CN106379478A - Scooter speed control system based on gyroscope and realization method of scooter speed control system - Google Patents
Scooter speed control system based on gyroscope and realization method of scooter speed control system Download PDFInfo
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- CN106379478A CN106379478A CN201610801048.1A CN201610801048A CN106379478A CN 106379478 A CN106379478 A CN 106379478A CN 201610801048 A CN201610801048 A CN 201610801048A CN 106379478 A CN106379478 A CN 106379478A
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- scooter
- gyroscope
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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
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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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
- B62K3/00—Bicycles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a scooter speed control system based on a gyroscope and a realization method of the scooter speed control system. The scooter speed control system comprises a gyroscope, and the gyroscope acquires the inclination angle of a scooter body of the scooter in a real-time manner, so that the scooter body posture state can be determined according to the inclination angle; a main control device determines a motor control signal according to the scooter body posture state and a speed value of the scooter; and then a motor outputs the corresponding power according to the motor control signal. According to the scooter speed control system disclosed by the invention, the power outputted by the motor is determined through parameters obtained by both an auxiliary force monitoring device and the gyroscope, so that the accuracy of the output power of the scooter can be improved, and the user experience is further improved.
Description
Technical field
The present invention relates to scooter technical field, more particularly, to a kind of scooter speed controlling system based on gyroscope
System and implementation method.
Background technology
Scooter (Bicman) is the novel product form of the another skateboarding after conventional skateboard.Scooter whole
Body construction takes the upper part of the body (headstock) of bicycle, and the lower part of the body takes slide plate.Scooter is moderate due to speed, eager to learn steerable, has
Brake gear (steps on rear wheel brake), is suitable for the use of multiple age levels, even more allows people be so fond that will not let out of one's hand especially in teenager.Slide plate
Car is developing perfect balance system to teenager even more good train on.
Nowadays modal scooter mostly relies solely on user and scrunches ground advance or rely solely on Motor drive
Move ahead, both scooters all have certain deficiency.On this basis, some producers release electric power and the slide plate of manpower mixing
Car, while making user obtain motion, also provides for riding instead of walk conveniently.However, its motor of scooter of current hybrid power carries
For power-assisted be usually to be provided according to some gears of factory settings, user can not arbitrary adjusting its speed,
Experience sense is poor.It is interactive that applicant discloses a kind of people's mechanomotive force in the patent document of Application No. 2016105505497
Scooter.It passes through the speed of real-time monitoring scooter, carrys out the power-assisted of adjusting slider vehicle motor output, so that user obtains very
Good experience；Moreover arranged by many gears, make user can help with the maximum speed of Autonomous Control scooter and motor output
Time of power etc.；Ensure that the seriality of user operation, greatly improve the experience sense of user.
Above-mentioned scooter still suffers from certain deficiency：When scooter is in non-horizontal road traveling, for example scooter goes up a slope
When, it also suffers from self gravitation along domatic in addition to the driving force by motor and/or user scrunch the power-assisted on ground
Downward active force, leads to the speed of scooter to reduce, and power-assisted monitoring device cannot be by the true velocity of scooter and user
Power-assisted be mapped；Likewise, when scooter is in descending, speed under gravity can be increasing, meanwhile, motor root
Export bigger power according to the speed that power-assisted detection means detects, lead to slide plate vehicle speed increasingly faster it is impossible to ensure
The operating experience of user.
In view of this, prior art has yet to be improved and developed.
Content of the invention
A kind of in view of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide slide plate vehicle speed based on gyroscope
, it is intended to solve the scooter of prior art in Uneven road, true velocity is with user's power-assisted not for control system and implementation method
Corresponding, lead to the defect needed for power non-user of motor output.
Technical scheme is as follows：
A kind of scooter speed control system based on gyroscope, wherein, including：
Gyroscope, for the real-time body sway angle obtaining scooter；And scooter is determined according to described angle of inclination
Attitude of bodywork state；And described attitude of bodywork state is sent in main control unit；
Power-assisted monitoring device, for the real-time velocity amplitude obtaining scooter, and sends described velocity amplitude to main control dress
In putting；
Main control unit, the velocity amplitude for the attitude of bodywork state according to described scooter and scooter determines motor control
Signal processed, and described motor control signal is sent to motor；
Motor, for exporting corresponding power according to motor control signal.
The described scooter speed control system based on gyroscope, wherein, is also included one and is connected with power-assisted monitoring device
Viberation detector, for the velocity amplitude according to scooter, obtain the acceleration signal of scooter, judge that acceleration signal is
No more than default amplitude threshold threshold value：It is determined that car body shakes when being judged as YES, otherwise, it determines car body shakes
Dynamic.
The described scooter speed control system based on gyroscope, wherein, described motor include front-wheel drive motor and
Rear wheel drive motor；Main control unit sends corresponding motor control signal to front wheel driving according to the attitude of bodywork state of scooter
Galvanic electricity machine and/or rear wheel drive motor.
The described scooter speed control system based on gyroscope, wherein, is also included one and is connected with main control unit
Child's detection means, whether the power-assisted for detecting scooter comes from child；If power-assisted scooter is detected comes from
Child, then main control unit then scooter is pinned.
The described scooter speed control system based on gyroscope, wherein, also includes one and is connected with main control unit
Physiology detection apparatus, for the real-time physical signs obtaining the user according to scooter of riding, main control unit is additionally operable to basis
The distance of riding of the physical signs of user, the velocity amplitude of scooter and user, calculates the calorie of user's consumption, immediately learns
The exercise data of user.
The described scooter speed control system based on gyroscope, wherein, also includes an accelerometer, for using inspection
Measuring carrier acceleration, described carrier acceleration is that the acceleration of motion of scooter is accelerated with gravity to the inertia force of mass metering block
The common acceleration determining of degree, and carrier acceleration is sent to main control unit, by main control unit to accelerometer and top
The acceleration that spiral shell instrument obtains and angular velocity carry out analog digital conversion, are merged acceleration and angular velocity by blending algorithm, obtain
To target tilt angle.
A kind of implementation method of the described scooter speed control system based on gyroscope, wherein, methods described includes
Following steps：
S100, gyroscope obtain the body sway angle of scooter in real time；And scooter is determined according to described angle of inclination
Attitude of bodywork state；And described attitude of bodywork state is sent in main control unit；Meanwhile, power-assisted monitoring device obtains in real time
Take the velocity amplitude of scooter, and described velocity amplitude is sent to main control unit；
S200, main control unit determine motor control according to the attitude of bodywork state of described scooter and the velocity amplitude of scooter
Signal processed, and described motor control signal is sent to motor；
S300, motor export corresponding power according to motor control signal.
The implementation method of the described scooter speed control system based on gyroscope, wherein, also includes：
S400, when the power-assisted that child's detection means detects scooter comes from child, then main control unit then will be slided
Wooden handcart pins.
The implementation method of the described scooter speed control system based on gyroscope, wherein, also includes：
S500, physiology detection apparatus obtain the physical signs of the user according to scooter of riding in real time；Main control unit root
According to the distance of riding of the physical signs of user, the velocity amplitude of scooter and user, calculate the calorie of user's consumption, instant
Know the exercise data of user.
The implementation method of the described scooter speed control system based on gyroscope, wherein, also includes：
S600, main control unit send corresponding motor control signal to front wheel driving according to the attitude of bodywork state of scooter
Galvanic electricity machine and/or rear wheel drive motor.
Scooter speed control system based on gyroscope provided by the present invention and implementation method, wherein, described slide plate
Vehicle speed control system includes：One gyroscope, obtains the body sway angle of scooter in real time；And it is true according to described angle of inclination
Determine the attitude of bodywork state of scooter, main control unit is according to the attitude of bodywork state of described scooter and the velocity amplitude of scooter
Determine motor control signal, motor exports corresponding power further according to motor control signal.The scooter speed controlling of the present invention
System determines the power of motor output jointly by the parameter that power-assisted monitoring device and gyroscope obtain, it is possible to increase scooter
The accuracy of output power, and then improve Consumer's Experience.
Brief description
Fig. 1 is the structured flowchart of the scooter speed control system based on gyroscope of the present invention.
Fig. 2 is the stream of the implementation method preferred embodiment of the scooter speed control system based on gyroscope of the present invention
Cheng Tu.
Fig. 3 is the preferred embodiment of the scooter with the present invention based on the scooter speed control system of gyroscope
Schematic diagram.
Specific embodiment
The present invention provides a kind of scooter speed control system based on gyroscope and implementation method, for making the mesh of the present invention
, technical scheme and effect clearer, clear and definite, the present invention is described in more detail below.It should be appreciated that it is described herein
Specific embodiment only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, it is the structured flowchart of the scooter speed control system based on gyroscope of the present invention.As figure
Shown, described included based on the scooter speed control system of gyroscope：Gyroscope 100, power-assisted monitoring device 200, main control
Device 300 and motor 400, wherein, gyroscope 100 and power-assisted monitoring device 200, motor 400 connect main control unit respectively
300.
Specifically, gyroscope 100 is used for the real-time body sway angle obtaining scooter；And according to described angle of inclination
Determine the attitude of bodywork state of scooter；And described attitude of bodywork state is sent in main control unit.In the present embodiment,
The object that gyroscope (State Gyroscopes) passes through in rotating coordinate system can be subject to the principle of Coriolis force, in the devices
Make vibration unit using piezoelectric ceramics.Frequency of vibration can be changed when rotary device, thus reflecting the angle speed of object rotation
Degree.And the attitude of bodywork state of scooter is determined according to the angular velocity of described rotation, then described attitude of bodywork state is sent
To in main control unit.
Power-assisted monitoring device 200 is used for the real-time velocity amplitude obtaining scooter, and described velocity amplitude is sent to main control
In device；In the present embodiment, described power-assisted monitoring device 200 can adopt velocity sensor or three axis accelerometer.
Wherein, the velocity amplitude of described scooter be by people scrunch ground acquisition power and scooter motor output power-assisted (open
During the beginning, motor non helping hand exports) scooter obtains when acting on scooter speed.During beginning, motor non helping hand exports, because
This is it is believed that the speed of people's amount of force and scooter of scrunching ground is directly proportional.In addition, three axis accelerometer is using inspection
The inertia force of mass metering block measuring carrier acceleration, described acceleration be the acceleration of motion of scooter with acceleration of gravity altogether
With the acceleration (especially in scooter upward slope or descending) determining.
Main control unit 300 is used for determining motor according to the attitude of bodywork state of described scooter and the velocity amplitude of scooter
Control signal, and described motor control signal is sent to motor.In the present embodiment, main control unit 300 is to vehicle body appearance
The velocity amplitude of gesture state and scooter carries out analog digital conversion.Merged by blending algorithm, obtained the correction of scooter
Velocity amplitude.This erection rate value is used for representing the desired velocity amplitude of user of scooter, then erection rate value is substituted into
In PID (proportion, integration, differentiation, PID) controller, by PID control
The conversion of device obtains motor control amount (i.e. motor control signal).PID controller is mainly by proportional unit (P), integral unit (I)
With differentiation element (D) composition, between its input and output, there is non-linear relation.Inputted using erection rate value as input quantity
PID controller, the output of PID controller is motor control amount.Motor 400 moves accordingly further according to motor control signal output
Power.
Further, as shown in figure 1, in the described scooter speed control system based on gyroscope, also include one with
The viberation detector 500 that power-assisted monitoring device 200 is connected, viberation detector 500 is used for the velocity amplitude according to scooter, obtains
To the acceleration signal of scooter, judge whether acceleration signal is more than default amplitude threshold threshold value：When being judged as YES, then really
Determine car body to shake, otherwise, it determines car body shakes.For example, when the output of viberation detector 500 exceedes width
Degree threshold value (when the accekeration of such as acceleration transducer output is more than predetermined acceleration threshold value), then judge car body
Shake, then may determine that scooter passes through uneven ground.Master controller can take appropriate measures (for example temporary transient
The output closing motor control signal is seen, it is to avoid the change of motor output frequency is too fast), certainly, described viberation detector 500
Can be realized using shaking sensor.
Further, described motor includes front-wheel drive motor and rear wheel drive motor；Main control unit can be according to cunning
The attitude of bodywork state of wooden handcart sends corresponding motor control signal to front-wheel drive motor and/or rear wheel drive motor.At this
In embodiment, by bi-motor is realized with differential output, then realize turning on the basis of may be implemented in holding balance.
Further, described based on the scooter speed control system of gyroscope also include one with main control unit phase
Child's detection means even, whether the power-assisted for detecting scooter comes from child；If power-assisted scooter is detected is derived from
In child, then scooter is then pinned by main control unit.In the present embodiment, child's detection means can adopt and be arranged on slide plate
Gravity sensor on car is realizing (when the user body weight that gravity sensor perceives on scooter is less than threshold value set in advance
When, then it is judged as child)；Can also be realized (when thrust induction apparatuss sense by the thrust induction apparatuss of setting on slide board handle
When knowing that the thrust receiving on scooter is less than threshold value set in advance, then it is judged as child).Alternatively, it is also possible in described slide plate
On vehicle body, child lock is set, prevents child's maloperation further.
Further, in the described scooter speed control system based on gyroscope, one and main control dress are also included
Put connected physiology detection apparatus, it is used for the real-time physical signs obtaining the user according to scooter of riding.Described physiology inspection
Survey device can include being not limited to：Detection human heart rate and Electrocardiographic ECG detecting contact, setting that two on the handles are provided with
Weight meter with scooter etc..In addition, main control unit is additionally operable to physical signs according to user, the velocity amplitude of scooter
With the distance of riding of user, calculate the calorie of user's consumption, immediately learn the exercise data of user.
Further, described can also include an accelerometer, accelerometer can use three axis accelerometer.Acceleration
Meter measures carrier acceleration using the inertia force of detection mass.This acceleration is that the acceleration of motion of scooter is added with gravity
The common acceleration determining of speed.Then, to accelerometer and gyroscope, the acceleration obtaining and angular velocity carry out analog digital conversion.
By blending algorithm, acceleration and angular velocity are merged, obtained target tilt angle.This target tilt angle is used for representing
The inclination angle of scooter vertical direction, thus more accurately obtain the vehicle body state of scooter.
Please continue to refer to Fig. 2, present invention also offers a kind of above-mentioned scooter speed control system based on gyroscope
Implementation method, the method comprising the steps of：
S100, gyroscope obtain the body sway angle of scooter in real time；And scooter is determined according to described angle of inclination
Attitude of bodywork state；And described attitude of bodywork state is sent in main control unit；Meanwhile, power-assisted monitoring device obtains in real time
Take the velocity amplitude of scooter, and described velocity amplitude is sent to main control unit；
S200, main control unit determine motor control according to the attitude of bodywork state of described scooter and the velocity amplitude of scooter
Signal processed, and described motor control signal is sent to motor；
S300, motor export corresponding power according to motor control signal.
Further, in the described implementation method based on the scooter speed control system of gyroscope, also include：
S400, when the power-assisted that child's detection means detects scooter comes from child, then scooter is then pinned by main control unit.
Further, in the described implementation method based on the scooter speed control system of gyroscope, also include：
S500, physiology detection apparatus obtain the physical signs of the user according to scooter of riding in real time；Main control unit is according to user's
The distance of riding of physical signs, the velocity amplitude of scooter and user, calculates the calorie of user's consumption, immediately learns user's
Exercise data.
Further, in the described implementation method based on the scooter speed control system of gyroscope, also include：
S600, main control unit send corresponding motor control signal to front-wheel drive motor according to the attitude of bodywork state of scooter
And/or rear wheel drive motor.
Please continue to refer to Fig. 3, it is the scooter with the present invention based on the scooter speed control system of gyroscope
Preferred embodiment schematic diagram.As illustrated, before described scooter includes pedal body 10, is installed on pedal body 10
The front-wheel 20 at end, the trailing wheel 30 being installed on pedal body 10 rear end, the handlebar stem 40 standing on pedal body 10 and set
Put the handle 50 on described handlebar stem 40.Described pedal body be internally provided with circuit board, described gyroscope 100, help
Power monitoring device 200, main control unit 300 and motor 400 are respectively mounted on circuit boards.In addition, described scooter also includes one
Seat 60, described seat 60 is connected with pedal body 10 by extensible link 70.
In addition, described scooter can also include a fold mechanism, described fold mechanism is used for for scooter being in transport
First deployed condition of people and handlebar stem second folded state parallel with pedal body.The realization side of described foldable structure
Have multiple in formula prior art, do not go into here.
In sum, the invention discloses a kind of scooter speed control system based on gyroscope and implementation method, its
In, described scooter speed control system includes：One gyroscope, obtains the body sway angle of scooter in real time；And according to institute
State the attitude of bodywork state that angle of inclination determines scooter, main control unit is according to the attitude of bodywork state of described scooter and cunning
The velocity amplitude of wooden handcart determines motor control signal, and motor exports corresponding power further according to motor control signal.The cunning of the present invention
Wooden handcart speed control system determines the power of motor output, energy jointly by the parameter that power-assisted monitoring device and gyroscope obtain
Enough improve the accuracy that scooter exports power, and then improve Consumer's Experience.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved according to the above description or to convert, all these modifications and variations all should belong to the guarantor that the present invention locks claim
Shield scope.
Claims (10)
1. a kind of scooter speed control system based on gyroscope is it is characterised in that include：
Gyroscope, for the real-time body sway angle obtaining scooter；And the car of scooter is determined according to described angle of inclination
Body posture state；And described attitude of bodywork state is sent in main control unit；
Power-assisted monitoring device, for the real-time velocity amplitude obtaining scooter, and sends described velocity amplitude to main control unit；
Main control unit, the velocity amplitude for the attitude of bodywork state according to described scooter and scooter determines that motor control is believed
Number, and described motor control signal is sent to motor；
Motor, for exporting corresponding power according to motor control signal.
2. the scooter speed control system based on gyroscope according to claim 1 it is characterised in that also include one with
The viberation detector that power-assisted monitoring device is connected, for the velocity amplitude according to scooter, obtains the acceleration signal of scooter,
Judge whether acceleration signal is more than default amplitude threshold threshold value：It is determined that car body shakes when being judged as YES, otherwise,
Determine that car body shakes.
3. the scooter speed control system based on gyroscope according to claim 1 is it is characterised in that described motor bag
Include front-wheel drive motor and rear wheel drive motor；Main control unit sends corresponding motor according to the attitude of bodywork state of scooter
Control signal is to front-wheel drive motor and/or rear wheel drive motor.
4. the scooter speed control system based on gyroscope according to claim 1 it is characterised in that also include one with
Child's detection means that main control unit is connected, whether the power-assisted for detecting scooter comes from child；If slide plate is detected
The power-assisted of car comes from child, then scooter is then pinned by main control unit.
5. the scooter speed control system based on gyroscope according to claim 1 is it is characterised in that also include a He
The physiology detection apparatus that main control unit is connected, for the real-time physical signs obtaining the user according to scooter of riding；Master control
Device processed is additionally operable to the distance of riding according to the physical signs of user, the velocity amplitude of scooter and user, calculates user's consumption
Calorie, immediately learn the exercise data of user.
6. the scooter speed control system based on gyroscope according to claim 1 adds it is characterised in that also including one
Velometer, for measuring carrier acceleration using the inertia force of detection mass, described carrier acceleration is the fortune of scooter
Dynamic acceleration common acceleration determining with acceleration of gravity, and carrier acceleration is sent to main control unit, by main control
To accelerometer and gyroscope, the acceleration obtaining and angular velocity carry out analog digital conversion to device, by blending algorithm by acceleration and
Angular velocity is merged, and obtains body sway angle.
7. the scooter speed control system based on gyroscope described in a kind of claim 1 implementation method it is characterised in that
The method comprising the steps of：
S100, gyroscope obtain the body sway angle of scooter in real time；And the car of scooter is determined according to described angle of inclination
Body posture state；And described attitude of bodywork state is sent in main control unit；Meanwhile, power-assisted monitoring device obtains cunning in real time
The velocity amplitude of wooden handcart, and described velocity amplitude is sent to main control unit；
According to the attitude of bodywork state of described scooter and the velocity amplitude of scooter, S200, main control unit determine that motor control is believed
Number, and described motor control signal is sent to motor；
S300, motor export corresponding power according to motor control signal.
8. the scooter speed control system based on gyroscope according to claim 7 implementation method it is characterised in that
Also include：
S400, when the power-assisted that child's detection means detects scooter comes from child, then main control unit is then by scooter
Pin.
9. the scooter speed control system based on gyroscope according to claim 7 implementation method it is characterised in that
Also include：
S500, physiology detection apparatus obtain the physical signs of the user according to scooter of riding in real time；Main control unit according to
The distance of riding of the physical signs at family, the velocity amplitude of scooter and user, calculates the calorie of user's consumption, immediately learns use
The exercise data at family.
10. the implementation method of the scooter speed control system based on gyroscope according to claim 7, its feature exists
In also including：
S600, main control unit send corresponding motor control signal to front wheel driving galvanic electricity according to the attitude of bodywork state of scooter
Machine and/or rear wheel drive motor.
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| CN107063247A (en) * | 2017-05-10 | 2017-08-18 | 北京拜克洛克科技有限公司 | The monitoring method and device of a kind of bicycle |
| CN107168323A (en) * | 2017-06-05 | 2017-09-15 | 深圳飞亮智能科技有限公司 | The control system and method for wheeled instrument power-assisted climbing |
| CN107600296A (en) * | 2017-10-27 | 2018-01-19 | 深圳市好盈科技有限公司 | A kind of power assist control method of electric assisted bicycle |
| CN108482568A (en) * | 2018-02-06 | 2018-09-04 | 浙江齐享科技有限公司 | A kind of electricity power-assisted shares the method and system of vehicle auxiliary vehicle climb and fall |
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| CN108744478A (en) * | 2018-06-14 | 2018-11-06 | 浙江工贸职业技术学院 | A kind of ice skate with vibratory gyroscope equalization brake gear |
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| CN110893892A (en) * | 2018-09-12 | 2020-03-20 | 杭州骑客智能科技有限公司 | Somatosensory scooter and control method thereof |
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