CN105311819A - Method for controlling split type electric skateboards - Google Patents
Method for controlling split type electric skateboards Download PDFInfo
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- CN105311819A CN105311819A CN201410376066.0A CN201410376066A CN105311819A CN 105311819 A CN105311819 A CN 105311819A CN 201410376066 A CN201410376066 A CN 201410376066A CN 105311819 A CN105311819 A CN 105311819A
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- China
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- freewheel
- reference conditions
- driving wheel
- power unit
- slide plate
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Abstract
The invention provides a method for controlling split type electric skateboards. A user respectively treads on each split type electric skateboard by the corresponding foot, each split type electric skateboard mainly comprises a control unit, a power unit, a driving wheel and a free wheel, each control unit is connected with the corresponding power unit and controls the power unit, each power unit is connected with the corresponding driving wheel and controls the driving wheel, power can be provided for each split type electric skateboard by the corresponding driving wheel, and each free wheel can freely slide without being driven by the corresponding power unit. The method is characterized in that the two feet of the user move to drive the free wheels to rotate, movement states of each free wheel are detected by the corresponding control unit, and movement states of each driving wheel are controlled by the corresponding power unit according to the movement states of the corresponding free wheel, so that the power can be provided for each split type electric skateboard by the corresponding driving wheel along with the movement states of the corresponding free wheel; reference conditions A are obtained by means of computing according to the instant movement states of each free wheel after preset conditions A are met by the rotational directions and frequencies, which are detected by the corresponding control unit, of the free wheel and preset conditions B are met by the rotational speeds of the free wheel, and the rotational directions, speeds and acceleration of each driving wheel can be controlled by the corresponding power unit according to the corresponding reference conditions A.
Description
Technical field
The present invention relates to a kind of control method of Split type electrical slide plate.
Background technology
The Volume control of the electric return board of current remote control is: remote controller sends control signal wirelessly, and cost is higher and be easily disturbed, and remote controller takies human sources in addition, and easily loses.
Summary of the invention
In order to solve the problem, the present invention proposes a kind of control method of Split type electrical slide plate, to realize the startup of electric return board, acceleration, deceleration, brake, stopping, making control procedure simple and stable, even and if still can continue to use this electric return board without remote controller.
To achieve these goals, the control method of a kind of electric return board of the present invention has following feature:
A kind of control method of Split type electrical slide plate, when Split type electrical slide plate uses, every pin steps on one, this electric return board mainly comprises: control unit, power unit, driving wheel, freewheel, connected mode is: control unit connects and controls power unit, power unit connects and controls driving wheel, driving wheel provides power for this slide plate, freewheel can be free to slide, do not drive by power unit, the feature of this control method is: the both feet motion of people drives freewheel to rotate, control unit detects the motion state of freewheel, power unit controls the motion state of driving wheel according to the motion state of freewheel, driving wheel is made to follow the motion state of freewheel, for this slide plate provides power.
After described control unit detects that the rotation direction of freewheel and number of times reach predetermined condition A, the velocity of rotation of freewheel reaches predetermined condition B, the motion state instant according to freewheel calculates reference conditions A, according to this reference conditions A, power unit controls the rotation direction of driving wheel, speed and acceleration.
Predetermined condition A: at least comprise: at the appointed time, the number of times requirement that freewheel rotates to same direction.
Predetermined condition B: at least comprise: the upper and lower bound of regulation freewheel velocity of rotation, and whether upgrade the regulation of reference conditions A.
Reference conditions A: control unit calculates one group of data according to the instant motion state of freewheel, reference conditions A are the functions of these group data.
The control method of described a kind of Split type electrical slide plate, during startup, the both feet motion of people drives freewheel to rotate, first control unit judges: at the appointed time, whether the number of times that freewheel rotates to same direction reaches predetermined condition A, if do not reach predetermined condition A, then the number of times that rotates to same direction of accumulation calculating freewheel again within this stipulated time, until reach predetermined condition A; If reach predetermined condition A, and the speed of freewheel is between predetermined condition B set upper limit and lower limit, then instant according to freewheel motion state calculates reference conditions A, if do not meet predetermined condition B, then again return " calculating freewheel speed ", until reach predetermined condition B.
Described reference conditions A is not only sent to power unit, also return " calculating freewheel speed " link simultaneously, the instant results contrast of link therewith, and judge that reference conditions A is the need of renewal according to the regulation of predetermined condition B, upgrade if do not need, then reference conditions A remains unchanged, and if desired upgrades, the motion state that then control unit is instant according to freewheel recalculates reference conditions A, and reference conditions A changes and is applied to power unit; Reference conditions A can be recycled and compare, and upgrades or keep according to the regulation of predetermined condition B.
After described driving wheel starts, or judge whether the rotation direction of driving wheel and speed meet reference conditions A, and its judgement comprises following process:
If do not meet reference conditions A, then return " power unit makes driving wheel rotate ", the duty of motivation of adjustment unit, until meet reference conditions A;
If meet reference conditions A, then wait for that reference conditions A upgrades, waiting time then keeps the motion state of driving wheel;
Or in the power unit described in judging, whether the rotation direction of drive motors and speed meet reference conditions A, and its judgement comprises following process:
If do not meet reference conditions A, then adjust the duty of drive motors, until meet reference conditions A;
If meet reference conditions A, then wait for that reference conditions A upgrades, waiting time then keeps the duty of motor.
The control method of described a kind of Split type electrical slide plate, when need slow down or stop, method one be: driving wheel lifts in foot, only freewheel kiss the earth, and slide plate runs out of steam, now coast, slows down gradually or stops; Method two is: freewheel lifts in foot, only driving wheel kiss the earth, now freewheel is by inertial rotation, speed reduces gradually or stops, the control unit motion state instant according to freewheel calculates reference conditions A, and according to this reference conditions A, power unit controls rotation direction and the speed of driving wheel, make driving wheel follow the movement tendency of freewheel, slow down gradually or stop.
The control method of described a kind of Split type electrical slide plate, when needing to accelerate, human body is to slide plate power, make the faster rotational speed of freewheel, according to the regulation of predetermined condition B, the control unit motion state instant according to freewheel calculates reference conditions A, according to this reference conditions A, power unit controls rotation direction and the speed of driving wheel, and the movement tendency making driving wheel follow freewheel accelerates.
The control method of described a kind of Split type electrical slide plate, the control unit of slide plate comprises spacing module, the distance that the electric return board that spacing module can calculate bipod separates, the first brake method is: increase the distance that bipod separates, this distance is made to be greater than control unit setting value, and the time kept exceedes the time of control unit setting, even control unit power unit enters braking state, electric return board stops rapidly; The second brake method is: foot controls the angle of inclination of slide plate, and control unit can detect this angle of inclination, and when this angle of inclination exceedes the setting value of control unit, namely enter braking state, slide plate stops rapidly; After the start of split type slide plate, the spacing module of both feet can be connected to each other and communicate, and makes pair of slide understand mutually ruuning situation each other, at least comprises the speed to square slide, direction, the pressure born, acceleration, electricity.
The invention has the beneficial effects as follows: can control Split type electrical slide plate more freely, starting, turn to, accelerate, slow down, stop, in brake etc. reaction more reliable, increase safety coefficient.
Accompanying drawing explanation
Below in conjunction with the drawings and the specific embodiments the present invention done and further describe in detail.
Fig. 1 is preferred embodiment of the present invention schematic diagram.
Fig. 2 is preferred embodiment of the present invention control method flow chart A.
Fig. 3 is preferred embodiment of the present invention control method flow chart B.
Symbol description:
1 freewheel
2 magnet
3 Hall elements
4 spacing modules
5 data processing units
6 power units
7 driving wheels
10 control units.
Detailed description of the invention
As shown in Figure 1, preferred embodiment of the present invention structural representation, when Split type electrical slide plate uses, every pin steps on one, because left and right leg structure is consistent, therefore, only for a slide plate, this electric return board mainly comprises: 1 freewheel, 10 control units, 6 power units, 7 driving wheels, wherein, 10 control units comprise: 2 magnet, 3 Hall elements, 4 spacing modules, 5 data processing units, 6 power units comprise drive circuit and motor.Its connected mode is, control unit connects and controls power unit, power unit connects and controls driving wheel, driving wheel provides power for this slide plate, freewheel can freely rotate, do not drive by power unit, the control mode of this electric return board is: be inlaid with magnet in freewheel, this freewheel side is provided with Hall element, when the both feet motion of people drives freewheel to roll, the magnet rotors of interior edge, Hall element detects the magnetic field of change, produce pulse signal, this signal is for judging rotation direction and the speed of freewheel, after data processing unit receives the rotation direction of freewheel and rate signal that Hall element exports, first judge: at the appointed time, whether the number of times that freewheel rotates to same direction reaches predetermined condition A, if do not reach predetermined condition A, the then number of times that rotates to same direction of accumulation calculating freewheel again within this stipulated time, until reach predetermined condition A, if reach predetermined condition A, and the speed of freewheel is between predetermined condition B set upper limit and lower limit, then instant according to freewheel motion state calculates reference conditions A, if do not meet predetermined condition B, then again return " calculating freewheel speed ", until reach predetermined condition B.
After the data processing unit motion state instant according to freewheel calculates reference conditions A, reference conditions A delivers to power unit, program returns " calculating freewheel speed " link simultaneously, the instant results contrast of link therewith, and judge that reference conditions A is the need of renewal according to the regulation of predetermined condition B, upgrade if do not need, then reference conditions A remains unchanged, if desired upgrade, the motion state that then data processing unit is instant according to freewheel recalculates reference conditions A, and reference conditions A changes and is applied to power unit; Reference conditions A can be recycled and compare, and carries out keeping or upgrading according to the regulation of predetermined condition B.
Power unit starts driving wheel according to reference conditions A, after driving wheel starts, or judges whether the rotation direction of driving wheel and speed meet reference conditions A, and its judgement comprises following process:
If do not meet reference conditions A, then return " power unit makes driving wheel rotate ", the duty of motivation of adjustment unit, until meet reference conditions A;
If meet reference conditions A, then wait for that reference conditions A upgrades, waiting time then keeps the motion state of driving wheel;
Or in the power unit described in judging, whether the rotation direction of drive motors and speed meet reference conditions A, and its judgement comprises following process:
If do not meet reference conditions A, then adjust the duty of drive motors, until meet reference conditions A;
If meet reference conditions A, then wait for that reference conditions A upgrades, waiting time then keeps the duty of motor.
When need slow down or stop, retarding method one be: driving wheel lifts in foot, only freewheel kiss the earth, and slide plate runs out of steam, now coast, slows down gradually or stops, retarding method two is: freewheel lifts in foot, only driving wheel kiss the earth, now freewheel is by inertial rotation, known technological means can be utilized, accelerate the moderating process of freewheel, the speed of freewheel reduces gradually or stops, after Hall element exports the reduce-speed sign of freewheel, according to the regulation of predetermined condition B, the data processing unit motion state instant according to freewheel calculates reference conditions A, according to this new reference conditions A, power unit controls rotation direction and the speed of driving wheel, driving wheel is made to follow the movement tendency of freewheel, slow down gradually or stop, when needing to accelerate, human body is to slide plate power, make the faster rotational speed of freewheel, after Hall element exports the signal for faster of freewheel, according to the regulation of predetermined condition B, the data processing unit motion state instant according to freewheel calculates reference conditions A, according to this new reference conditions A, power unit controls rotation direction and the speed of driving wheel, and the movement tendency making driving wheel follow freewheel accelerates, when needing brake, the first brake method is: increase the distance that bipod separates, make this distance be greater than control unit setting value, and the time kept exceedes the time of control unit setting, even control unit power unit enters braking state, electric return board stops rapidly, the second brake method is: foot controls the angle of inclination of slide plate, and control unit can detect this angle of inclination, and when this angle of inclination exceedes the setting value of control unit, namely enter braking state, slide plate stops rapidly.
The present invention will be described in order to clearer, describes in detail as follows to the whole flow process of control method.
As shown in Figure 2, preferred embodiment of the present invention flow chart A.When freewheel starts to rotate, namely start " calculating freewheel rotation direction and number of times ", judge whether reaching predetermined condition A subsequently, " if no (N) ", then return again cumulative " calculating freewheel number of revolutions ", " if being (Y) ", then enter " calculating freewheel speed " stage.Then judge whether this speed meets predetermined condition B, " if no (N) ", again return " calculating freewheel speed ", " if being (Y) ", the motion state that then data processing unit is instant according to freewheel calculates reference conditions A, and send to " power unit makes driving wheel rotate " with reference to condition A, simultaneously, link that reference conditions A returns " calculating freewheel speed ", the instant results contrast of link therewith, and judge that reference conditions A is the need of renewal according to the regulation of predetermined condition B, upgrade if do not need, then reference conditions A remains unchanged, if desired upgrade, the motion state that then data processing unit is instant according to freewheel recalculates reference conditions A, reference conditions A changes and is applied to power unit, reference conditions A can be recycled and compare, and carries out keeping or upgrading according to the regulation of predetermined condition B.Enter " power unit makes driving wheel rotate " after the stage, judge " whether driving wheel rotating speed, direction meet reference conditions A ", if " no (N) ", then return " power unit makes driving wheel rotate ", the duty of motivation of adjustment unit, until meet reference conditions A; " if being (Y) ", then wait for that reference conditions A upgrades, waiting time then keeps the motion state of driving wheel, make driving wheel smooth-going provide power for this slide plate.
As shown in Figure 3, preferred embodiment of the present invention flow chart B.Substantially identical with flow chart A, difference is judging that " whether driving wheel rotating speed, direction meet reference conditions A " changes to judgement " whether motor speed, direction meet reference conditions A ", " if no (N) ", return previous step " power unit the makes driving wheel rotate " stage, the duty of adjustment drive motors, " if being (Y) ", then wait for that reference conditions A upgrades, waiting time then keeps the motion state of motor.
Above embodiment shows and describes principal character of the present invention and advantage.The technical staff of the industry should understand, and above-described embodiment does not limit the present invention in any form, can change as required, and such as sensor is the job order etc. of electromagnetic type or photoelectric type, flow process.All employings: after control unit detects that the rotation direction of freewheel and speed reach predetermined condition; the motion state instant according to freewheel calculates reference conditions A; according to this reference conditions A; power unit controls rotation direction and the speed of driving wheel; the movement tendency making driving wheel follow freewheel provides the control method of power for slide plate, all falls within protection scope of the present invention.
Claims (9)
1. the control method of a Split type electrical slide plate, when Split type electrical slide plate uses, every pin steps on one, this electric return board mainly comprises: control unit, power unit, driving wheel, freewheel, connected mode is: control unit connects and controls power unit, power unit connects and controls driving wheel, driving wheel provides power for this slide plate, freewheel can freely rotate, do not drive by power unit, the feature of this control method is: the both feet motion of people drives freewheel to rotate, control unit detects the motion state of freewheel, power unit controls the motion state of driving wheel according to the motion state of freewheel, driving wheel is made to follow the motion state of freewheel, for this slide plate provides power.
2. the control method of a kind of Split type electrical slide plate as shown in claim 1, it is characterized in that: after described control unit detects that the rotation direction of freewheel and number of times reach predetermined condition A, the velocity of rotation of freewheel reaches predetermined condition B, the motion state instant according to freewheel calculates reference conditions A, according to this reference conditions A, power unit controls the rotation direction of driving wheel, speed and acceleration.
3. the control method of a kind of Split type electrical slide plate as shown in claim 1 or 2, it is characterized in that: during startup, the both feet motion of people drives freewheel to rotate, first control unit judges: at the appointed time, whether the number of times that freewheel rotates to same direction reaches predetermined condition A, if do not reach predetermined condition A, then the number of times that rotates to same direction of accumulation calculating freewheel again within this stipulated time, until reach predetermined condition A; If reach predetermined condition A, and the speed of freewheel is between predetermined condition B set upper limit and lower limit, then instant according to freewheel motion state calculates reference conditions A, if do not meet predetermined condition B, then again return " calculating freewheel speed ", until reach predetermined condition B.
4. the control method of a kind of Split type electrical slide plate as shown in claim 1 or 2, it is characterized in that: described reference conditions A is not only sent to power unit, also return " calculating freewheel speed " link simultaneously, the instant results contrast of link therewith, and judge that reference conditions A is the need of renewal according to the regulation of predetermined condition B, upgrade if do not need, then reference conditions A remains unchanged, if desired upgrade, the motion state that then control unit is instant according to freewheel recalculates reference conditions A, and reference conditions A changes and is applied to power unit; Reference conditions A can be recycled and compare, and upgrades or keep according to the regulation of predetermined condition B.
5. the control method of a kind of Split type electrical slide plate as shown in claim 4, is characterized in that: after described driving wheel starts, or judges whether the rotation direction of driving wheel and speed meet reference conditions A, and its judgement comprises following process:
If do not meet reference conditions A, then return " power unit makes driving wheel rotate ", the duty of motivation of adjustment unit, until meet reference conditions A;
If meet reference conditions A, then wait for that reference conditions A upgrades, waiting time then keeps the motion state of driving wheel;
Or in the power unit described in judging, whether the rotation direction of drive motors and speed meet reference conditions A, and its judgement comprises following process:
If do not meet reference conditions A, then adjust the duty of drive motors, until meet reference conditions A;
If meet reference conditions A, then wait for that reference conditions A upgrades, waiting time then keeps the duty of motor.
6. the control method of a kind of Split type electrical slide plate as claimed in claim 4, it is characterized in that: when need slow down or stop, method one is: driving wheel lifts in foot, only freewheel kiss the earth, slide plate runs out of steam, now coast, slows down gradually or stops; Method two is: freewheel lifts in foot, only driving wheel kiss the earth, now freewheel is by inertial rotation, speed reduces gradually or stops, the control unit motion state instant according to freewheel calculates reference conditions A, and according to this reference conditions A, power unit controls rotation direction and the speed of driving wheel, make driving wheel follow the movement tendency of freewheel, slow down gradually or stop.
7. the control method of a kind of Split type electrical slide plate as claimed in claim 4, it is characterized in that: when needing to accelerate, human body is to slide plate power, make the faster rotational speed of freewheel, according to the regulation of predetermined condition B, the control unit motion state instant according to freewheel calculates reference conditions A, according to this reference conditions A, power unit controls rotation direction and the speed of driving wheel, and the movement tendency making driving wheel follow freewheel accelerates.
8. the control method of a kind of Split type electrical slide plate as claimed in claim 1, it is characterized in that: the control unit of slide plate comprises spacing module, the distance that the electric return board that spacing module can calculate bipod separates, during brake, increase the distance that bipod separates, make this distance be greater than control unit setting value, and the time kept exceedes the time of control unit setting, even control unit power unit enters braking state, electric return board stops rapidly.
9. the control method of a kind of Split type electrical slide plate as described in claim 1 or 8, it is characterized in that: after this split type electric return board start, the spacing module of both feet can be connected to each other and communicate, pair of slide is made to understand mutually ruuning situation each other, at least comprise the speed to square slide, direction, the pressure born, acceleration, electricity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410376066.0A CN105311819A (en) | 2014-08-02 | 2014-08-02 | Method for controlling split type electric skateboards |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410376066.0A CN105311819A (en) | 2014-08-02 | 2014-08-02 | Method for controlling split type electric skateboards |
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| Publication Number | Publication Date |
|---|---|
| CN105311819A true CN105311819A (en) | 2016-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410376066.0A Pending CN105311819A (en) | 2014-08-02 | 2014-08-02 | Method for controlling split type electric skateboards |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108273258A (en) * | 2018-01-24 | 2018-07-13 | 纳恩博（北京）科技有限公司 | Electric running equipment |
| CN109107141A (en) * | 2017-06-22 | 2019-01-01 | 卓楷涵 | Electric carrier and electric carrier control method |
| US11406890B1 (en) | 2017-08-25 | 2022-08-09 | David Jackson | Skateboard assembly |
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| US20040145141A1 (en) * | 2003-01-23 | 2004-07-29 | The Electric Transportation Company, Llc | Vehicle hinge assembly |
| CN2728574Y (en) * | 2004-06-22 | 2005-09-28 | 南京科斯达机电制造有限公司 | Electric skateboard |
| CN202161781U (en) * | 2011-06-10 | 2012-03-14 | 嘉应学院 | Electric skateboard remotely controlled by voice |
| CN103481991A (en) * | 2012-06-11 | 2014-01-01 | 刘岗 | Compact type electromobile |
| CN203469429U (en) * | 2013-10-08 | 2014-03-12 | 吴凤松 | Split type electric skateboard |
| CN203694569U (en) * | 2014-02-14 | 2014-07-09 | 上海创绘机器人科技有限公司 | Control system for electric skateboard |
-
2014
- 2014-08-02 CN CN201410376066.0A patent/CN105311819A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040145141A1 (en) * | 2003-01-23 | 2004-07-29 | The Electric Transportation Company, Llc | Vehicle hinge assembly |
| CN2728574Y (en) * | 2004-06-22 | 2005-09-28 | 南京科斯达机电制造有限公司 | Electric skateboard |
| CN202161781U (en) * | 2011-06-10 | 2012-03-14 | 嘉应学院 | Electric skateboard remotely controlled by voice |
| CN103481991A (en) * | 2012-06-11 | 2014-01-01 | 刘岗 | Compact type electromobile |
| CN203469429U (en) * | 2013-10-08 | 2014-03-12 | 吴凤松 | Split type electric skateboard |
| CN203694569U (en) * | 2014-02-14 | 2014-07-09 | 上海创绘机器人科技有限公司 | Control system for electric skateboard |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109107141A (en) * | 2017-06-22 | 2019-01-01 | 卓楷涵 | Electric carrier and electric carrier control method |
| CN109107141B (en) * | 2017-06-22 | 2020-08-18 | 卓楷涵 | Electric carrier and electric carrier control method |
| US11406890B1 (en) | 2017-08-25 | 2022-08-09 | David Jackson | Skateboard assembly |
| CN108273258A (en) * | 2018-01-24 | 2018-07-13 | 纳恩博（北京）科技有限公司 | Electric running equipment |
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Application publication date: 20160210 |