of load value and second strain transducer controls the Segway Human Transporter movement;
If it is not, the motor is not driven then to generate driving force and electric braking force, controls the Segway Human Transporter and be in quiet Only state.
A kind of control device of Segway Human Transporter, comprising:
Module is obtained, it is negative on the load value and second strain transducer for obtaining first strain transducer Load value determines the total load value of the Segway Human Transporter;
First judgment module, for judging whether the total load value of the Segway Human Transporter is greater than the first preset threshold;
Second judgment module compares institute when being greater than the first preset threshold for the total load value in the Segway Human Transporter State the size of the load value of the first strain transducer and the load value of second strain transducer;
First determining module is greater than second strain transducer for the load value in first strain transducer When load value, it is determined that the Segway Human Transporter is in car state on first, and driving motor generates electric braking force, controls the electricity Dynamic scooter is in 0 speed state;
Second determining module is less than second strain transducer for the load value in first strain transducer When load value, it is determined that the Segway Human Transporter is in car state on second, and driving motor generates electric braking force, controls the electricity Dynamic scooter is in 0 speed state;
First comparison module, for when the Segway Human Transporter is in car state on first, more described first to be strained The size of the load value of the load value of sensor and second strain transducer;
Third determining module is greater than first strain transducer for the load value in second strain transducer When load value, it is determined that the Segway Human Transporter is in the second motion state, and second state is for indicating the rider In somatosensory motion state;
Second comparison module, for when the Segway Human Transporter is in car state on second, more described first to be strained The size of the load value of the load value of sensor and second strain transducer;
4th determining module is greater than second strain transducer for the load value in first strain transducer When load value, the Segway Human Transporter is in the second motion state, and second motion state is for indicating at the rider In somatosensory motion state;
Control module, for being strained according to described first when the Segway Human Transporter is in second motion state The load value of the load value of sensor and second strain transducer controls the Segway Human Transporter movement.
A kind of control system of Segway Human Transporter, comprising: the first strain for being fixed at first support bracket passes Sensor, the second strain transducer for being fixed at second support bracket, with first strain transducer and described the The connected controller of two strain transducers, in which:
First strain transducer is used to detect the load value of first support bracket;
Second strain transducer is used to detect the load value of second support bracket;
The controller is used for:
Obtain the load value on the load value and second strain transducer of first strain transducer, determine described in The total load value of Segway Human Transporter;
When the total load value of the Segway Human Transporter is greater than the first preset threshold, first strain transducer is judged Whether load value is greater than the load value of second strain transducer;
When the load value of first strain transducer is greater than the load value of second strain transducer, it is determined that institute It states Segway Human Transporter and is in car state on first, driving motor generates electric braking force, controls the Segway Human Transporter and be in 0 speed State;
When the load value of first strain transducer is less than the load value of second strain transducer, it is determined that institute It states Segway Human Transporter and is in car state on second, driving motor generates electric braking force, controls the Segway Human Transporter and be in 0 speed State;
When the Segway Human Transporter is in car state on first, the load value of first strain transducer and institute State the size of the load value of the second strain transducer;
When the load value of second strain transducer is greater than the load value of first strain transducer, it is determined that institute It states Segway Human Transporter and is in the second motion state, second state is for indicating that the rider is in somatosensory motion state;
When the Segway Human Transporter is in car state on second, the load value of first strain transducer and institute State the size of the load value of the second strain transducer;
It is described electronic when the load value of first strain transducer is greater than the load value of second strain transducer Scooter is in the second motion state, and second motion state is for indicating that the rider is in somatosensory motion state;
When the Segway Human Transporter is in second motion state, according to the load value of first strain transducer The Segway Human Transporter movement is controlled with the load value of second strain transducer.
It can be seen via above technical scheme that compared with prior art, the invention discloses a kind of the anti-of Segway Human Transporter Sliding guard method, control method, apparatus and system, the anti-skidding guard method is by obtaining the first strain transducer of Segway Human Transporter With the load value on the second strain transducer, the total load value of Segway Human Transporter is determined;It is big in the total load value of Segway Human Transporter When the first preset threshold, then Segway Human Transporter is in first state, and first state is used to indicate that rider to be in process of getting on the bus, And electric braking force, control are generated according to the load value driving motor of the load value of the first strain transducer and the second strain transducer Segway Human Transporter is in 0 speed state.The anti-skidding guard method of Segway Human Transporter provided by the invention can be strained by obtaining The load value of sensor determines the total load value on Segway Human Transporter, and shape locating for Segway Human Transporter is determined according to total load value State, so that rider, when getting on the bus, motor can generate electric braking force, control Segway Human Transporter is in 0 speed state, makes electronic Scooter is in as you were, prevents rider from falling down or malfunctioning because losing center of gravity during upper slide.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis The attached drawing of offer obtains other attached drawings.
Fig. 1 is Segway Human Transporter bottom view;
Fig. 2 is Segway Human Transporter side view;
Fig. 3 is Segway Human Transporter front view;
Fig. 4 is Segway Human Transporter rearview;
Fig. 5 is a kind of anti-skidding guard method flow diagram of Segway Human Transporter provided in an embodiment of the present invention;
Fig. 6 is a kind of anti-skid protector structural schematic diagram of Segway Human Transporter provided in an embodiment of the present invention;
Fig. 7 is a kind of control method flow diagram of Segway Human Transporter provided in an embodiment of the present invention;
Fig. 8 is a kind of another flow diagram of the control method of Segway Human Transporter provided in an embodiment of the present invention;
Fig. 9 is a kind of controling device structure diagram of Segway Human Transporter provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Attached drawing 1-4 is please referred to, Fig. 1 is Segway Human Transporter bottom view;Fig. 2 is Segway Human Transporter side view;Fig. 3 is electric sliding Wooden handcart front view;Fig. 4 is Segway Human Transporter rearview.As Figure 1-Figure 4, by one piece of pedal M, two are held the Segway Human Transporter Weight bracket (U1, U2), battery and control module N and four wheel (1,2,3,4) compositions, are driven, wherein 4 by motor Any one in a wheel, two, three perhaps four wheels may each be driving wheel and driven by brush motor or brushless motor Dynamic, motor is connect with battery and control module N.In newest Segway Human Transporter, brushless motor (BLDC) is typically installed at In wheel, combine together with wheel as driving wheel, the first support bracket U1 connection pedal M and wheel (1,2), the second load-bearing Bracket U2 connection pedal M and wheel (3,4), the Segway Human Transporter, further includes: be fixed at answering on the first support bracket U1 Become sensor W1, and the strain transducer W2 being fixed on the second support bracket U2, strain transducer W1 and strain pass Sensor W2 is connected with the controller of electric scooter respectively.
Wherein, as shown in Figure 1, strain transducer W1 can be fixed at the upside or downside of the first support bracket U1, Strain transducer W2 can be fixed at the upside or downside of the second support bracket U2.
Wherein, as shown in Figure 3 and Figure 4, strain transducer W1 and strain transducer W2 can also be respectively fixedly disposed at The side of one support bracket U1 and the second support bracket U2.
Wherein, strain transducer is pasted on support bracket by glue fixation, or is fixed by other ways such as welding Be arranged on support bracket, for strain transducer fixed form herein without specifically limiting, other can also be passed through Mode is fixed to paste or is fixed on support bracket, it is ensured that when bracket generates miniature deformation, strain transducer can Corresponding deformation is generated, so as to cause the variation of strain transducer impedance.Different, the strain sensing according to the type of strain transducer The impedance of device can be the increase with deformation and increase, or is also possible to the increase with deformation and reduces.
Strain transducer is installed on support bracket, the first support bracket U1 and second can be held by strain transducer The distortion measurement for weighing bracket U2 pressure and generating obtains center of gravity and the center of gravity parameter etc. of user by calculating accordingly, To control the traffic direction of electric scooter.
When user uses slide plate, if body is tilted to the first side support bracket U1, the whole center of gravity of user It is partial to the first side support bracket U1, the first support bracket U1 load-bearing is greater than the second support bracket U2, and strain transducer W1 is surveyed The micro- deformation obtained is greater than the shape that strain transducer W2 is measured and is slightly variable, and controller can be according to strain transducer W1 and strain transducer W2 Signal, by calculate, driving slide plate to the direction of the first side support bracket U1 accelerate.Conversely, when using slide plate such as user, If body is tilted to the second side support bracket U2, the whole center of gravity of user is partial to the second side support bracket U2, Second support bracket U2 load-bearing is greater than the first support bracket U1, and micro- deformation that strain transducer W2 is measured is greater than strain transducer W1 The shape measured is slightly variable, controller can according to the signal of strain transducer W1 and strain transducer W2, by calculating, driving slide plate to The direction of second side support bracket U2 accelerates.
It is shown in Figure 5, the anti-skidding guard method of Segway Human Transporter provided in an embodiment of the present invention, applied to above-mentioned Segway Human Transporter, this method specifically comprise the following steps:
S51, obtain the first strain transducer load value and the second strain transducer on load value, determine electric return board The total load value of vehicle.
In the present embodiment, it should be noted that the total load value of Segway Human Transporter is obtained by the first strain transducer The first support bracket U1 on load value and the second support bracket U2 for obtaining of the second strain transducer on load value come it is true Fixed.
S52, Segway Human Transporter total load value be greater than the first preset threshold when, it is determined that Segway Human Transporter be in first State, first state is for indicating that rider is in process of getting on the bus.
In the present embodiment, it should be noted that when getting on the bus process, when the total load value of Segway Human Transporter is not more than first When preset threshold, Segway Human Transporter remains static.And during rider's upper slide, the one of first single foot-operated upper pedal It holds at (end A or the end B), then packs up an other foot, and this is ridden to the other end (end B or the end A) of upper pedal, wherein first Preset threshold is for determining that Segway Human Transporter is in the threshold value of first state during getting on the bus, and first state is ridden for indicating The person of multiplying is in process of getting on the bus.
Preferably, when the total load value of Segway Human Transporter is greater than the first preset threshold, it is determined that Segway Human Transporter is in First state, first state is for indicating that rider is in process of getting on the bus, comprising:
When the total load value of Segway Human Transporter is greater than the first preset threshold, compare the load value of the first strain transducer with The size of the load value of second strain transducer;
When the load value of the first strain transducer is greater than the load value of the second strain transducer, it is determined that Segway Human Transporter The car state on first;
The first strain transducer load value less than the second strain transducer load value when, it is determined that Segway Human Transporter The car state on second.
S53, electricity is generated according to the load value of the first strain transducer and the load value driving motor of the second strain transducer Brake force, control Segway Human Transporter are in 0 speed state.
In the present embodiment, it should be noted that after being determined that Segway Human Transporter is in process of getting on the bus, pass through the first strain The load value driving motor of the load value of sensor and the second strain transducer generates electric braking force, and control Segway Human Transporter is in 0 speed state makes Segway Human Transporter be in as you were, prevents rider from falling down during upper slide because losing center of gravity Or it malfunctions.
The anti-skidding guard method of Segway Human Transporter provided in this embodiment, the anti-skidding guard method is by obtaining electric return board Load value on the first strain transducer of vehicle and the second strain transducer, determines the total load value of Segway Human Transporter;In electric sliding When the total load value of wooden handcart is greater than the first preset threshold, then Segway Human Transporter is in first state, and first state is ridden for indicating The person of multiplying is in process of getting on the bus, and according to the load value driving motor of the load value of the first strain transducer and the second strain transducer Electric braking force is generated, control Segway Human Transporter is in 0 speed state.The anti-skidding guard method of Segway Human Transporter provided by the invention The total load value on Segway Human Transporter can be determined by obtaining the load value of strain transducer, electricity is determined according to total load value Dynamic scooter state in which, so that rider, when getting on the bus, motor can generate electric braking force, control Segway Human Transporter is in 0 speed state makes Segway Human Transporter be in as you were, prevents rider from falling down during upper slide because losing center of gravity Or it malfunctions.
Optionally, on the basis of above-mentioned Fig. 5 corresponding embodiment, Segway Human Transporter provided in an embodiment of the present invention is prevented In sliding second alternative embodiment of guard method, can also include:
It is not more than the first preset threshold in the total load value of Segway Human Transporter, and the total load value of Segway Human Transporter is greater than the When two preset thresholds, it is determined that Segway Human Transporter is still in first state, wherein the second preset threshold is less than the first default threshold Value, first state is for indicating that rider is in process of getting on the bus.
In the present embodiment, it should be noted that it is that rider abandons during upper Segway Human Transporter that this process, which belongs to, The case where getting on the bus, if the total load value in Segway Human Transporter is not more than the first preset threshold, and the total load value of Segway Human Transporter When greater than the second preset threshold, it is determined that Segway Human Transporter is still in first state, wherein the second preset threshold is pre- less than first If threshold value;If the total load value of Segway Human Transporter is less than the second preset threshold, rider abandons getting on the bus, and may be implemented electronic Scooter returns control process certainly, prevents the control process of Segway Human Transporter from back and forth jumping, and the second preset threshold is pre- less than first If threshold value.
The anti-skidding guard method of Segway Human Transporter provided in an embodiment of the present invention, it is little in the total load value of Segway Human Transporter In the first preset threshold, and when the total load value of Segway Human Transporter is greater than the second preset threshold, Segway Human Transporter may be implemented From control process is returned, prevents the control process of Segway Human Transporter from back and forth jumping, guarantee the normal operation of Segway Human Transporter.
The present invention also discloses corresponding device on the basis of method disclosed above.
A kind of anti-skid protector of Segway Human Transporter provided in an embodiment of the present invention is introduced below, needs to illustrate , the explanation of the anti-skid protector in relation to the Segway Human Transporter can refer to the anti-skidding protection of Segway Human Transporter provided above Method below and does not repeat them here.
It is shown in Figure 6, the anti-skid protector of Segway Human Transporter provided in an embodiment of the present invention, specifically, the dress It sets and includes:
Acquiring unit 61, the load value on load value and the second strain transducer for obtaining the first strain transducer, Determine the total load value of Segway Human Transporter;
Judging unit 62, for judging whether the total load value of Segway Human Transporter is greater than the first preset threshold;
Determination unit 63, when being greater than the first preset threshold for the total load value in Segway Human Transporter, it is determined that electric sliding Wooden handcart is in first state, and first state is for indicating that rider is in process of getting on the bus;
Control unit 64, for according to the load value of first strain transducer and bearing for second strain transducer Load value driving motor generates electric braking force, controls the Segway Human Transporter and is in 0 speed state.
Preferably, determination unit 63 is also used to:
It is not more than first preset threshold in the total load value of the Segway Human Transporter, and the Segway Human Transporter is total When load value is greater than the second preset threshold, it is determined that the Segway Human Transporter is still in first state, wherein described second is default Threshold value is less than first preset threshold.
Preferably, determination unit 63 includes:
Comparing unit, when being greater than the first preset threshold for the total load value in the Segway Human Transporter, more described the The size of the load value of the load value of one strain transducer and second strain transducer;
First determines subelement, is greater than second strain transducer for the load value in first strain transducer Load value when, it is determined that the Segway Human Transporter be in first on car state;
Second determines subelement, is less than second strain transducer for the load value in first strain transducer Load value when, it is determined that the Segway Human Transporter be in second on car state.
The anti-skid protector of Segway Human Transporter provided in this embodiment, the anti-skid protector are obtained by acquiring unit Load value on the first strain transducer of Segway Human Transporter and the second strain transducer, determines the total load value of Segway Human Transporter; Judging unit judges whether the total load value of Segway Human Transporter is greater than the first preset threshold;Determination unit is in the total of Segway Human Transporter When load value is greater than the first preset threshold, it is determined that Segway Human Transporter is in first state, and first state is for indicating rider In the process of getting on the bus, control unit drives electricity according to the load value of the first strain transducer and the load value of the second strain transducer Machine generates electric braking force, and control Segway Human Transporter is in 0 speed state.The anti-skidding protection of Segway Human Transporter provided by the invention fills The total load value that can be determined by the load value of acquisition strain transducer on Segway Human Transporter is set, is determined according to total load value Segway Human Transporter state in which controls at Segway Human Transporter so that rider, when getting on the bus, motor can generate electric braking force In 0 speed state, so that Segway Human Transporter is in as you were, prevent rider from falling during upper slide because losing center of gravity Or malfunction.
Referring to Fig. 7, the embodiment of the invention also discloses a kind of control methods of Segway Human Transporter, are applied to above-mentioned electric sliding Wooden handcart, the control method specifically comprise the following steps:
S71, obtain the first strain transducer load value and the second strain transducer on load value, determine electric return board The total load value of vehicle.
In the present embodiment, it should be noted that the total load value of Segway Human Transporter is obtained by the first strain transducer The first support bracket U1 on load value and the second support bracket U2 for obtaining of the second strain transducer on load value come it is true Fixed.
S72, Segway Human Transporter total load value be greater than the first preset threshold when, compare the load of the first strain transducer The size of the load value of value and the second strain transducer, if the load value of the first strain transducer is greater than the second strain transducer Load value then enters step S73, if the load value of the first strain transducer less than the load value of the second strain transducer, into Enter step S73/
In the present embodiment, it should be noted that when getting on the bus process, when the total load value of Segway Human Transporter is not more than first When preset threshold, then Segway Human Transporter remains static.And during rider's upper slide, first single foot-operated upper pedal An other foot is then packed up in one end (end A or the end B), and by the other end (end B or the end A) of the foot-operated upper pedal, first is answered The load value for becoming sensor is compared with the size of the load value of the second strain transducer, determines whether Segway Human Transporter is in Get on the bus process, wherein the first preset threshold be for determining that Segway Human Transporter is in the threshold value of first state during getting on the bus, First state is for indicating that rider is in process of getting on the bus.
S73, the first strain transducer load value be greater than the second strain transducer load value when, it is determined that electric sliding Wooden handcart is in car state on first, and driving motor generates electric braking force, and control Segway Human Transporter is in 0 speed state.
S73/, the first strain transducer load value less than the second strain transducer load value when, it is determined that it is electronic Scooter is in car state on second, and driving motor generates electric braking force, and control Segway Human Transporter is in 0 speed state.
In the present embodiment, it should be noted that the controller of Segway Human Transporter is according to the load value of the first strain transducer Load value driving motor less than the second strain transducer generates electric braking force, and control Segway Human Transporter is in 0 speed state, makes Segway Human Transporter is in as you were, prevents rider from malfunction is fallen down or occurred because losing center of gravity during upper slide Make.
S74, Segway Human Transporter be in first on car state when, the load value and second for comparing the first strain transducer are answered Become the size of the load value of sensor.
S75, the second strain transducer load value be greater than the first strain transducer load value when, it is determined that electric sliding Wooden handcart is in the second motion state, and the second motion state is for indicating that rider is in somatosensory motion state.
In the present embodiment, it should be noted that be in car state on first, and the second strain transducer in Segway Human Transporter Load value be greater than the first strain transducer load value when, then trigger Segway Human Transporter and be transferred to somatosensory motion state;If second The load value of strain transducer is not more than the load value of the first strain transducer, it is determined that Segway Human Transporter is got on the bus still in first State, driving motor generate electric braking force, and control Segway Human Transporter is in 0 speed state.
S74/, Segway Human Transporter be in second on car state when, compare the load value and second of the first strain transducer The size of the load value of strain transducer.
S75/, the first strain transducer load value be greater than the second strain transducer load value when, it is determined that it is electronic Scooter is in the second motion state, and the second motion state is for indicating that rider is in somatosensory motion state.
In the present embodiment, it should be noted that be in car state on second, and the first strain transducer in Segway Human Transporter Load value be greater than the second strain transducer load value when, then trigger Segway Human Transporter and be transferred to somatosensory motion state;If first The load value of strain transducer is not more than the load value of the second strain transducer, it is determined that Segway Human Transporter is got on the bus still in second State, driving motor generate electric braking force, and control Segway Human Transporter is in 0 speed state.
S76, when Segway Human Transporter is in the second motion state, answered according to the load value of the first strain transducer and second Become the load value control Segway Human Transporter movement of sensor.
In the present embodiment, it should be noted that when Segway Human Transporter is in somatosensory motion state, controller is according to first The load value of the load value of strain transducer and the second strain transducer calculates the center of gravity of rider, control Segway Human Transporter fortune It is dynamic, it can to control the acceleration or deceleration operation of Segway Human Transporter;Or it can be according to cell phone application or special-purpose assorted remote controler Control instruction, control Segway Human Transporter acceleration or deceleration operation.
Referring to Fig. 8, the embodiment of the invention also discloses a kind of control methods of Segway Human Transporter, are applied to above-mentioned electric sliding Wooden handcart, the control method specifically comprise the following steps:
S81, obtain the first strain transducer load value and the second strain transducer on load value, determine electric return board The total load value of vehicle.
In the present embodiment, it should be noted that the total load value of Segway Human Transporter is obtained by the first strain transducer The first support bracket U1 on load value and the second support bracket U2 for obtaining of the second strain transducer on load value come it is true Fixed.
S82, Segway Human Transporter total load value be greater than the first preset threshold when, compare the load of the first strain transducer The size of value and the load value of the second strain transducer, if the load value of the first strain transducer is greater than the second strain transducer Load value then enters step S83, if the load value of the first strain transducer less than the load value of the second strain transducer, into Enter step S83/
In the present embodiment, it should be noted that when getting on the bus process, when the total load value of Segway Human Transporter is not more than first When preset threshold, then Segway Human Transporter remains static.And during rider's upper slide, first single foot-operated upper pedal An other foot is then packed up in one end (end A or the end B), and by the other end (end B or the end A) of the foot-operated upper pedal, first is answered The load value for becoming sensor is compared with the size of the load value of the second strain transducer, determines whether Segway Human Transporter is in Get on the bus process, wherein the first preset threshold be for determining that Segway Human Transporter is in the threshold value of first state during getting on the bus, First state is for indicating that rider is in process of getting on the bus.
S83, the first strain transducer load value be greater than the second strain transducer load value when, it is determined that electric sliding Wooden handcart is in car state on first, and driving motor generates electric braking force, and control Segway Human Transporter is in 0 speed state.
S83/, the first strain transducer load value less than the second strain transducer load value when, it is determined that it is electronic Scooter is in car state on second, and driving motor generates electric braking force, and control Segway Human Transporter is in 0 speed state.
In the present embodiment, it should be noted that the controller of Segway Human Transporter is according to the load value of the first strain transducer Load value driving motor less than the second strain transducer generates electric braking force, and control Segway Human Transporter is in 0 speed state, makes Segway Human Transporter is in as you were, prevents rider from malfunction is fallen down or occurred because losing center of gravity during upper slide Make.
S84, when Segway Human Transporter is in car state on first, compare the total load value of Segway Human Transporter and preset with second The size of threshold value.
S85, Segway Human Transporter total load value be greater than the second preset threshold when, compare the load of the first strain transducer The size of the load value of value and the second strain transducer.
In the present embodiment, it should be noted that when the total load value of Segway Human Transporter is not more than the second preset threshold, then It does not drive the motor to generate driving force and electric braking force, controls the Segway Human Transporter and remain static.
S86, the second strain transducer load value be greater than the first strain transducer load value when, it is determined that electric sliding Wooden handcart is in the second motion state, and the second state is for indicating that rider is in somatosensory motion state.
In the present embodiment, it should be noted that be in car state on first, and the second strain transducer in Segway Human Transporter Load value be greater than the first strain transducer load value when, then trigger Segway Human Transporter and be transferred to somatosensory motion state;If second The load value of strain transducer is not more than the load value of the first strain transducer, it is determined that Segway Human Transporter is got on the bus still in first State, driving motor generate electric braking force, and control Segway Human Transporter is in 0 speed state.
S84/, when Segway Human Transporter is in car state on second, compare the total load value of Segway Human Transporter with second in advance If the size of threshold value.
S85/, when the total load value of Segway Human Transporter is greater than the second preset threshold, compare the negative of the first strain transducer The size of the load value of load value and the second strain transducer.
In the present embodiment, it should be noted that when the total load value of Segway Human Transporter is not more than the second preset threshold, then It does not drive the motor to generate driving force and electric braking force, controls the Segway Human Transporter and remain static.
S86/, the first strain transducer load value be greater than the second strain transducer load value when, it is determined that it is electronic Scooter is in the second motion state, and the second motion state is for indicating that rider is in somatosensory motion state.
In the present embodiment, it should be noted that be in car state on second, and the first strain transducer in Segway Human Transporter Load value be greater than the second strain transducer load value when, then trigger Segway Human Transporter and be transferred to somatosensory motion state;If first The load value of strain transducer is not more than the load value of the second strain transducer, it is determined that Segway Human Transporter is got on the bus still in second State, driving motor generate electric braking force, and control Segway Human Transporter is in 0 speed state.
S87, when Segway Human Transporter is in the second motion state, answered according to the load value of the first strain transducer and second Become the load value control Segway Human Transporter movement of sensor.
The size of S88, the total load value for comparing Segway Human Transporter and the second preset threshold.
S89, when the total load value of Segway Human Transporter is greater than the second preset threshold, then return step S87.
In the present embodiment, it should be noted that when the total load value of Segway Human Transporter is not more than the second preset threshold, then Driving motor does not generate driving force and electric braking force, and control Segway Human Transporter remains static.
In the present embodiment, it should be noted that when Segway Human Transporter is in somatosensory motion state, controller is according to first The load value of the load value of strain transducer and the second strain transducer calculates the center of gravity of rider, control Segway Human Transporter fortune It is dynamic, it can to control the acceleration or deceleration operation of Segway Human Transporter;Or it can be according to cell phone application or special-purpose assorted remote controler Control instruction, control Segway Human Transporter acceleration or deceleration operation.
The embodiment of the invention provides a kind of control methods of Segway Human Transporter, by the load value for obtaining strain transducer It determines the total load value on Segway Human Transporter, Segway Human Transporter state in which is determined according to total load value, so that rider When getting on the bus, motor can generate electric braking force, and control Segway Human Transporter is in 0 speed state, Segway Human Transporter is made to be in original Ground is motionless, prevents rider from falling down or malfunctioning because losing center of gravity during upper slide;In addition, according to electric sliding The load value of first strain transducer of wooden handcart and the load value of the second strain transducer, can control the fortune of Segway Human Transporter It is dynamic.
The present invention also discloses corresponding device on the basis of method disclosed above.
A kind of control device of Segway Human Transporter provided in an embodiment of the present invention is introduced below, needs to illustrate It is that the explanation of the control device in relation to the Segway Human Transporter can refer to the control method of Segway Human Transporter provided above, below And it does not repeat them here.
Referring to Fig. 9, the embodiment of the invention also discloses a kind of control device of Segway Human Transporter, which is specifically wrapped It includes as follows:
Acquisition module 91, the load value on load value and the second strain transducer for obtaining the first strain transducer, Determine the total load value of Segway Human Transporter;
Judgment module 92, for judging whether the total load value of Segway Human Transporter is greater than the first preset threshold;
Comparison module 93, when being greater than the first preset threshold for the total load value in the Segway Human Transporter, described in comparison The size of the load value of the load value of first strain transducer and second strain transducer;
First determining module 94 is greater than second strain transducer for the load value in first strain transducer Load value when, it is determined that the Segway Human Transporter is in car state on first, and driving motor generates electric braking force, described in control Segway Human Transporter is in 0 speed state;
Second determining module 95 is less than second strain transducer for the load value in first strain transducer Load value when, it is determined that the Segway Human Transporter is in car state on second, and driving motor generates electric braking force, described in control Segway Human Transporter is in 0 speed state;
First comparison module 96, for when the Segway Human Transporter is in car state on first, more described first to be answered Become the size of the load value of sensor and the load value of second strain transducer;
Third determining module 97 is greater than first strain transducer for the load value in second strain transducer Load value when, it is determined that the Segway Human Transporter is in the second motion state, and second state is for indicating the riding Person is in somatosensory motion state;
Second comparison module 98, for when the Segway Human Transporter is in car state on second, more described first to be answered Become the size of the load value of sensor and the load value of second strain transducer;
4th determining module 99 is greater than second strain transducer for the load value in first strain transducer Load value when, the Segway Human Transporter is in the second motion state, and second motion state is for indicating the rider In somatosensory motion state;
Control module 910, for being answered according to described first when the Segway Human Transporter is in second motion state The load value of the load value and second strain transducer that become sensor controls the Segway Human Transporter movement.
The control device of Segway Human Transporter provided by the invention can determine electricity by obtaining the load value of strain transducer Total load value on dynamic scooter, Segway Human Transporter state in which is determined according to total load value, so that rider is getting on the bus When, motor can generate electric braking force, and control Segway Human Transporter is in 0 speed state, and so that Segway Human Transporter is in as you were, Prevent rider from falling down or malfunctioning because losing center of gravity during upper slide;In addition, according to Segway Human Transporter The load value of the load value of first strain transducer and the second strain transducer can control the movement of Segway Human Transporter.
The embodiment of the invention also discloses a kind of control system of Segway Human Transporter, which includes: fixed setting The first support bracket the first strain transducer, be fixed at the second support bracket the second strain transducer, with first The controller that strain transducer and the second strain transducer are connected, in which:
First strain transducer is used to detect the load value of first support bracket;Second strain transducer is for detecting The load value of second support bracket.
Controller is used for:
The load value on the load value and the second strain transducer of the first strain transducer is obtained, determines Segway Human Transporter Total load value;
When the total load value of Segway Human Transporter is greater than the first preset threshold, compare the load value of the first strain transducer with The size of the load value of second strain transducer;
When the load value of the first strain transducer is greater than the load value of the second strain transducer, it is determined that Segway Human Transporter The car state on first, driving motor generate electric braking force, and control Segway Human Transporter is in 0 speed state;
The first strain transducer load value less than the second strain transducer load value when, it is determined that Segway Human Transporter The car state on second, driving motor generate electric braking force, and control Segway Human Transporter is in 0 speed state;
When Segway Human Transporter is in car state on first, the load value and the second strain for comparing the first strain transducer are passed The size of the load value of sensor;
When the load value of the second strain transducer is greater than the load value of the first strain transducer, it is determined that Segway Human Transporter In the second motion state, the second state is for indicating that rider is in somatosensory motion state;
When Segway Human Transporter is in car state on second, the load value and the second strain for comparing the first strain transducer are passed The size of the load value of sensor;
When the load value of the first strain transducer is greater than the load value of the second strain transducer, Segway Human Transporter is in the Two motion states, the second motion state is for indicating that rider is in somatosensory motion state;
When Segway Human Transporter is in the second motion state, passed according to the load value of the first strain transducer and the second strain The load value control Segway Human Transporter movement of sensor.
The control system of Segway Human Transporter provided by the invention can determine electricity by obtaining the load value of strain transducer Total load value on dynamic scooter, Segway Human Transporter state in which is determined according to total load value, so that rider is getting on the bus When, motor can generate electric braking force, and control Segway Human Transporter is in 0 speed state, and so that Segway Human Transporter is in as you were, Prevent rider from falling down or malfunctioning because losing center of gravity during upper slide;In addition, according to Segway Human Transporter The load value of the load value of first strain transducer and the second strain transducer can control the movement of Segway Human Transporter.
Electric scooter provided by the invention can support three kinds of general mode, free schema and remote control mode Working moulds Formula:
General mode: bicyclist can be accelerated forwardly by gesture stability slide plate, advance, slow down, can not backward, (explanation: should The antiskid function of mode combination the application narration is ridden instead of walk and the upper hand of beginner especially suitable for daily, without at the beginning of conventional skateboard Class hour is easy the problems such as falling down).
Free schema: bicyclist can be accelerated forwardly by gesture stability slide plate, advance, slow down, and accelerated backward, retreat, subtracted Speed, (explanation: this mode is fairly free playing method as the characteristics of MODE name, because of common electric slide plate turning radius It is bigger, it is needing to turn around etc. under occasions, is needing openr space, and in this mode, can directly commutate).
Remote control mode: rider can by cell phone application or special-purpose assorted remote controler, control slide plate be accelerated forwardly, advance, Slow down, accelerates backward, retreats, slows down, (explanation: this mode has been compatible with the Segway Human Transporter of remote control mode on the market, Ke Yirang The fan of remote control operation mode is liked to experience in part).
Above-mentioned Three models can carry out the switching of operating mode by the button above controller, can also pass through mobile phone APP or dedicated remote controler carry out the switching of operating mode.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row His property includes, so that including the article of a series of elements or equipment not only includes those elements, but also including not having There is the other element being expressly recited, or further includes for this article or the intrinsic element of equipment.Do not limiting more In the case where system, the element that is limited by sentence "including a ...", it is not excluded that including the article of above-mentioned element or setting There is also other identical elements in standby.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims (10)

1. a kind of anti-skidding guard method of Segway Human Transporter, which is characterized in that be applied to Segway Human Transporter, the Segway Human Transporter It include: to connect pedal, the first support bracket of wheel and the second support bracket, be fixed at the of first support bracket One strain transducer, the second strain transducer being fixed on second support bracket, first strain transducer It is connected respectively with the controller of the Segway Human Transporter with second strain transducer, this method comprises:
The load value on the load value and second strain transducer of first strain transducer is obtained, is determined described electronic The total load value of scooter;
When the total load value of the Segway Human Transporter is greater than the first preset threshold, it is determined that the Segway Human Transporter is in first State, the first state is for indicating that rider is in process of getting on the bus;
Electricity is generated according to the load value driving motor of the load value of first strain transducer and second strain transducer Brake force controls the Segway Human Transporter and is in 0 speed state.
2. anti-skidding guard method according to claim 1, which is characterized in that further include:
It is not more than first preset threshold, and the total load of the Segway Human Transporter in the total load value of the Segway Human Transporter When value is greater than the second preset threshold, it is determined that the Segway Human Transporter is still in first state, wherein second preset threshold Less than first preset threshold.
3. anti-skidding guard method according to claim 1, which is characterized in that the total load in the Segway Human Transporter When value is greater than the first preset threshold, it is determined that the Segway Human Transporter is in first state, and the first state is ridden for indicating The person of multiplying is in process of getting on the bus, comprising:
When the total load value of the Segway Human Transporter is greater than the first preset threshold, the load of first strain transducer The size of value and the load value of second strain transducer;
When the load value of first strain transducer is greater than the load value of second strain transducer, it is determined that the electricity Dynamic scooter is in car state on first;
When the load value of first strain transducer is less than the load value of second strain transducer, it is determined that the electricity Dynamic scooter is in car state on second.
4. a kind of anti-skid protector of Segway Human Transporter, which is characterized in that be applied to Segway Human Transporter, the Segway Human Transporter It include: to connect pedal, the first support bracket of wheel and the second support bracket, be fixed at the of first support bracket One strain transducer, the second strain transducer being fixed on second support bracket, first strain transducer It is connected respectively with the controller of the Segway Human Transporter with second strain transducer, which includes:
Acquiring unit, the load on load value and second strain transducer for obtaining first strain transducer Value, determines the total load value of the Segway Human Transporter;
Judging unit, for judging whether the total load value of the Segway Human Transporter is greater than the first preset threshold;
Determination unit, when being greater than the first preset threshold for the total load value in the Segway Human Transporter, it is determined that described electronic Scooter is in first state, and the first state is for indicating that rider is in process of getting on the bus;
Control unit, for being driven according to the load value of first strain transducer and the load value of second strain transducer Dynamic motor generates electric braking force, controls the Segway Human Transporter and is in 0 speed state.
5. anti-skid protector according to claim 4, which is characterized in that the determination unit is also used to:
It is not more than first preset threshold, and the total load of the Segway Human Transporter in the total load value of the Segway Human Transporter When value is greater than the second preset threshold, it is determined that the Segway Human Transporter is still in first state, wherein second preset threshold Less than first preset threshold.
6. a kind of control method of Segway Human Transporter, which is characterized in that be applied to Segway Human Transporter, the Segway Human Transporter packet Include: connection pedal, the first support bracket of wheel and the second support bracket are fixed at the first of first support bracket Strain transducer, the second strain transducer being fixed on second support bracket, first strain transducer and Second strain transducer is connected with the controller of the Segway Human Transporter respectively, which includes:
The load value on the load value and second strain transducer of first strain transducer is obtained, is determined described electronic The total load value of scooter;
When the total load value of the Segway Human Transporter is greater than the first preset threshold, the load of first strain transducer The size of value and the load value of second strain transducer;
When the load value of first strain transducer is greater than the load value of second strain transducer, it is determined that the electricity Dynamic scooter is in car state on first, and driving motor generates electric braking force, controls the Segway Human Transporter and be in 0 speed shape State;
When the load value of first strain transducer is less than the load value of second strain transducer, it is determined that the electricity Dynamic scooter is in car state on second, and driving motor generates electric braking force, controls the Segway Human Transporter and be in 0 speed shape State;
When the Segway Human Transporter is in car state on first, judge whether the load value of first strain transducer is greater than The load value of second strain transducer;
When the load value of second strain transducer is greater than the load value of first strain transducer, it is determined that the electricity Dynamic scooter is in the second motion state, and second motion state is for indicating that rider is in somatosensory motion state;
When the Segway Human Transporter is in car state on second, the load value of first strain transducer and described the The size of the load value of two strain transducers;
When the load value of first strain transducer is greater than the load value of second strain transducer, the electric return board Vehicle is in the second motion state, and second motion state is for indicating that the rider is in somatosensory motion state;
When the Segway Human Transporter is in second motion state, according to the load value of first strain transducer and institute The load value for stating the second strain transducer controls the Segway Human Transporter movement.
7. control method according to claim 6, which is characterized in that be in car state on first in the Segway Human Transporter Or on second when car state, further includes:
Judge whether the total load value of the Segway Human Transporter is greater than the second preset threshold, if so, according to first strain The load value of the load value of sensor and second strain transducer triggers the Segway Human Transporter and enters second movement State;
If it is not, the motor is not driven then to generate driving force and electric braking force, controls the Segway Human Transporter and remain static.
8. control method according to claim 6, which is characterized in that be in second movement in the Segway Human Transporter When state, further includes:
Judge whether the total load value of the Segway Human Transporter is greater than the second preset threshold;
If so, the Segway Human Transporter is still in second motion state, according to the load of first strain transducer The load value of value and second strain transducer controls the Segway Human Transporter movement;
If it is not, the motor is not driven then to generate driving force and electric braking force, controls the Segway Human Transporter and be in static shape State.
9. a kind of control device of Segway Human Transporter, which is characterized in that be applied to Segway Human Transporter, the Segway Human Transporter packet Include: connection pedal, the first support bracket of wheel and the second support bracket are fixed at the first of first support bracket Strain transducer, the second strain transducer being fixed on second support bracket, first strain transducer and Second strain transducer is connected with the controller of the Segway Human Transporter respectively, which includes:
Obtain module, the load on load value and second strain transducer for obtaining first strain transducer Value, determines the total load value of the Segway Human Transporter;
First judgment module, for judging whether the total load value of the Segway Human Transporter is greater than the first preset threshold;
Second judgment module, when being greater than the first preset threshold for the total load value in the Segway Human Transporter, more described the The size of the load value of the load value of one strain transducer and second strain transducer;
First determining module is greater than the load of second strain transducer for the load value in first strain transducer When value, it is determined that the Segway Human Transporter is in car state on first, and driving motor generates electric braking force, controls the electric sliding Wooden handcart is in 0 speed state;
Second determining module is less than the load of second strain transducer for the load value in first strain transducer When value, it is determined that the Segway Human Transporter is in car state on second, and driving motor generates electric braking force, controls the electric sliding Wooden handcart is in 0 speed state;
First comparison module is used for when the Segway Human Transporter is in car state on first, first strain sensing The size of the load value of the load value of device and second strain transducer;
Third determining module is greater than the load of first strain transducer for the load value in second strain transducer When value, it is determined that the Segway Human Transporter is in the second motion state, and second motion state is for indicating that rider is in Somatosensory motion state;
Second comparison module is used for when the Segway Human Transporter is in car state on second, first strain sensing The size of the load value of the load value of device and second strain transducer;
4th determining module is greater than the load of second strain transducer for the load value in first strain transducer When value, the Segway Human Transporter is in the second motion state, and second motion state is for indicating that the rider is in body Nyctinastic movement state;
Control module is used for when the Segway Human Transporter is in second motion state, according to first strain sensing The load value of the load value of device and second strain transducer controls the Segway Human Transporter movement.
10. a kind of control system of Segway Human Transporter, which is characterized in that be applied to Segway Human Transporter, the Segway Human Transporter packet Include: connection pedal, the first support bracket of wheel and the second support bracket are fixed at the first of first support bracket Strain transducer, the second strain transducer being fixed on second support bracket, first strain transducer and Second strain transducer is connected with the controller of the Segway Human Transporter respectively, which includes: to be fixed at First strain transducer of first support bracket, the second strain transducer for being fixed at second support bracket, The controller being connected with first strain transducer and second strain transducer, in which:
First strain transducer is used to detect the load value of first support bracket;
Second strain transducer is used to detect the load value of second support bracket;
The controller is used for:
The load value on the load value and second strain transducer of first strain transducer is obtained, is determined described electronic The total load value of scooter;
When the total load value of the Segway Human Transporter is greater than the first preset threshold, the load of first strain transducer is judged Whether value is greater than the load value of second strain transducer;
When the load value of first strain transducer is greater than the load value of second strain transducer, it is determined that the electricity Dynamic scooter is in car state on first, and driving motor generates electric braking force, controls the Segway Human Transporter and be in 0 speed shape State;
When the load value of first strain transducer is less than the load value of second strain transducer, it is determined that the electricity Dynamic scooter is in car state on second, and driving motor generates electric braking force, controls the Segway Human Transporter and be in 0 speed shape State;
When the Segway Human Transporter is in car state on first, the load value of first strain transducer and described the The size of the load value of two strain transducers;
When the load value of second strain transducer is greater than the load value of first strain transducer, it is determined that the electricity Dynamic scooter is in the second motion state, and second motion state is for indicating that rider is in somatosensory motion state;
When the Segway Human Transporter is in car state on second, the load value of first strain transducer and described the The size of the load value of two strain transducers;
When the load value of first strain transducer is greater than the load value of second strain transducer, the electric return board Vehicle is in the second motion state, and second motion state is for indicating that the rider is in somatosensory motion state;
When the Segway Human Transporter is in second motion state, according to the load value of first strain transducer and institute The load value for stating the second strain transducer controls the Segway Human Transporter movement.
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