CN107168322A - Control system and method that wheeled instrument turning is slowed down - Google Patents
Control system and method that wheeled instrument turning is slowed down Download PDFInfo
- Publication number
- CN107168322A CN107168322A CN201710414812.4A CN201710414812A CN107168322A CN 107168322 A CN107168322 A CN 107168322A CN 201710414812 A CN201710414812 A CN 201710414812A CN 107168322 A CN107168322 A CN 107168322A
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- wheeled instrument
- wheeled
- setting value
- signal
- slowed down
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000000979 retarding effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
Classifications
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- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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 the turning of wheeled instrument is slowed down；The control method that wherein wheeled instrument turning is slowed down, comprises the following steps；Step one, power-up initializing；Step 2, gathers the signal for turn of wheeled instrument；Step 3, judges whether signal for turn is more than setting value；If more than setting value, then into lower step, if not more than setting value, then return to step two；Step 4, the wheeled instrument speed of service carries out step wise reduction in the ladder period；Step 5, the minimum speed of detection setting section, sets it to cruising speed, wheeled instrument is operated at that speed；Step 6, return to step two.The wheeled instrument of the present invention during turning driving, can automatic retarding, and this systems approach simplifies, stability is high, improves the security of wheeled instrument operation.
Description
Technical field
The present invention relates to control method, control system and method that more specifically the turning of finger wheel formula instrument is slowed down.
Background technology
When wheeled tool needle in the market is to turning driving state, the operation function without automatic speed-limiting or deceleration,
So that security performance is not high in turning driving, particularly when tempo turn is travelled, easily occurs traffic accident.
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 of wheeled instrument turning deceleration and side
Method.
To achieve the above object, the present invention uses following technical scheme：
The control method that wheeled instrument turning is slowed down, comprises the following steps；
Step one, power-up initializing；
Step 2, gathers the signal for turn of wheeled instrument；
Step 3, judges whether signal for turn is more than setting value；If more than setting value, then into lower step, if
Setting value is not greater than, then return to step two；
Step 4, the wheeled instrument speed of service carries out step wise reduction in the ladder period；
Step 5, the minimum speed of detection setting section, sets it to cruising speed, and wheeled instrument is transported with the speed
OK；
Step 6, return to step two.
Its further technical scheme is：It is angle of turn sensor that wheeled instrument signal for turn is gathered in the step 2
Signal.
Its further technical scheme is：The signal of the angle of turn sensor be voltage or resistance variations signal, it is described
Voltage change signal setting value is 0-5V；Resistance variations signal setting value is 0-5K Ω.
Its further technical scheme is：It is further comprising the steps of between the step 2 and step 3；
Detect the initial velocity of wheeled instrument；
Judge whether initial velocity is more than setting value, if more than setting value, then into lower step, if not more than
Setting value, then return to step two.
Its further technical scheme is：The setting value of the initial velocity is 4km/h.
Its further technical scheme is：In the step 4, the ladder period is each stage 1-3s, the speed of service
Step wise reduction ratio is 20-50%.
Its further technical scheme is：In the step 5, the minimum speed is 5-40km/h.
Its further technical scheme is：The wheeled instrument is two wheel scooters, four wheel scooters, bicycle or three-wheel
Car.
Wheeled instrument is turned the control system slowed down, including control module and be connected with control module judge module, adopt
Collect module, detection module, slowdown module and power supply；
The judge module, for judging whether signal for turn is more than setting value；
The acquisition module, the signal for turn for gathering wheeled instrument；
The detection module, the minimum speed for detecting setting section；
The slowdown module, the speed of service of the wheeled instrument of step wise reduction is carried out for the ladder period.
Compared with the prior art, the invention has the advantages that：Pass through power-up initializing；Gather the turning letter of wheeled instrument
Number；Judge whether signal for turn is more than setting value；The wheeled instrument speed of service carries out step wise reduction in the ladder period；Detection
The minimum speed of section is set, cruising speed is set it to, wheeled instrument is operated at that speed；So that wheeled instrument is being turned
In running, can automatic retarding, and this systems approach simplifies, stability is high, improves the security of wheeled instrument operation.
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 flow chart for the control method first embodiment that the turning of wheeled instrument is slowed down；
Fig. 2 is the flow chart for the control method second embodiment that the turning of wheeled instrument is slowed down；
Fig. 3 is the control system circuit block diagram that the turning of wheeled instrument is slowed down.
The judge module of 10 control module 20
The acquisition module of 30 slowdown module 40
The power supply of 50 detection module 60
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. 3, the control system slowed down the invention discloses the turning of wheeled instrument and side
Method；The first embodiment for the control method that wherein wheeled instrument turning is slowed down, as shown in figure 1, comprising the following steps；
Step one, driver's power-assisted slides or stepped on driving wheel formula instrument, power-up initializing；
Step 2, gathers the signal for turn of wheeled instrument；
Step 3, judges whether signal for turn is more than setting value；If more than setting value, then into lower step, if
Setting value is not greater than, then return to step two；
Step 4, the wheeled instrument speed of service carries out step wise reduction in the ladder period；
Step 5, the minimum speed of detection setting section, sets it to cruising speed, and wheeled instrument is transported with the speed
OK；
Step 6, return to step two.
Specifically, as shown in figure 1, in step 2, the signal that wheeled instrument signal for turn is angle of turn sensor is gathered,
The signal of angle of turn sensor is voltage or resistance variations signal, and voltage change signal setting value is 0-5V；Resistance variations are believed
Number setting value is 0-5K Ω.
Wherein, in step 4, the ladder period is each stage 1-3s, and speed of service step wise reduction ratio is 20-
50%.
Wherein, in step 5, minimum speed is 5-40km/h.
Second embodiment, as shown in Fig. 2 the difference of the present embodiment and first embodiment is, step 2 and step 3 it
Between, it is further comprising the steps of；
Detect the initial velocity of wheeled instrument；
Judge whether initial velocity is more than setting value, if more than setting value, then into lower step, if not more than
Setting value, then return to step two.
Wherein, the setting value of initial velocity is 4km/h.
Wherein, wheeled instrument is two wheel scooters, four wheel scooters, bicycle or tricycle.
Specifically, as shown in figure 3, the invention also discloses the electric boosted control system of wheeled instrument, including control mould
Block 10 and the judge module 20 being connected with control module 10, acquisition module 40, detection module 50, slowdown module 30 and power supply 60；
Judge module 20, for judging whether signal for turn is more than setting value；
Acquisition module 40, the signal for turn for gathering wheeled instrument；
Detection module 50, the minimum speed for detecting setting section；
Slowdown module 30, the speed of service of the wheeled instrument of step wise reduction is carried out for the ladder period.
Wherein, control module 10 is microcontroller, and judge module 20, acquisition module 40, detection module 50 are and microcontroller
Device is integrated to be formed；Acquisition module 40 is angle of turn sensor.
In other embodiment, acquisition module 40 can also be collection potentiometer, Hall sensor, inductance, optoelectronic switch
Or gyro sensor.
In summary, the present invention passes through power-up initializing；Gather the signal for turn of wheeled instrument；Whether judge signal for turn
More than setting value；The wheeled instrument speed of service carries out step wise reduction in the ladder period；The minimum speed of detection setting section,
Cruising speed is set it to, wheeled instrument is operated at that speed；So that wheeled instrument is during turning driving, can be automatic
Slow down, and this systems approach simplifies, stability is high, improves the security of wheeled instrument operation.
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 (9)
- The control method slowed down 1. wheeled instrument is turned, it is characterised in that comprise the following steps；Step one, power-up initializing；Step 2, gathers the signal for turn of wheeled instrument；Step 3, judges whether signal for turn is more than setting value；If more than setting value, then into lower step, if not More than setting value, then return to step two；Step 4, the wheeled instrument speed of service carries out step wise reduction in the ladder period；Step 5, the minimum speed of detection setting section, sets it to cruising speed, wheeled instrument is operated at that speed；Step 6, return to step two.
- The control method slowed down 2. wheeled instrument according to claim 1 is turned, it is characterised in that adopted in the step 2 Integrate signal of the wheeled instrument signal for turn as angle of turn sensor.
- The control method slowed down 3. wheeled instrument according to claim 2 is turned, it is characterised in that the angle of turn is passed The signal of sensor is voltage or resistance variations signal, and the voltage change signal setting value is 0-5V；Resistance variations signal is set It is worth for 0-5K Ω.
- The control method slowed down 4. wheeled instrument according to claim 1 is turned, it is characterised in that the step 2 and step It is further comprising the steps of between rapid three；Detect the initial velocity of wheeled instrument；Judge whether initial velocity is more than setting value, if more than setting value, then into lower step, if not more than setting It is worth, then return to step two.
- The control method slowed down 5. wheeled instrument according to claim 4 is turned, it is characterised in that the initial velocity Setting value is 4km/h.
- The control method slowed down 6. wheeled instrument according to claim 1 is turned, it is characterised in that in the step 4, The ladder period is each stage 1-3s, and speed of service step wise reduction ratio is 20-50%.
- The control method slowed down 7. wheeled instrument according to claim 1 is turned, it is characterised in that in the step 5, The minimum speed is 5-40km/h.
- The control method slowed down 8. wheeled instrument according to claim 1 is turned, it is characterised in that the wheeled instrument is Two wheel scooters, four wheel scooters, bicycle or tricycle.
- The control system slowed down 9. wheeled instrument is turned, it is characterised in that what is be connected including control module and with control module sentences Disconnected module, acquisition module, detection module, slowdown module and power supply；The judge module, for judging whether signal for turn is more than setting value；The acquisition module, the signal for turn for gathering wheeled instrument；The detection module, the minimum speed for detecting setting section；The slowdown module, the speed of service of the wheeled instrument of step wise reduction is carried out for the ladder period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414812.4A CN107168322A (en) | 2017-06-05 | 2017-06-05 | Control system and method that wheeled instrument turning is slowed down |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414812.4A CN107168322A (en) | 2017-06-05 | 2017-06-05 | Control system and method that wheeled instrument turning is slowed down |
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| CN107168322A true CN107168322A (en) | 2017-09-15 |
Family
ID=59825594
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|---|---|---|---|
| CN201710414812.4A Pending CN107168322A (en) | 2017-06-05 | 2017-06-05 | Control system and method that wheeled instrument turning is slowed down |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762327A (en) * | 2018-06-06 | 2018-11-06 | 深圳飞亮智能科技有限公司 | The method for slowing-down control and its system of wheeled tool |
| CN110686691A (en) * | 2019-10-08 | 2020-01-14 | 深圳市乐骑智能科技有限公司 | Electric scooter path guiding method and system |
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Cited By (2)
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| CN108762327A (en) * | 2018-06-06 | 2018-11-06 | 深圳飞亮智能科技有限公司 | The method for slowing-down control and its system of wheeled tool |
| CN110686691A (en) * | 2019-10-08 | 2020-01-14 | 深圳市乐骑智能科技有限公司 | Electric scooter path guiding method and system |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170915 |
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| RJ01 | Rejection of invention patent application after publication |