CN107168321A - Control system and method that wheeled instrument is carried out - Google Patents
Control system and method that wheeled instrument is carried out Download PDFInfo
- Publication number
- CN107168321A CN107168321A CN201710414331.3A CN201710414331A CN107168321A CN 107168321 A CN107168321 A CN 107168321A CN 201710414331 A CN201710414331 A CN 201710414331A CN 107168321 A CN107168321 A CN 107168321A
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- wheeled instrument
- wheeled
- instrument
- module
- power
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000009194 climbing Effects 0.000 claims abstract description 10
- 238000013480 data collection Methods 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000037396 body weight Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention relates to the control system and method that wheeled instrument is carried out；Wherein, the control method that wheeled instrument is carried out, comprises the following steps；Step one, power-up initializing, into implementation pattern；Step 2, gathers the run signal of wheeled instrument；Whether step 3, it is horizontal plane operation to judge run signal；Step 4, motor constant output current, to produce power-assisted even running；Whether step 5, it is operation of going up a slope to judge run signal；Step 6, improves motor operation torque, and power-assisted promotes wheeled instrument climbing operation；Whether step 7, it is descending operation to judge run signal；Step 8, motor produces opposing torque, limits the speed of service of wheeled instrument.The invention enables during the operation of wheeled instrument, automatic data collection, different road conditions are judged, improve the operational efficiency of wheeled instrument, and effectively prevent the faulty operation that driver and crew do not make on wheeled instrument, reduce the generation of security incident.
Description
Technical field
The present invention relates to control method, control system and method that more specifically finger wheel formula instrument is carried out.
Background technology
Wheeled instrument in the market can only be to fix a speed operation during implementation, carry out power-assisted effect
Difference, experience sense is bad, it is impossible to meet the use requirement of various road conditions；And driver and crew do not make mistake behaviour on wheeled instrument
Make, easily cause the generation of security incident.
The content of the invention
It is an object of the invention to the defect for overcoming prior art, there is provided the control system and method that wheeled instrument is carried out.
To achieve the above object, the present invention uses following technical scheme：
The control method that wheeled instrument is carried out, comprises the following steps；
Step one, power-up initializing, into implementation pattern；
Step 2, gathers the run signal of wheeled instrument；
Whether step 3, it is horizontal plane operation to judge run signal；If it is, into lower step, if it is not, then entering
Enter step 5；
Step 4, motor constant output current, to produce power-assisted even running；
Whether step 5, it is operation of going up a slope to judge run signal；If it is, into lower step, if it is not, then into
Step 7；
Step 6, improves motor operation torque, and power-assisted promotes wheeled instrument climbing operation；
Whether step 7, it is descending operation to judge run signal；If it is, into lower step, if it is not, then returning
Step 2；
Step 8, motor produces opposing torque, limits the speed of service of wheeled instrument.
Its further technical scheme is：It is gyro sensor that the run signal of wheeled instrument is gathered in the step 2
Signal.
Its further technical scheme is：In the step 6, motor operation torque is 50-100%.
Its further technical scheme is：In the step 8, motor opposing torque is 5-50%.
Its further technical scheme is：The wheeled instrument is two wheel scooters, four wheel scooters, bicycle or three-wheel
Car.
The control system that wheeled instrument is carried out, including control module and be connected with control module acquisition module, judge mould
Block, constant output module, power-assisted module, speed limit module and power supply；
The acquisition module, the run signal for gathering wheeled instrument；
The judge module, the run signal for judging wheeled instrument；
The constant output module, for motor constant output current, to produce power-assisted even running；
The power-assisted module, for improving motor operation torque, power-assisted promotes wheeled instrument climbing operation；
The speed limit module, for exporting reverse current, motor produces opposing torque, limits the operation speed of wheeled instrument
Degree.
Compared with the prior art, the invention has the advantages that：By power-up initializing, into pattern is carried out, gather wheeled
The run signal of instrument, whether be horizontal plane operation, motor constant output current is steadily transported with producing power-assisted if judging run signal
OK, whether be go up a slope operation, improve motor operation torque if judging run signal, power-assisted promotes wheeled instrument climbing operation, judged
Whether run signal is descending operation, and motor produces opposing torque, limits the speed of service of wheeled instrument；So that wheeled instrument fortune
During row, automatic data collection, different road conditions are judged, improve the operational efficiency of wheeled instrument, alleviate the implementation pressure of driver, and
The present invention effectively prevent the faulty operation that driver and crew do not make on wheeled instrument, reduce the generation of security incident.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the control method flow chart that wheeled instrument is carried out；
Fig. 2 is the control system circuit block diagram that wheeled instrument is carried out.
The acquisition module of 10 control module 20
The constant output module of 30 judge module 40
The speed limit module of 50 power-assisted module 60
70 power supplys
Embodiment
In order to more fully understand the technology contents of the present invention, technical scheme is entered with reference to specific embodiment
One step introduction and explanation, but it is not limited to this.
Specific embodiment as shown in Fig. 1 to Fig. 2, the control system carried out the invention discloses a kind of wheeled instrument and side
Method；Wherein, the control method that wheeled instrument is carried out, comprises the following steps；
Step one, power-up initializing, into implementation pattern；
Step 2, gathers the run signal of wheeled instrument；
Whether step 3, it is horizontal plane operation to judge run signal；If it is, into lower step, if it is not, then entering
Enter step 5；
Step 4, motor constant output current, to produce power-assisted even running；
Whether step 5, it is operation of going up a slope to judge run signal；If it is, into lower step, if it is not, then into
Step 7；
Step 6, improves motor operation torque, and power-assisted promotes wheeled instrument climbing operation；
Whether step 7, it is descending operation to judge run signal；If it is, into lower step, if it is not, then returning
Step 2；
Step 8, motor produces opposing torque, limits the speed of service of wheeled instrument.
Specifically, as shown in figure 1, in step one, setting wheeled instrument by button or peripheral hardware instruction and entering implementation pattern；
The run signal that wheeled instrument is gathered in step 2 is the signal of gyro sensor.
Wherein, in step 6, motor operation torque is 50-100%；In step 8, motor opposing torque is 5-50%.
Wherein, wheeled instrument is two wheel scooters, four wheel scooters, bicycle or tricycle.
The present invention principle be：In the case where wheeled tool power is opened, driver does not get on the bus, passes through button or peripheral hardware
The wheeled instrument of instruction setting enters implementation pattern, if control unit detects road conditions for horizontal plane, and it can be pushed away according to driver
The speed of road wheel formula instrument, constant output current, to produce power-assisted so that the wheeled instrument even running (size of current output value
It is adjustable)；If it is upward slope that control unit, which detects road conditions, its speed that can carry out wheeled instrument according to driver or the gradient it is big
Small, automatic to improve motor operation torque, power-assisted promotes wheeled instrument climbing operation (size of operation torque is adjustable)；If control is single
Member detects road conditions for descending, and the size of its speed that can carry out wheeled instrument according to driver or the gradient, automatic output is reverse
Electric current, motor produces opposing torque, limits the speed of service of wheeled instrument (size of opposing torque is adjustable)；So that wheeled instrument
Limiting operation is realized on a certain size ramp or level road.
As shown in Fig. 2 the invention also discloses wheeled instrument carry out control system, including control module 10 and with control
Acquisition module 20, judge module 30, constant output module 40, power-assisted module 50, speed limit module 60 and power supply that module 10 is connected
70；
Acquisition module 20, the run signal for gathering wheeled instrument；
Judge module 30, the run signal for judging wheeled instrument；
Constant output module 40, for motor constant output current, to produce power-assisted even running；
Power-assisted module 50, for improving motor operation torque, power-assisted promotes wheeled instrument climbing operation；
Speed limit module 60, for exporting reverse current, motor produces opposing torque, limits the speed of service of wheeled instrument.
Wherein, control module 10 is microcontroller, judge module 30, constant output module 40, power-assisted module 50, speed limit mould
Block 60 with microcontroller is integrated forms；Acquisition module 20 is gyro sensor.
The present invention carries out power-assisted or speed limit works well, and improves the experience sense of driver, meets the use of various road conditions
It is required that, and the faulty operation that driver and crew do not make on wheeled instrument is effectively prevent, reduce the generation of security incident.
In other embodiment, the control system also includes the gravity sensor being connected with microcontroller；Passed by gravity
Sensor detects that the body weight of different drivers is different, correspondingly sized electric current is exported, so as to preferably improve the fortune of wheeled instrument
Line efficiency.
In summary, the present invention, into pattern is carried out, is gathered the run signal of wheeled instrument, sentenced by power-up initializing
Whether disconnected run signal is horizontal plane operation, and motor constant output current, to produce power-assisted even running, judges that run signal is
It is no to be run to go up a slope, motor operation torque is improved, power-assisted promotes wheeled instrument climbing operation, and whether judge run signal is descending
Operation, motor produces opposing torque, limits the speed of service of wheeled instrument；So that during wheeled instrument operation, automatic data collection, judgement
Different road conditions, improve the operational efficiency of wheeled instrument, alleviate the implementation pressure of driver, and the present invention effectively prevent
The faulty operation that driver and crew do not make on wheeled instrument, reduces the generation of security incident.
The above-mentioned technology contents that the present invention is only further illustrated with embodiment, in order to which reader is easier to understand, but not
Represent embodiments of the present invention and be only limitted to this, any technology done according to the present invention extends or recreated, by the present invention's
Protection.Protection scope of the present invention is defined by claims.
Claims (6)
1. the control method that wheeled instrument is carried out, it is characterised in that comprise the following steps；
Step one, power-up initializing, into implementation pattern；
Step 2, gathers the run signal of wheeled instrument；
Whether step 3, it is horizontal plane operation to judge run signal；If it is, into lower step, if it is not, then entering step
Rapid five；
Step 4, motor constant output current, to produce power-assisted even running；
Whether step 5, it is operation of going up a slope to judge run signal；If it is, into lower step, if it is not, then into step
Seven；
Step 6, improves motor operation torque, and power-assisted promotes wheeled instrument climbing operation；
Whether step 7, it is descending operation to judge run signal；If it is, into lower step, if it is not, then return to step
Two；
Step 8, motor produces opposing torque, limits the speed of service of wheeled instrument.
2. the control method that wheeled instrument according to claim 1 is carried out, it is characterised in that collection wheel in the step 2
The run signal of formula instrument is the signal of gyro sensor.
3. the control method that wheeled instrument according to claim 1 is carried out, it is characterised in that in the step 6, motor
Operation torque is 50-100%.
4. the control method that wheeled instrument according to claim 1 is carried out, it is characterised in that in the step 8, motor
Opposing torque is 5-50%.
5. the control method that wheeled instrument according to claim 1 is carried out, it is characterised in that the wheeled instrument is two-wheeled
Scooter, four wheel scooters, bicycle or tricycle.
6. the control system that wheeled instrument is carried out, it is characterised in that the collection mould being connected including control module and with control module
Block, judge module, constant output module, power-assisted module, speed limit module and power supply；
The acquisition module, the run signal for gathering wheeled instrument；
The judge module, the run signal for judging wheeled instrument；
The constant output module, for motor constant output current, to produce power-assisted even running；
The power-assisted module, for improving motor operation torque, power-assisted promotes wheeled instrument climbing operation；
The speed limit module, for exporting reverse current, motor produces opposing torque, limits the speed of service of wheeled instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414331.3A CN107168321A (en) | 2017-06-05 | 2017-06-05 | Control system and method that wheeled instrument is carried out |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414331.3A CN107168321A (en) | 2017-06-05 | 2017-06-05 | Control system and method that wheeled instrument is carried out |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107168321A true CN107168321A (en) | 2017-09-15 |
Family
ID=59825641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710414331.3A Pending CN107168321A (en) | 2017-06-05 | 2017-06-05 | Control system and method that wheeled instrument is carried out |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107168321A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107846173A (en) * | 2017-10-28 | 2018-03-27 | 珠海磐磊智能科技有限公司 | Motor control method, electric machine control system and mobile devices |
| CN109941390A (en) * | 2019-02-27 | 2019-06-28 | 天津三一友泰科技有限公司 | Moped intelligent-induction system |
| CN113232521A (en) * | 2021-06-23 | 2021-08-10 | 英华达（南京）科技有限公司 | Electric vehicle and control method and control device thereof |
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| JP2012030767A (en) * | 2010-07-29 | 2012-02-16 | Aida Yukio | Power-assisted bicycle |
| CN103434604A (en) * | 2013-08-30 | 2013-12-11 | 孙敏 | Electric power bicycle driving system capable of recognizing state of road |
| CN205202771U (en) * | 2015-11-25 | 2016-05-04 | 王鹏飞 | Trolley -bus was carried out under special road two switch speed stabilizing booster unit and system |
| CN106476974A (en) * | 2016-10-21 | 2017-03-08 | 深圳乐行天下科技有限公司 | A kind of power-assisted carries out method, electric motor car and its controller |
| CN206187267U (en) * | 2016-11-21 | 2017-05-24 | 天津逍悦达科技有限公司 | Can carry thing weight detection's moped system |
| CN106741462A (en) * | 2016-12-24 | 2017-05-31 | 陈勇 | Vidacare corp after the folding of bicycle fast assembling-disassembling |
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2017
- 2017-06-05 CN CN201710414331.3A patent/CN107168321A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012030767A (en) * | 2010-07-29 | 2012-02-16 | Aida Yukio | Power-assisted bicycle |
| CN103434604A (en) * | 2013-08-30 | 2013-12-11 | 孙敏 | Electric power bicycle driving system capable of recognizing state of road |
| CN205202771U (en) * | 2015-11-25 | 2016-05-04 | 王鹏飞 | Trolley -bus was carried out under special road two switch speed stabilizing booster unit and system |
| CN106476974A (en) * | 2016-10-21 | 2017-03-08 | 深圳乐行天下科技有限公司 | A kind of power-assisted carries out method, electric motor car and its controller |
| CN206187267U (en) * | 2016-11-21 | 2017-05-24 | 天津逍悦达科技有限公司 | Can carry thing weight detection's moped system |
| CN106741462A (en) * | 2016-12-24 | 2017-05-31 | 陈勇 | Vidacare corp after the folding of bicycle fast assembling-disassembling |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107846173A (en) * | 2017-10-28 | 2018-03-27 | 珠海磐磊智能科技有限公司 | Motor control method, electric machine control system and mobile devices |
| CN109941390A (en) * | 2019-02-27 | 2019-06-28 | 天津三一友泰科技有限公司 | Moped intelligent-induction system |
| CN113232521A (en) * | 2021-06-23 | 2021-08-10 | 英华达（南京）科技有限公司 | Electric vehicle and control method and control device thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170915 |
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| RJ01 | Rejection of invention patent application after publication |