CN106314201B - Flat car control method and device - Google Patents
Flat car control method and device Download PDFInfo
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- CN106314201B CN106314201B CN201610717753.3A CN201610717753A CN106314201B CN 106314201 B CN106314201 B CN 106314201B CN 201610717753 A CN201610717753 A CN 201610717753A CN 106314201 B CN106314201 B CN 106314201B
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- flat car
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention relates to a kind of flat car control method and device, including：Obtain the pressure value that each pressure sensor detects in flat car operational process；Obtain the speed of service of flat car；Judge whether flat car meets condition out of service, if so, control first wheel motor and the second wheel hub motor are out of service；Otherwise, calculate the mutual difference of pressure value that multiple pressure sensors are detected, and according between the multiple differences obtained and corresponding preset control threshold values comparison result and the speed of service adjust the operating status of flat car；Wherein, control threshold values is configured according to the weight of driver.The present invention identifies operating status that driver wants by the pressure sensor of multiple left and right sides for being located at car body, meet driver normally to stand custom, and respectively control threshold values is adjusted accordingly also according to the weight of driver, it is operated convenient for driver, improves the usage experience of driver.
Description
Technical field
The present invention relates to portable scooter technical fields, more particularly to a kind of flat car control method and device.
Background technology
With the progress and the improvement of people's living standards of science and technology, also layer goes out not the body-building recreation instrument of diversified forms
Thoroughly, wherein portable scooter because its can body-building recreation and challenging, it is more and more welcomed by the people.
In traditional portable scooter, it is the slide plate of front and back each wheel that one of which is widely used
Vehicle, this kind of scooter are mounted with a pressure sensor, need to drive to identify by the pressure sensor in the process of running
The state of a control for the person of sailing.For example, turning then needs to judge to turn according to the pressure change of the pressure sensor, it is similar to bicycle
Turning mode, and driver needs deliberately must to control very much the "Left"-deviationist of foot center of gravity or Right deviation can realize turning, therefore this kind of scooter
The position range that foot is stepped on to driver has certain requirement, along with the size of different driver's feet is also different, so that
Driver operates more difficult.
Invention content
Based on this, it is necessary to for how to overcome the problems, such as conventional portable scooter be not easy to driver use, provide
A kind of flat car control method and device.
A kind of flat car control method, for controlling flat car operation, the flat car includes car body；Existed with the car body
The direction advanced when operation is front, and the arranged on left and right sides of the vehicle bottom is respectively equipped with first wheel motor and the second wheel hub
Motor；Multiple pressure sensors are distributed in the vehicle body, for detecting the pressure from car body surface various pieces；It is described
Flat car further includes controller, the controller respectively with the first wheel motor, the second wheel hub motor, multiple pressure sensings
Device is connected；The method includes：
Obtain the pressure value that each pressure sensor detects in flat car operational process；
Obtain the speed of service of the flat car；
Judge whether the flat car meets condition out of service, if so, controlling the first wheel motor and
Two wheel hub motors are out of service；Otherwise, the mutual difference of pressure value that multiple pressure sensors are detected is calculated, and according to
Comparison result and the speed of service between the multiple differences obtained and corresponding preset control threshold values adjust flat car
Operating status；Wherein, the control threshold values is configured according to the weight of driver.
The stop condition is in one of the embodiments,：According to the pressure value judgement of pressure sensor detection
The driver jumps off the flat car.
The method further includes in one of the embodiments,：
Judge whether the startup time of the flat car is more than given threshold, if so, setting First Speed ranging from institute
The corresponding normal speed ranges of the speed of service are stated, otherwise the corresponding normal speed of the ranging from described speed of service of second speed is set
Range；Wherein, the maximum value within the scope of the second speed is more than the maximum value within the scope of the First Speed.
The stop condition is in one of the embodiments,：The speed of service is less than in the normal speed ranges
Minimum value.
The mutual difference of pressure value that multiple pressure sensors are detected is calculated in one of the embodiments, and
It is adjusted according to the multiple differences obtained and the corresponding preset comparison result controlled between threshold values and the speed of service flat
The step of operating status of wooden handcart includes：
When judging the maximum value that the speed of service is more than in the normal speed ranges, the first wheel motor is reduced
And second wheel hub motor speed so that the speed of service drops in the normal speed ranges.
The flat car includes first pressure sensor, second pressure sensor, third pressure in one of the embodiments,
Force snesor and the 4th pressure sensor；Wherein, the first pressure sensor, second pressure sensor are respectively arranged in described
The arranged on left and right sides of vehicle body front end；The third pressure sensor, the 4th pressure sensor are respectively arranged in the car body
The arranged on left and right sides of portion rear end；The first pressure sensor, second pressure sensor, third pressure sensor and the 4th pressure
Sensor is respectively used to output first pressure value, second pressure value, third pressure value, the 4th pressure value；
Meanwhile the mutual difference of pressure value that multiple pressure sensors are detected is calculated, and it is more according to what is obtained
Comparison result and the speed of service between a difference and corresponding preset control threshold values adjust the operating status of flat car
The step of include：
Judge the first pressure value and the third pressure value and subtract the second pressure value and the 4th pressure
When difference that is force value and obtaining is more than corresponding control threshold values, the speed for controlling the first wheel motor is less than described second
The speed of wheel hub motor, so that the flat car turns left；
Judge the second pressure value and the 4th pressure value and subtract the first pressure value and the third pressure
When difference that is force value and obtaining is more than corresponding control threshold values, the speed for controlling the first wheel motor is more than described second
The speed of wheel hub motor, so that the flat car is turned right.
The mutual difference of pressure value that multiple pressure sensors are detected is calculated in one of the embodiments, and
It is adjusted according to the multiple differences obtained and the corresponding preset comparison result controlled between threshold values and the speed of service flat
The step of operating status of wooden handcart includes：
Judge the first pressure value and the second pressure value and subtract the third pressure value and the 4th pressure
When difference that is force value and obtaining is more than acceleration corresponding control threshold values, controls the flat car and accelerate；
Judge the first pressure value and the second pressure value and subtract the third pressure value and the 4th pressure
When difference that is force value and obtaining is less than deceleration corresponding control threshold values, controls the flat car and slow down.
A kind of tablet truck control device, for controlling flat car operation, the flat car includes car body；Existed with the car body
The direction advanced when operation is front, and the arranged on left and right sides of the vehicle bottom is respectively equipped with first wheel motor and the second wheel hub
Motor；Multiple pressure sensors are distributed in the vehicle body, for detecting the pressure from car body surface various pieces；It is described
Flat car further includes controller, the controller respectively with the first wheel motor, the second wheel hub motor, multiple pressure sensings
Device is connected；The tablet truck control device includes：
Pressure value receiving module, the pressure value detected in flat car operational process for obtaining the pressure sensor；
Speed read module, the speed of service for obtaining the flat car；
Operation control module, for judging whether the flat car meets condition out of service, if so, described in control
First wheel motor and the second wheel hub motor are out of service；Otherwise, it is mutual to calculate the pressure value that multiple pressure sensors are detected
Between difference, and according to the multiple differences obtained and it is corresponding it is preset control threshold values between comparison result and the fortune
Scanning frequency degree adjusts the operating status of flat car；Wherein, the control threshold values is configured according to the weight of driver.
The stop condition is in one of the embodiments,：According to the pressure value judgement of pressure sensor detection
The driver jumps off the flat car.
Above-mentioned flat car control method and device have the advantage that for：Wherein, it is first determined whether needing to control flat
Wooden handcart is out of service, if so, control first wheel motor and the second wheel hub motor are out of service, to avoid consumption energy and carries
High travel safety；Otherwise, the mutual difference of pressure value that multiple pressure sensors are detected is calculated, and according to being obtained
Multiple differences and it is corresponding it is preset control threshold values between comparison result and the speed of service adjust flat car operating status,
I.e. the flat car control method and device are to identify operating status that driver wants, and these by multiple pressure sensors
Pressure sensor is located at the left and right sides of car body, meets driver and normally stands custom, and respectively control threshold values also root
Accordingly it is arranged according to the weight of driver, consequently facilitating driver operates, improves the usage experience of driver.
Description of the drawings
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 technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The attached drawing of other embodiment is obtained according to these attached drawings.
Fig. 1 is the flow chart for the flat car control method that an embodiment provides；
Fig. 2 is the one of which particular flow sheet for the flat car control method that embodiment illustrated in fig. 1 provides；
Fig. 3 is the structure chart for the tablet truck control device that another embodiment provides.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.Keep the understanding to the disclosure more thorough on the contrary, purpose of providing these embodiments is
Comprehensively.
Unless otherwise defined, the skill of all of technologies and scientific terms used here by the article and the technical field for belonging to invention
The normally understood meaning of art personnel is identical.Description to be intended merely in the term used in the description of invention specific herein
The purpose of embodiment, it is not intended that the limitation present invention.Term as used herein "and/or" includes one or more relevant institutes
Any and all combinations of list of items.
One embodiment provides a kind of flat car control method, for controlling flat car operation.The flat car include car body,
First wheel motor, the second wheel hub motor, multiple pressure sensors and controller.Wherein, first wheel motor, the second wheel hub electricity
Machine is wheel hub motor, i.e., is all incorporated into power plant, transmission device and brake apparatus in wheel hub.With car body at runtime before
Into direction be front (note：Below in relation to other structures in flat car installation site using the direction as benchmark), first
Wheel hub motor, the second wheel hub motor are respectively arranged on the arranged on left and right sides of vehicle bottom.Each pressure sensor is respectively arranged in car body
The arranged on left and right sides in portion is consistent with the standing of driver custom, driver can control each pressure positioned at left side with left foot
Force snesor can control each pressure sensor positioned at right side with right crus of diaphragm.
Controller is connected with first wheel motor, the second wheel hub motor, multiple pressure sensors respectively.Wherein, multiple
For pressure sensor for detecting the pressure from car body surface various pieces, i.e., each pressure sensor monitors the center of gravity of human body in real time
And controller is fed back to, after being handled by controller and corresponding control signal is exported to first wheel motor, the second wheel hub
Motor, then control by first wheel motor, the second wheel hub motor the forward speed of flat car.For example, controller can pass through
Speed difference between first wheel motor and the second wheel hub motor is turned to control flat car.
It should be noted that flat car is not limited only to include above-mentioned each structure.For example, flat car can also include the 10000th
To wheel, the second universal wheel, attitude transducer, battery etc..Wherein, the first universal wheel, the second universal wheel are respectively arranged in car body bottom
The arranged on left and right sides of portion rear end, and first wheel motor, the second wheel hub motor are installed on the arranged on left and right sides of vehicle bottom front end, therefore
It is respectively provided with two wheels before and after the flat car, reduces and requirement is controlled to the balance of driver, driver's use of being more convenient for.
Battery is used to power, such as can be power battery.Meanwhile battery is also used as mobile power and is carried out to external electric equipment
Charging.Attitude transducer is also electrically connected with the controller, for example, gyroscope, accelerometer or other sensors.Attitude transducer
Posture information for detecting flat car, and the posture information is sent to controller.Controller passes through according to the posture information
First wheel motor, the second wheel hub motor are controlled to control the posture of flat car, so that flat car keeps balance.In addition,
Controller can also include wireless communication module, so as to carry out channel radio by the wireless communication module and intelligent terminal
Letter.
Next flat car control method provided in this embodiment is will be described in detail, as shown in Figure 1, the flat car controlling party
Method is executed by controller, including the following contents.
Step S100. obtains the pressure value that each pressure sensor detects in flat car operational process.
Step S200. reads the speed of service of flat car.
If first wheel motor and the second wheel hub motor carry Hall sensor, controller can be passed directly by Hall
Sensor obtains the speed of service of flat car.If first wheel motor and the second wheel hub motor do not carry Hall sensor,
A velocity sensor can be respectively set on first wheel motor and the second wheel hub motor, to by the velocity sensor come
Read the speed of service of flat car.
It should be noted that the execution sequence of step S100 to step S200 is not limited to a kind of above-mentioned situation, such as may be used also
To be executed according to the sequence of step S200 to step S100.
Step S400. judges whether flat car meets condition out of service, if so, executing step S500；Otherwise, it executes
Step S600.
For example, the speed in flat car is relatively low or driver jumps under the states such as vehicle, then it can be determined that flat car satisfaction is stopped
The condition only run to avoid unnecessary waste, and improves safety in operation.
Step S500. control first wheel motors and the second wheel hub motor are out of service.
In the step, controller can be gradually reduced the speed of first wheel motor and the second wheel hub motor, to final
Keep flat car out of service, to carry out respective handling.
Step S600. calculates the mutual difference of pressure value that multiple pressure sensors are detected, and according to being obtained
Multiple differences and it is corresponding it is preset control threshold values between comparison result and the speed of service adjust flat car operating status.
Wherein, control threshold values is configured according to the weight of driver.
In this step, the different operating status of flat car corresponds to corresponding control threshold values.The weight of driver can lead to
The sum of the pressure value detected by all pressure sensors when driver stands on the car body and operates without any control is crossed to obtain
Go out.Alternatively, controller also module can receive the weight information of driver transmitted wirelessly by intelligent terminal by radio communication.By
It is different in different driver's weight, therefore when driver needs to change the operating status of flat car, each pressure sensor inspection
The pressure value of survey can also change according to the difference of driver's weight, therefore by each control threshold values according to difference in the present embodiment
Weight be adjusted correspondingly, accuracy and the sensitivity of control can be improved, to allow driver obtain preferably ride
Experience.
Wherein, the mutual difference of multiple pressure sensors are detected pressure value, can be two pressure sensors
Difference between the pressure value of detection, for example, on the left of flat car former and later two pressure sensors detection two pressure values
Between difference, so as to judge flat car advance, accelerate etc. states；Or the pressure value of two groups of pressure sensors detection
Between difference, such as judge turn when then need calculate positioned at left side several pressure sensors detect each pressure value it
With the difference of the sum of each pressure value with several pressure sensors detection on the right side of car body.The operating status of flat car is for example
For left-hand rotation, right-hand rotation, advance, acceleration, deceleration etc..
If driver it is expected change flat car operating status, swerve the weight so that corresponding position pressure sensor
The pressure value of detection changes, such as then body of wishing to turn left is tilted to the left.Between controller detects relevant pressure value
Difference and the comparison result of corresponding control threshold values when meeting setting situation, then control flat car and switch to corresponding operation shape
State, if such as judging that the sum of each pressure value of each pressure sensor detection in left side is more than each pressure of each pressure sensor detection in right side
The sum of force value, then the speed for controlling first wheel motor is less than the speed of the second wheel hub motor, so that flat car turns left.
Therefore, which identifies operating status that driver wants by multiple pressure sensors, and
These pressure sensors are located at the left and right sides of car body, meet driver and normally stand custom, and respectively control threshold values
It is adjusted accordingly also according to the weight of driver, consequently facilitating driver operates, improves the usage experience of driver.
Further, as shown in Fig. 2, above-mentioned flat car control method can also be scheme in detail below.
Further include the following contents before step S400：
Step S310. judges whether the startup time of flat car is more than given threshold, if so, thening follow the steps S320；It is no
Then, step S330 is executed.
The step is used to judge the qualification that driver operates flat car, i.e., starts flat car by detecting driver
Time length judges.It should be noted that if driver just start flat car successfully after multiple start-up operation, that
The startup time includes multiple start-up operation until starting the time successfully undergone altogether.
It is understood that being not limited to a kind of situation of step S310, driver can also be judged according to other information
To the skilled operation degree of flat car, such as controller module can also receive driver to flat car by radio communication
Operational degree information.
The step S320. settings First Speed ranging from corresponding normal speed ranges of the speed of service.
The step S330. settings second speed ranging from corresponding normal speed ranges of the speed of service.Wherein, second speed model
Maximum value in enclosing is more than the maximum value within the scope of First Speed.
Wherein, First Speed range, which represents when the lower driver of skilled operation degree operates flat car, allows flat car
Range residing for speed.Second speed range, which represents when the higher driver of skilled operation degree operates flat car, allows flat car
Speed residing for range.Difference, the present embodiment are logical for driving ability due to above-mentioned two classes driver to flat car
The speed of limitation flat car in both cases is crossed, travel safety is further improved.
Specifically, in step S500, stop condition is：The speed of service is less than the minimum in above-mentioned normal speed ranges
Value.Wherein, normal speed ranges are above-mentioned First Speed range or second speed range.When the speed of service is less than the normal speed
When minimum value in range, show that the speed of flat car is relatively low, be unsuitable for continuing to travel, therefore at this moment the state of flat car meets
Condition out of service.
Above-mentioned stop condition can also be：Flat car is jumped off according to the pressure value judgement driver of pressure sensor detection.
In the process of moving, it may occur however that the phenomenon that driver jumps off flat car because of disequilibrium or other reasons.Due to only existing
When driver stands on above flat car, each pressure sensor can detect corresponding pressure value, thus when driver jump off it is flat
After wooden handcart, respective change can also occur for the pressure value of each pressure sensor detection.Therefore, controller can pass through each pressure sensing
The pressure value of device detection judges whether driver jumps vehicle.For example, the phase that controller can be calculated according to each pressure sensor
Whether be zero to be judged, even corresponding speed value is zero if answering velocity amplitude, then judge that driver jumps vehicle；Alternatively, controller
Directly it can judge whether driver jumps vehicle according to the pressure value of each pressure sensor detection, even each pressure sensor detection
Pressure value be zero, then judge driver jump vehicle.
In the present embodiment, as long as the state of flat car meets any one of above two stop condition, all think to meet
Condition out of service.It is understood that in other embodiments, can also stop transporting about flat car by other types
Capable condition is to determine whether need control flat car out of service.
Specifically, step S600 includes following several control mode different to flat car.
The first control mode is：When judging the maximum value that the speed of service is more than in above-mentioned normal speed ranges, then reduce
The speed of first wheel motor and the second wheel hub motor, so that the speed of service is reduced in normal speed ranges.The situation is used for
Judge whether flat car exceeds the speed limit, to improve the safety in operation of flat car.
In addition, the present embodiment middle plateform vehicle includes four pressure sensors altogether, i.e., first pressure sensor, second pressure pass
Sensor, third pressure sensor and the 4th pressure sensor.Wherein, first pressure sensor, second pressure sensor are pacified respectively
Arranged on left and right sides loaded on vehicle body front end.After third pressure sensor, the 4th pressure sensor are respectively arranged in vehicle body
The left and right side at end.In addition, first pressure sensor, second pressure sensor, third pressure sensor and the 4th pressure sensor
It is respectively used to output first pressure value W2, second pressure value W1, third pressure value W3, the 4th pressure value W4。
Based on above-mentioned condition, second of control mode that the present embodiment proposes is：Judge first pressure value and third pressure
Value and when subtracting second pressure value and difference that is the 4th pressure value and obtaining and being more than corresponding control threshold values, i.e., (W2+W3)-
(W1+W4)>T, wherein T represent corresponding control threshold values, and the speed of control first wheel motor is less than second wheel hub motor
Speed so that flat car turn left；Judge second pressure value and the 4th pressure value and subtract first pressure value and third pressure
When difference that is value and obtaining is more than corresponding control threshold values, i.e., (W1+W4)-(W2+W3)>T, wherein T represent corresponding control
Threshold values, then the speed for controlling first wheel motor is more than the speed of the second wheel hub motor, so that flat car is turned right.
The pressure value that second of control mode is used to be detected according to corresponding pressure sensor, to determine whether turning fortune
Row.When driver wants turning, center of gravity need to be only biased to want the side of turning, be located at each pressure sensing of arranged on left and right sides
Device can detect corresponding pressure value.When controller detects the variation of pressure value, you can desired turn of driver of identification
Curved mode carries out making flat car turn left or turn right by controlling the speed difference of first wheel motor and the second wheel hub motor.Separately
Outside, either to turn left or turn right in the present embodiment, corresponding difference is required for be more than T, just judgement is needed or be turned right,
It can avoid being not intended to run-off the straight during advancing because of driver or there is a situation where false judgments due to other factors, to carry
The high accuracy of control.
It is understood that second of control mode is not limited to a kind of above-mentioned situation, such as can also be according to driver's
Use habit identifies left-hand rotation or right-hand rotation in the way of opposite, i.e.,：Judge the first pressure value and the third pressure
Value and when subtracting the second pressure value and difference that is the 4th pressure value and obtaining and being more than with corresponding control threshold values,
The speed for controlling the first wheel motor is more than the speed of second wheel hub motor, so that the flat car is turned right；Judge
It is the second pressure value and the 4th pressure value and subtracting the first pressure value and the third pressure value and obtain
Difference when being more than corresponding control threshold values, the speed for controlling the first wheel motor is less than the speed of second wheel hub motor
Degree, so that the flat car turns left.
In addition, when flat car is turned, the turning speed of first wheel motor is：
Wherein, SLFor the turning speed of first wheel motor, n is the number of each pressure sensor detection in setting time, TL
For control coefrficient corresponding with first wheel motor turning speed.
The speed of second wheel hub motor is：
Wherein, SRFor the turning speed of the second wheel hub motor, n is the number of each pressure sensor detection in setting time, TR
For control coefrficient corresponding with the second wheel hub motor turning speed.
Therefore during the turn, driver can control the size of difference between corresponding pressure sensor to pass through controller
Adjust the speed of first wheel motor, the second wheel hub motor.
The third control mode is：It judge first pressure value and second pressure value and subtracts third pressure value and is pressed with the 4th
When difference that is force value and obtaining is more than acceleration corresponding control threshold values, control flat car accelerates.Judge first pressure value and the
Two pressure values and when subtracting third pressure value and difference that is the 4th pressure value and obtaining and being less than the corresponding control threshold values of deceleration,
Flat car is controlled to slow down.
In addition, during flat car straight forward, the straight trip speed of first wheel motor is：
The straight trip speed of second wheel hub motor is：
Therefore, during straight trip, driver can equally control the size of difference between corresponding pressure sensor to lead to
Cross the speed that controller adjusts first wheel motor, the second wheel hub motor.
It is understood that above-mentioned three kinds of control modes are not limited to a kind of above-mentioned executive condition, as long as controller can lead to
It is desired flat car is adjusted to driver with the operation of corresponding speed to cross control first wheel motor and the second wheel hub motor
Operating status.For example, the first control mode and second of control mode also may then bond together, i.e.,：Judgement operation speed
Degree is more than the maximum value in above-mentioned normal speed ranges, and judge first pressure value and third pressure value and subtract second pressure
When value is more than corresponding control threshold values with difference that is the 4th pressure value and obtaining, first wheel motor and the second wheel hub electricity are reduced
The speed of machine so that the speed of service is reduced in normal speed ranges, while controlling the speed of first wheel motor less than described
The speed of second wheel hub motor, so that flat car turns left.
Further, above-mentioned flat car control method can also include the following contents：
Before step S100, can also include：Receive the timing signal that timer is sent.At this moment, which controls
Method just starts to execute only after receiving timing signal, so as to save energy consumption.
Can also include：Read attitude transducer send posture information, supply voltage, electric current, first wheel motor and
Temperature, driving mileage data of second wheel hub motor etc..Wherein, controller can adjust the appearance of flat car using posture information
State, to make flat car keep equilibrium state.Supply voltage, electric current, first wheel motor and the second wheel hub motor temperature this
A little data judge whether flat car breaks down for controller.Driving mileage data is for controller module by radio communication
It is sent to intelligent terminal, to for driver's real time inspection mileage travelled.
Can also include：Create LED illumination task.The step can provide light during night running by LED
It is bright, and then improve travel safety.
Can also include before step S400：Judge the operating mode of flat car, if being judged as manned pattern, executes step
Rapid S400.Wherein, the operating mode of flat car may include manned pattern, idle mode, mode of learning, remote mode, shutdown
Pattern etc..Wherein, manned pattern and idle mode can be identified by detecting each pressure value of each pressure sensor output.It learns
Habit pattern, remote mode and shutdown mode can be identified by the control data transmitted wirelessly to intelligent terminal, to certainly
Surely which kind of operating mode switched to.
Fig. 1, Fig. 2 are the flow diagram of the method for the embodiment of the present invention.Although should be understood that the stream of Fig. 1, Fig. 2
Each step in journey figure shows successively according to the instruction of arrow, but these steps be not it is inevitable indicated according to arrow it is suitable
Sequence executes successively.Unless expressly state otherwise herein, there is no stringent sequences to limit for the execution of these steps, can be with
Other sequences execute.Moreover, at least part step in Fig. 1, Fig. 2 may include multiple sub-steps or multiple stages,
These sub-steps or stage are not necessarily to execute completion in synchronization, but can execute at different times, are held
Row sequence is also not necessarily and carries out successively, but can either the sub-step of other steps or stage be at least with other steps
A part executes in turn or alternately.
Based on above-mentioned flat car control method, another embodiment additionally provides a kind of tablet truck control device, is used to control
Flat car operation processed.Flat car includes car body.Front is in the direction advanced during exercise using car body, and left and right the two of vehicle bottom
Side is respectively equipped with first wheel motor and the second wheel hub motor.Multiple pressure sensors are distributed in vehicle body, come for detecting
From the pressure of car body surface various pieces.Flat car further includes controller, controller respectively with first wheel motor, the second wheel hub
Motor, the electrical connection of multiple pressure sensors.The tablet truck control device includes the following contents, as shown in Figure 3.
Pressure value receiving module 100, the pressure value detected in flat car operational process for obtaining pressure sensor.
Speed read module 200, the speed of service for obtaining flat car.
Operation control module 300, for judging whether flat car meets condition out of service, if so, control first
Wheel hub motor and the second wheel hub motor are out of service；Otherwise, it is mutual to calculate the pressure value that multiple pressure sensors are detected
Difference, and according to the multiple differences obtained and it is corresponding it is preset control threshold values between comparison result and speed of service tune
Save the operating status of flat car.Wherein, control threshold values is configured according to the weight of driver.
It should be noted that since the flat car control method one that tablet truck control device and a upper embodiment provide is a pair of
It answers, therefore other specific detailed protocols just no longer repeat one by one here.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of flat car control method, for controlling flat car operation, which is characterized in that the flat car includes car body；With
The direction that the car body advances at runtime is front, and the arranged on left and right sides of the vehicle bottom is respectively equipped with first wheel motor
With the second wheel hub motor；Multiple pressure sensors are distributed in the vehicle body, and car body surface various pieces are come from for detecting
Pressure；The flat car further includes controller, the controller respectively with the first wheel motor, the second wheel hub motor,
Multiple pressure sensors are connected；The method includes：
Obtain the pressure value that each pressure sensor detects in flat car operational process；
Obtain the speed of service of the flat car；
Judge whether the startup time of the flat car is more than given threshold, if so, the setting ranging from described fortune of First Speed
Otherwise the corresponding normal speed model of the ranging from described speed of service of second speed is arranged in the corresponding normal speed ranges of scanning frequency degree
It encloses；Wherein, the maximum value within the scope of the second speed is more than the maximum value within the scope of the First Speed；
Judge whether the flat car meets condition out of service, if so, controlling the first wheel motor and the second wheel
Hub motor is out of service；Otherwise, the mutual difference of pressure value that multiple pressure sensors are detected is calculated, and according to being obtained
Comparison result and the speed of service between the multiple differences and corresponding preset control threshold that obtain adjust the fortune of flat car
Row state；Wherein, the control threshold is configured according to the weight of driver.
2. according to the method described in claim 1, it is characterized in that, the stop condition is：It is examined according to the pressure sensor
The pressure value of survey judges that the driver jumps off the flat car.
3. according to the method described in claim 1, it is characterized in that, the stop condition is：The speed of service is less than described
Minimum value in normal speed ranges.
4. according to the method described in claim 3, it is characterized in that, to calculate the pressure value that multiple pressure sensors are detected mutual
Between difference, and according between the multiple differences obtained and corresponding preset control threshold comparison result and the fortune
Scanning frequency degree adjust flat car operating status the step of include：
When judging the maximum value that the speed of service is more than in the normal speed ranges, the first wheel motor and the are reduced
The speed of two wheel hub motors, so that the speed of service drops in the normal speed ranges.
5. according to the method described in claim 1, it is characterized in that, the flat car includes first pressure sensor, the second pressure
Force snesor, third pressure sensor and the 4th pressure sensor；Wherein, the first pressure sensor, second pressure sensing
Device is respectively arranged in the arranged on left and right sides of the vehicle body front end；The third pressure sensor, the 4th pressure sensor difference
It is installed on the arranged on left and right sides of the vehicle body rear end；The first pressure sensor, second pressure sensor, third pressure
Sensor and the 4th pressure sensor are respectively used to output first pressure value, second pressure value, third pressure value, the 4th pressure
Value；
Meanwhile the mutual difference of pressure value that multiple pressure sensors are detected is calculated, and according to the multiple differences obtained
It is worth and the step of the operating status of comparison result and speed of service adjusting flat car between corresponding preset control threshold
Suddenly include：
Judge the first pressure value and the third pressure value and subtract the second pressure value and the 4th pressure value
And obtained difference when being more than corresponding control threshold, the speed for controlling the first wheel motor is less than second wheel hub
The speed of motor, so that the flat car turns left；
Judge the second pressure value and the 4th pressure value and subtract the first pressure value and the third pressure value
And obtained difference when being more than corresponding control threshold, the speed for controlling the first wheel motor is more than second wheel hub
The speed of motor, so that the flat car is turned right.
6. according to the method described in claim 5, it is characterized in that, to calculate the pressure value that multiple pressure sensors are detected mutual
Between difference, and according between the multiple differences obtained and corresponding preset control threshold comparison result and the fortune
Scanning frequency degree adjust flat car operating status the step of include：
Judge the first pressure value and the second pressure value and subtract the third pressure value and the 4th pressure value
And obtained difference be more than when accelerating corresponding control threshold, control the flat car and accelerate；
Judge the first pressure value and the second pressure value and subtract the third pressure value and the 4th pressure value
And obtained difference be less than when slowing down corresponding control threshold, control the flat car and slow down.
7. a kind of tablet truck control device, for controlling flat car operation, which is characterized in that the flat car includes car body；With
The direction that the car body advances at runtime is front, and the arranged on left and right sides of the vehicle bottom is respectively equipped with first wheel motor
With the second wheel hub motor；Multiple pressure sensors are distributed in the vehicle body, and car body surface various pieces are come from for detecting
Pressure；The flat car further includes controller, the controller respectively with the first wheel motor, the second wheel hub motor,
Multiple pressure sensors are connected；The tablet truck control device includes：
Pressure value receiving module, the pressure value detected in flat car operational process for obtaining the pressure sensor；
Speed read module, the speed of service for obtaining the flat car；
Operation control module, for judging whether the startup time of the flat car is more than given threshold, if so, setting first
Velocity interval is the corresponding normal speed ranges of the speed of service, and the ranging from described speed of service pair of second speed is otherwise arranged
The normal speed ranges answered；Wherein, the maximum value within the scope of the second speed is more than the maximum within the scope of the First Speed
Value；It is additionally operable to judge whether the flat car meets condition out of service, if so, controlling the first wheel motor and
Two wheel hub motors are out of service；Otherwise, the mutual difference of pressure value that multiple pressure sensors are detected is calculated, and according to
Comparison result and the speed of service between the multiple differences obtained and corresponding preset control threshold adjust flat car
Operating status；Wherein, the control threshold is configured according to the weight of driver.
8. tablet truck control device according to claim 7, which is characterized in that the stop condition is：According to the pressure
The pressure value of force snesor detection judges that the driver jumps off the flat car.
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| CN111572696A (en) * | 2019-02-15 | 2020-08-25 | 什拉姆有限责任公司 | Bicycle control system |
| US11964731B2 (en) | 2019-02-15 | 2024-04-23 | Sram, Llc | Bicycle control system |
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| CN202011449U (en) * | 2010-08-26 | 2011-10-19 | 天台县广信电器有限公司 | Multifunctional walking-assistant vehicle |
| CN203047453U (en) * | 2012-11-27 | 2013-07-10 | 梁志锋 | Power tricycle |
| KR101509670B1 (en) * | 2013-08-06 | 2015-04-08 | 한국철도기술연구원 | the transportation device for a person |
| CN105109605A (en) * | 2015-08-25 | 2015-12-02 | 郑州飞轮威尔实业有限公司 | Mini electric scooter |
| CN105539694A (en) * | 2016-01-14 | 2016-05-04 | 郑州飞轮威尔实业有限公司 | Mini mobility electric somatosensory car |
| CN205417916U (en) * | 2016-02-02 | 2016-08-03 | 南京快轮智能科技有限公司 | Electric artificial intelligent flatbed |
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|---|---|---|---|---|
| CN111572696A (en) * | 2019-02-15 | 2020-08-25 | 什拉姆有限责任公司 | Bicycle control system |
| US11964731B2 (en) | 2019-02-15 | 2024-04-23 | Sram, Llc | Bicycle control system |
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