CN105438358B - Scooter method for folding and device - Google Patents
Scooter method for folding and device Download PDFInfo
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- CN105438358B CN105438358B CN201510850295.6A CN201510850295A CN105438358B CN 105438358 B CN105438358 B CN 105438358B CN 201510850295 A CN201510850295 A CN 201510850295A CN 105438358 B CN105438358 B CN 105438358B
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- scooter
- angle
- wheel
- travel speed
- deviation angle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
- B62K15/006—Collapsible or foldable cycles the frame being foldable
Abstract
The disclosure discloses a kind of scooter method for folding and device, belongs to automatic control technology field.The described method includes：Obtain the deviation angle of the front-wheel of scooter；Obtain the travel speed of the scooter；When the deviation angle is in the range of predetermined angle, and the travel speed is less than pre-set velocity, scooter described in auto-folder.The disclosure solves the problem of user's hand foldable scooter being needed in correlation technique, folding efficiency is low；The folding mode of simplified scooter is reached, has improved folding efficiency, and then improve the technique effect of user experience.
Description
Technical field
This disclosure relates to automation field, more particularly to a kind of scooter method for folding and device.
Background technology
With the development of science and technology, more and more short distance walking-replacing tools enter people’s lives, such as scooter.Slide plate
Vehicle is light-weight also with compact structure outside having the advantages of saving energy, easy to operate and driving is safer, can roll over
It is folded, the advantages that being easy to carry about with one.
The content of the invention
In order to which correlation technique middle slide plate vehicle is overcome to need hand foldable, the problem of folding efficiency is low, the embodiment of the present disclosure carries
A kind of scooter method for folding and device are supplied.The technical solution is as follows：
According to the embodiment of the present disclosure in a first aspect, providing a kind of scooter method for folding, this method includes：
Obtain the deviation angle of the front-wheel of scooter；
Obtain the travel speed of scooter；
When deviation angle is in the range of predetermined angle, and travel speed is less than pre-set velocity, auto-folder scooter.
Optionally, the travel speed of scooter is obtained, including：
The travel speed of scooter is obtained by velocity sensor；
Alternatively,
Operating range of the scooter in preset time period is obtained by location technology, according to operating range and it is default when
Between section obtain scooter travel speed.
Optionally, predetermined angle scope is the angle model that scooter deviation angle of front-wheel in normally travel is not up to
It encloses.
Optionally, when deviation angle is in the range of predetermined angle, and travel speed is less than pre-set velocity, auto-folder is slided
Wooden handcart, including：
Deviation angle is detected whether in the range of predetermined angle；
If in the range of predetermined angle, whether travel speed is detected less than pre-set velocity；
If less than pre-set velocity, auto-folder scooter.
Optionally, auto-folder scooter, including：
The automatic pedal and trailing wheel for packing up scooter；
Alternatively,
Handlebar in scooter described in automatic retracted and the upright bar for connecting the front-wheel and the handlebar.
Optionally, which still further comprises：
When the deviation angle of front-wheel is less than angle threshold, Automatic-expanding scooter.
According to the second aspect of the embodiment of the present disclosure, a kind of folding device of scooter is provided, which includes：
Angle acquisition module is configured as obtaining the deviation angle of the front-wheel of scooter；
Speed acquiring module is configured as obtaining the travel speed of scooter；
Module is folded, is configured as the deviation angle of angle acquisition module acquisition in the range of predetermined angle, and speed
When the travel speed that acquisition module obtains is less than pre-set velocity, auto-folder scooter.
Optionally, speed acquiring module is additionally configured to：
The travel speed of scooter is obtained by velocity sensor；
Alternatively,
Operating range of the scooter in preset time period is obtained by location technology, according to operating range and it is default when
Between section obtain scooter travel speed.
Optionally, predetermined angle scope is the angle model that scooter deviation angle of front-wheel in normally travel is not up to
It encloses.
Optionally, module is folded, including：
Angle detection sub-module is configured as detection deviation angle whether in the range of predetermined angle；
Velocity measuring submodule is configured as angle detection sub-module and detects deviation angle in predetermined angle scope
It is interior, then whether travel speed is detected less than pre-set velocity；
Submodule is folded, velocity measuring submodule is configured as and detects that travel speed is less than pre-set velocity, then automatically
Folding scooter.
Optionally, module is folded, is configured as：
The automatic pedal and trailing wheel for packing up scooter；
Alternatively,
Handlebar in scooter described in automatic retracted and the upright bar for connecting the front-wheel and the handlebar.
Optionally, which still further comprises：
Module is unfolded, is configured as when the deviation angle of front-wheel is less than angle threshold, Automatic-expanding scooter.
According to the third aspect of the embodiment of the present disclosure, a kind of folding device of scooter is provided, which includes：
Processor；
For storing the memory of processor-executable instruction；
Wherein, which is configured as：
Obtain the deviation angle of the front-wheel of scooter；
Obtain the travel speed of scooter；
When deviation angle is in the range of predetermined angle, and travel speed is less than pre-set velocity, auto-folder scooter.
The technical solution that the embodiment of the present disclosure provides can include the following benefits：
By the deviation angle of front-wheel and the travel speed of scooter for obtaining scooter, when the front-wheel for getting scooter
Deviation angle in the range of predetermined angle and the travel speed of scooter be less than pre-set velocity when, auto-folder scooter；Solution
User's hand foldable scooter is needed in correlation technique of having determined, the problem of folding efficiency is low；The folding of simplified scooter is reached
Mode improves folding efficiency, and then improves the technique effect of user experience.
It should be appreciated that above general description and following detailed description is only exemplary, this can not be limited
It is open.
Description of the drawings
Attached drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and for explaining the principle of the disclosure together with specification.
Fig. 1 is a kind of schematic diagram of the scooter exemplified according to exemplary partial implementation；
Fig. 2 is the flow chart according to a kind of scooter method for folding shown in an exemplary embodiment；
Fig. 3 A are a kind of flow charts of the scooter method for folding shown according to another exemplary embodiment；
Fig. 3 B are the schematic diagrames of the deviation angle of the front-wheel of the scooter shown according to another exemplary embodiment；
Fig. 3 C and Fig. 3 D are the schematic diagrames of two kinds of folding modes of the scooter shown according to another exemplary embodiment；
Fig. 3 E are the flow charts of another the scooter method for folding shown according to another exemplary embodiment；
Fig. 4 is the block diagram according to a kind of folding device of scooter shown in an exemplary embodiment；
Fig. 5 is a kind of block diagram of the folding device of scooter shown according to another exemplary embodiment；
Fig. 6 is the block diagram according to a kind of folding device of scooter shown in an exemplary embodiment.
Specific embodiment
Here exemplary embodiment will be illustrated in detail, example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the disclosure.
For the ease of subsequent explanation, Fig. 1 shows the schematic diagram of the scooter involved by the disclosure.Fig. 1 is referred to, is schemed
Scooter shown in 1 includes handlebar 11, for connecting the upright bar 12 of front-wheel and handlebar, front-wheel 13, pedal 14 and trailing wheel 15.
Fig. 2 is the flow chart according to a kind of scooter method for folding shown in an exemplary embodiment.This method can wrap
Include following steps：
In step 201, the deviation angle of the front-wheel of scooter is obtained.
Deviation angle refers to the front-wheel of scooter compared with the deviation angle of the pedal of scooter.
In step 202, the travel speed of scooter is obtained.
In step 203, when deviation angle is in the range of predetermined angle, and travel speed is less than pre-set velocity, automatically
Folding scooter.
Wherein, predetermined angle scope is scooter in normally travel, the angle model that the deviation angle of front-wheel is not up to
It encloses.
In conclusion method provided in this embodiment, pass through the deviation angle of the front-wheel that obtains scooter and scooter
Travel speed, when the front-wheel for getting scooter deviation angle is in the range of predetermined angle and the travel speed of scooter is less than
During pre-set velocity, auto-folder scooter；Solving needs user's hand foldable scooter in correlation technique, folding efficiency is low
Problem；The folding mode of simplified scooter is reached, has improved folding efficiency, and then improve the technique effect of user experience.
Fig. 3 A are a kind of flow charts of the scooter method for folding shown according to another exemplary embodiment.This method can be with
Comprise the following steps：
In step 301, the deviation angle of the front-wheel of scooter is obtained.
Deviation angle is the front-wheel of scooter compared with the deviation angle of the pedal of scooter.For example, B is please referred to Fig.3, partially
Digression degree is the angle at θ angles shown in figure.Come in addition, Fig. 3 B are simply deviateed to the left with front-wheel for example, optional,
Front-wheel can also deviate to the right, and the present embodiment does not limit this.Also, the present embodiment turns left lateral deviation from lifting with front-wheel
Example explanation.
Scooter can obtain the deviation angle of front-wheel by the angular transducer in scooter.Optionally, due to cunning
The deviation of the front-wheel of wooden handcart is driven by the rotation of handlebar, and therefore, the deviation angle of front-wheel can pass through angular transducer
The mode of the rotational angle of handlebar is obtained to obtain.
Further, since the handlebar of scooter is fixedly connected with for connecting the upright bar of front-wheel and handlebar, handlebar turns
The dynamic rotation that can drive upright bar, therefore, angular transducer may be mounted in the upright bar of scooter, the angle in upright bar
Sensor detects the rotational angle of upright bar, and the rotational angle that detection is obtained is determined as the deviation angle of front wheel of scooter.
In an application scenarios of the present embodiment, when user wants folding scooter, user can be with swivel slide vehicle
Handlebar, the angular transducer in corresponding scooter can obtain the deviation angle of front-wheel.Such as combine Fig. 3 B, angular transducer
The angle at the θ angles got is 90 °.
In step 302, the travel speed of scooter is obtained.
Optionally, this step can include two kinds of possible realization methods：
In a kind of possible realization method, the travel speed of scooter is obtained by velocity sensor.
In alternatively possible realization method, by location technology obtain traveling of the scooter in preset time period away from
From according to the travel speed of operating range and preset time period acquisition scooter.
Wherein, in order to which the travel speed of the scooter acquired is made to be instantaneous velocity, preset time period can be set
It is shorter.Illustrate using preset time period as 2 seconds, scooter can by GPS (Global Positioning System, entirely
Ball alignment system) obtain operating range of the scooter in 2 seconds, and by the operating range of acquisition divided by 2 seconds, you can obtain slide plate
The travel speed of vehicle.
It should be noted that the present embodiment is not specifically limited the execution sequence of step 301 and step 302.In reality
During realization, step 302 is performed after step 301 can be first carried out, step 301 and step 302 can also be performed simultaneously, it can also be first
Step 301 is performed after performing step 302.
In step 303, when deviation angle is in the range of predetermined angle, and travel speed is less than pre-set velocity, automatically
Folding scooter.
Wherein, predetermined angle scope is the angle model that scooter deviation angle of front-wheel in normally travel is not up to
It encloses.For example, scooter, in normal driving process, the deviation angle of front-wheel is at 0-80 °, then the predetermined angle scope can be corresponding
It is 80 ° -180 °.The present embodiment is illustrated using predetermined angle scope as 85 ° -180 °.
When pre-set velocity is compared with scooter normally travel, smaller threshold speed.For example, pre-set velocity can be set
It is set to 0.
The deviation angle of the front-wheel of scooter is got in angular transducer in the range of predetermined angle, and the row of scooter
Speed is sailed less than predetermined angle, for example deviation angle is 90 ° and when travel speed is 0, scooter can be determined that user wants to roll over
Folded scooter, at this point, scooter can generate the first control instruction that scooter is controlled to fold.Optionally, due to slide plate
The pedal of vehicle is connected with handlebar and upright bar electric-controlled mechanical, so after scooter generates the first control instruction, scooter can be with
According to the first control instruction auto-folder.
Optionally, auto-folder scooter, can be there are two types of folding mode：
The first folding mode is the pedal and trailing wheel for packing up scooter automatically.
Optionally, after scooter generates the first control instruction, scooter according to the first control instruction control pedal and
Trailing wheel is rotated from horizontality to the upright bar in vertical state, is referred to shown in Fig. 3 C.
Second of folding mode is the upright bar of automatic retracted scooter and handlebar.
Optionally, scooter generate the first control instruction after, scooter according to first control instruction control upright bar from
Vertical state is rotated to the pedal in horizontality and trailing wheel, refers to Fig. 3 D.
After scooter folding, the deviation angle when deviation angle of the front-wheel of scooter keeps folding, such as after continuation of insurance
Hold 90 °.
When scooter is in folded state, when user wants to be unfolded again scooter, the present embodiment may further include
Step 304.
In step 304, when the deviation angle of front-wheel is less than angle threshold, Automatic-expanding scooter.
Angle threshold refers to the angle value of the minimum value less than or equal to predetermined angle scope.For example, predetermined angle scope
For 85 ° -180 °, angle threshold can be 40 °, or 85 °.The present embodiment is illustrated using angle threshold as 85 °.
When being in folded state in scooter, and the deviation angle of front-wheel detected after scooter less than angle threshold,
Scooter can be determined that user wants the scooter being unfolded and then using the slide trucks, is used at this point, scooter can generate
Control the second control instruction of scooter expansion.Optionally, since the pedal of scooter is connected with handlebar and upright bar electric-controlled mechanical,
So after scooter generates the second control instruction, scooter can be according to the second control instruction Automatic-expanding.
For example, when user wants the scooter of folding being unfolded, user can turn round handlebar, when the angle in scooter
Degree sensor detects that the deviation angle of front-wheel is less than 85 °, and scooter can generate second control instruction, and according to this second
Scooter is unfolded control instruction.
In an application scenarios of the present embodiment, when user wants folding scooter, scooter is come to a complete stop it by user
The handlebar of scooter is rotated 90 ° afterwards, scooter detects 90 ° of deviation angle in 85 ° -180 ° of predetermined angle scope, and travels
Speed is less than 0, then scooter packs up pedal and trailing wheel automatically.Hereafter, the angle between the front-wheel and pedal of scooter keeps folding
Deviation angle when folded.When user wants to be unfolded scooter, user turns round the handlebar of scooter, when detecting the inclined of front-wheel
When digression degree is less than such as less than 85 ° of angle threshold, scooter Automatic-expanding.
It should be noted is that in order to improve security performance when scooter auto-folder and Automatic-expanding, in reality
During realization, the speed of scooter folding and expansion can be controlled.
It needs to illustrate on the other hand, step 304 is optional step, in actual implementation, is also provided in scooter
For triggering the button of expansion, after user selects the button, scooter Automatic-expanding, the present embodiment does not limit this.
In conclusion method provided in this embodiment, pass through the deviation angle of the front-wheel that obtains scooter and scooter
Travel speed, when the front-wheel for getting scooter deviation angle is in the range of predetermined angle and the travel speed of scooter is less than
During pre-set velocity, auto-folder scooter；Solving needs user's hand foldable scooter in correlation technique, folding efficiency is low
Problem；The folding mode of simplified scooter is reached, has improved folding efficiency, and then improve the technique effect of user experience.
Method provided in this embodiment is less than angle threshold by the deviation angle in front-wheel, and Automatic-expanding, which is in, to be folded
The scooter of state；Solving needs that scooter is unfolded manually in correlation technique, it is time-consuming and laborious the problem of；Raising slide plate is reached
The technique effect of efficiency is opened in car exhibition.
It should be noted that during scooter normally travel, the deviation angle of front-wheel does not exceed predetermined angle scope, and
In many cases, scooter travel speed can be less than pre-set velocity.For example, when scooter stops.So in actual implementation,
In order to avoid scooter repeats to obtain the deviation angle of front-wheel and the travel speed of scooter, the processing complexity of scooter is higher
The problem of, referring to Fig. 3 E, in above-described embodiment, step 303 could alternatively be step 303a~step 303c.
In step 303a, whether detection deviation angle is in the range of predetermined angle.
In step 303b, when deviation angle is in the range of predetermined angle, then whether travel speed is detected less than default speed
Degree.
In step 303c, when travel speed is less than pre-set velocity, then auto-folder scooter.
For scooter in normally travel, the deviation angle of front-wheel generally will not within a preset range, therefore, before getting
The deviation angle of wheel within a preset range when, illustrate greatly may be that user wants folding scooter, at this point, scooter detects again
Whether travel speed is less than pre-set velocity, and when avoiding scooter orderly shutdown, scooter can also go the deflecting angle of detection front-wheel
Degree whether the complex operations in the range of predetermined angle.
Following is embodiment of the present disclosure, can be used for performing embodiments of the present disclosure.It is real for disclosure device
The details not disclosed in example is applied, refer to embodiments of the present disclosure.
Fig. 4 is the block diagram according to a kind of folding device of scooter shown in an exemplary embodiment.The device can include：
Angle acquisition module 410, speed acquiring module 420 and folding module 430.
Angle acquisition module 410 is configured as obtaining the deviation angle of the front-wheel of scooter.
Deviation angle refers to the front-wheel of scooter compared with the deviation angle of the pedal of scooter.
Speed acquiring module 420 is configured as obtaining the travel speed of scooter.
Module 430 is folded, is configured as the deviation angle of the acquisition of angle acquisition module 410 in the range of predetermined angle,
And speed acquiring module 420 obtain travel speed be less than pre-set velocity when, auto-folder scooter.
Wherein, predetermined angle scope is scooter in normally travel, the angle model that the deviation angle of front-wheel is not up to
It encloses.
In conclusion device provided in this embodiment, pass through the deviation angle of the front-wheel that obtains scooter and scooter
Travel speed, when the front-wheel for getting scooter deviation angle is in the range of predetermined angle and the travel speed of scooter is less than
During pre-set velocity, auto-folder scooter；Solving needs user's hand foldable scooter in correlation technique, folding efficiency is low
Problem；The folding mode of simplified scooter is reached, has improved folding efficiency, and then improve the technique effect of user experience.
Fig. 5 is a kind of block diagram of the folding device of scooter shown according to another exemplary embodiment.The device can wrap
It includes：Angle acquisition module 510, speed acquiring module 520 and folding module 530.
Angle acquisition module 510 is configured as obtaining the deviation angle of the front-wheel of scooter.
Deviation angle refers to the front-wheel of scooter compared with the deviation angle of the pedal of scooter.
Speed acquiring module 520 is configured as obtaining the travel speed of scooter.
Module 530 is folded, is configured as the deviation angle of the acquisition of angle acquisition module 510 in the range of predetermined angle,
And speed acquiring module 520 obtain travel speed be less than pre-set velocity when, auto-folder scooter.
Wherein, predetermined angle scope is the angle model that scooter deviation angle of front-wheel in normally travel is not up to
It encloses.
When pre-set velocity is compared with scooter normally travel, smaller threshold speed.
Optionally, speed acquiring module 520 is additionally configured to：
The travel speed of scooter is obtained by velocity sensor；
Alternatively,
Operating range of the scooter in preset time period is obtained by location technology, according to operating range and it is default when
Between section obtain scooter travel speed.
Wherein, in order to which the travel speed of the scooter acquired is made to be instantaneous velocity, preset time period can be set
It is shorter.
Optionally, folding module 530 can include：Angle detection sub-module 531, velocity measuring submodule 532 and folding
Submodule 533.
Angle detection sub-module 531 is configured as detection deviation angle whether in the range of predetermined angle.
Velocity measuring submodule 532 is configured as angle detection sub-module 531 and detects deviation angle in predetermined angle
In the range of, then whether travel speed is detected less than pre-set velocity.
Submodule 533 is folded, velocity measuring submodule 532 is configured as and detects that travel speed is less than pre-set velocity,
Then auto-folder scooter.
Optionally, module 530 is folded, is configured as：
The automatic pedal and trailing wheel for packing up scooter；
Alternatively,
Handlebar in automatic retracted scooter and the upright bar for connecting front-wheel and handlebar.
Optionally, after scooter generates the first control instruction, fold module 530 and stepped on according to first control instruction control
Plate and trailing wheel are rotated from horizontality to the upright bar in vertical state, alternatively, after scooter generates the first control instruction, folding
Folded module 530 controls upright bar to be rotated from vertical state to the pedal in horizontality and trailing wheel according to first control instruction.
After scooter folding, the deviation angle when deviation angle of the front-wheel of scooter keeps folding, such as after continuation of insurance
Hold 90 °.
When scooter is in folded state, when user wants to be unfolded again scooter, which can be with
Further comprise module 540 is unfolded.
Module 540 is unfolded, is configured as when the deviation angle of front-wheel is less than angle threshold, Automatic-expanding scooter.
Angle threshold refers to the angle value of the minimum value less than or equal to predetermined angle scope.
When being in folded state in scooter, and the deviation angle of front-wheel detected after scooter less than angle threshold,
Scooter can be determined that user wants the scooter being unfolded and then using the slide trucks, is used at this point, scooter can generate
Control the second control instruction of scooter expansion.Optionally, since the pedal of scooter is connected with handlebar and upright bar electric-controlled mechanical,
So after scooter generates the second control instruction, expansion module 540 can be according to the second control instruction Automatic-expanding.
It should be noted is that in order to improve security performance when scooter auto-folder and Automatic-expanding, in reality
During realization, the speed of scooter folding and expansion can be controlled.
It needs to illustrate on the other hand, expansion module 540 is optional module, in actual implementation, can also be set in scooter
It is equipped with for triggering the button of expansion, after user selects the button, scooter Automatic-expanding, the present embodiment does not limit this
It is fixed.
In conclusion device provided in this embodiment, pass through the deviation angle of the front-wheel that obtains scooter and scooter
Travel speed, when the front-wheel for getting scooter deviation angle is in the range of predetermined angle and the travel speed of scooter is less than
During pre-set velocity, auto-folder scooter；Solving needs user's hand foldable scooter in correlation technique, folding efficiency is low
Problem；Reach the folding mode of simplified scooter, increase security performance when scooter folds and improve folding efficiency, and then
Improve the technique effect of user experience.
Scooter front-wheel deviation angle within a preset range when, then go detection scooter travel speed it is whether low
In preset condition, it can reduce as far as possible and detect the number whether travel speed meets the requirements, and then scooter controller
Operating cost reduces controller resource consumption.
It should be noted is that above-described embodiment provide device when realizing scooter folder function, only with above-mentioned
The division progress of each function module for example, in practical application, can according to actual needs and by above-mentioned function distribution by
Different function modules is completed, i.e., the content structure of equipment is divided into different function modules, described above complete to complete
Portion or partial function.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation in related this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
One exemplary embodiment of the disclosure additionally provides a kind of folding device of scooter, can realize the cunning that the disclosure provides
Wooden handcart method for folding.The folding device of scooter includes：Processor and the storage for storing processor-executable instruction
Device.
Wherein, processor is configured as：
Obtain the deviation angle of the front-wheel of scooter；
Obtain the travel speed of scooter；
When deviation angle is in the range of predetermined angle, and travel speed is less than pre-set velocity, auto-folder scooter.
Optionally, processor is configured as：
The travel speed of scooter is obtained by velocity sensor；
Alternatively,
Operating range of the scooter in preset time period is obtained by location technology, according to operating range and it is default when
Between section obtain scooter travel speed.
Optionally, predetermined angle scope is the angle model that scooter deviation angle of front-wheel in normally travel is not up to
It encloses.
Optionally, processor is configured as：
Deviation angle is detected whether in the range of predetermined angle；
If in the range of predetermined angle, whether travel speed is detected less than pre-set velocity；
If less than pre-set velocity, auto-folder scooter.
Optionally, processor is configured as：
The automatic pedal and trailing wheel for packing up scooter；
Alternatively,
The handlebar of automatic retracted scooter and the upright bar for connecting front-wheel and handlebar.
Optionally, processor is additionally configured to：
When the deviation angle of front-wheel is less than angle threshold, Automatic-expanding scooter.
Fig. 6 is the block diagram according to a kind of folding device of scooter shown in an exemplary embodiment.For example, device 600 can
With being implemented in combination with as all or part of scooter etc. by hardware, software or both.With reference to Fig. 6, device 600 wraps
Processing component 622 is included, further comprises one or more processors and as the memory resource representated by memory 632,
Can be by the instruction of the execution of processing component 622 for storing, such as scooter folds or the control instruction of expansion.Memory 632
The application program of middle storage can include it is one or more each correspond to the module of one group of instruction.Device 600 is also
Including sensor module 624, velocity sensor and angular transducer are included at least in sensor module 624, is respectively used to obtain
The deviation angle of the travel speed of scooter and the front-wheel of scooter.In addition, processing component 622 is configured as executing instruction, with
Perform above-mentioned scooter method for folding.
Device 600 can also include a power supply module 626 be configured as executive device 600 power management and one
Input and output (I/O) interface 658.Device 600 can be operated based on the operating system for being stored in memory 632, such as Windows
ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or similar.
Those skilled in the art will readily occur to the disclosure its after considering specification and putting into practice invention disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as illustratively, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be appreciated that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claim.
Claims (11)
1. a kind of scooter method for folding, which is characterized in that the described method includes：
Obtain the deviation angle of the front-wheel of scooter；
Obtain the travel speed of the scooter；
When the deviation angle is in the range of predetermined angle, and the travel speed is 0, scooter described in auto-folder, institute
Predetermined angle scope is stated as the scooter angular range that the deviation angle of the front-wheel is not up in normally travel.
2. according to the method described in claim 1, it is characterized in that, the travel speed for obtaining the scooter, including：
The travel speed of the scooter is obtained by velocity sensor；
Alternatively,
Operating range of the scooter in preset time period is obtained by location technology, according to the operating range and institute
State the travel speed that preset time period obtains the scooter.
3. according to the method described in claim 1, it is characterized in that, it is described when the deviation angle in the range of predetermined angle,
And the travel speed be 0 when, scooter described in auto-folder, including：
The deviation angle is detected whether in the range of predetermined angle；
If in the range of the predetermined angle, detect whether the travel speed is 0；
If the travel speed is 0, scooter described in auto-folder.
4. method according to any one of claims 1 to 3, which is characterized in that scooter described in the auto-folder, bag
It includes：
Automatically the pedal and trailing wheel of the scooter are packed up；
Alternatively,
Handlebar in scooter described in automatic retracted and the upright bar for connecting the front-wheel and the handlebar.
5. method according to any one of claims 1 to 3, which is characterized in that the method still further comprises：
When the deviation angle of the front-wheel is less than angle threshold, scooter described in Automatic-expanding, the angle threshold refers to small
In or equal to the predetermined angle scope minimum value angle value.
6. a kind of folding device of scooter, which is characterized in that described device includes：
Angle acquisition module is configured as obtaining the deviation angle of the front-wheel of scooter；
Speed acquiring module is configured as obtaining the travel speed of the scooter；
Module is folded, is configured as the deviation angle of the angle acquisition module acquisition in the range of predetermined angle, and it is described
When the travel speed that speed acquiring module obtains is 0, scooter described in auto-folder, the predetermined angle scope is the slide plate
The vehicle angular range that the deviation angle of the front-wheel is not up in normally travel.
7. device according to claim 6, which is characterized in that the speed acquiring module is additionally configured to：
The travel speed of the scooter is obtained by velocity sensor；
Alternatively,
Operating range of the scooter in preset time period is obtained by location technology, according to the operating range and institute
State the travel speed that preset time period obtains the scooter.
8. device according to claim 6, which is characterized in that the folding module, including：
Angle detection sub-module is configured as detecting the deviation angle whether in the range of predetermined angle；
Velocity measuring submodule is configured as the angle detection sub-module and detects the deviation angle in the preset angle
In the range of degree, then detect whether the travel speed is 0；
Submodule is folded, the velocity measuring submodule is configured as and detects that the travel speed is 0, then auto-folder institute
State scooter.
9. according to claim 6 to 8 any one of them device, which is characterized in that the folding module is configured as：
Automatically the pedal and trailing wheel of the scooter are packed up；
Alternatively,
Handlebar in scooter described in automatic retracted and the upright bar for connecting the front-wheel and the handlebar.
10. according to claim 6 to 8 any one of them device, which is characterized in that described device still further comprises：
Module is unfolded, is configured as when the deviation angle of the front-wheel is less than angle threshold, scooter described in Automatic-expanding, institute
State the angle value for the minimum value that angle threshold refers to less than or equal to the predetermined angle scope.
11. a kind of folding device of scooter, which is characterized in that described device includes：
Processor；
For storing the memory of the processor-executable instruction；
Wherein, the processor is configured as：
Obtain the deviation angle of the front-wheel of scooter；
Obtain the travel speed of the scooter；
When the deviation angle is in the range of predetermined angle, and the travel speed is 0, scooter described in auto-folder, institute
Predetermined angle scope is stated as the scooter angular range that the deviation angle of the front-wheel is not up in normally travel.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113022766B (en) * | 2019-12-24 | 2022-11-01 | 纳恩博（常州）科技有限公司 | Method and device for determining working mode of foldable electric vehicle |
| CN113928452B (en) * | 2020-06-29 | 2023-03-28 | 纳恩博（常州）科技有限公司 | Switching method and device of vehicle pedal state, vehicle and storage medium |
| CN113397986A (en) * | 2021-06-18 | 2021-09-17 | 常州市第一人民医院 | Clinical medicine is with nutrition branch of academic or vocational study nutrient solution device of intaking |
| CN114872820B (en) * | 2022-06-24 | 2023-08-25 | 深圳市怡康乐科技有限公司 | Limit scooter |
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