CN107902031B - Electronic braking method, frame, power driving assembly and vehicle - Google Patents
Electronic braking method, frame, power driving assembly and vehicle Download PDFInfo
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- CN107902031B CN107902031B CN201711019555.0A CN201711019555A CN107902031B CN 107902031 B CN107902031 B CN 107902031B CN 201711019555 A CN201711019555 A CN 201711019555A CN 107902031 B CN107902031 B CN 107902031B
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- assembly
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- power driving
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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
- B62K13/00—Cycles convertible to, or transformable into, other types of cycles or land vehicle
- B62K13/06—Cycles convertible to, or transformable into, other types of cycles or land vehicle to a quadricycle, e.g. by coupling together two bicycles side by side
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
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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
- B62K13/00—Cycles convertible to, or transformable into, other types of cycles or land vehicle
- B62K13/08—Frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
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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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses an electronic braking method, a frame, a power driving assembly and a vehicle. After the controller is in communication connection with the power driving assembly, the controller acquires a control command from the control assembly; the controller determines whether the manipulation command is a braking command when it is determined that the manipulation command is associated with the power drive assembly; and when the operation instruction is the brake instruction, generating a deceleration signal for controlling the power driving component according to the brake instruction, and sending the deceleration signal to the power driving component, wherein the deceleration signal is used for indicating the power driving component to reduce power output.
Description
Technical Field
The invention relates to the vehicle technology, in particular to an electronic braking method, a vehicle frame, a power driving assembly and a vehicle.
Background
The kart has the characteristics of simple structure, high safety and great racing speed, and is widely applied. However, the kart can only be used as a toy on a track, has certain requirements on the field, and has a single use scene.
The balance car has the characteristics of small volume, low energy consumption, capability of relieving road traffic pressure and high entertainment, and is widely applied. However, due to safety considerations, the balance car can only be used as a walking tool, does not have the racing characteristic, and has a single use scene.
The two types of kart and balance car can only be used by the user as the type of single function, and product utilization is lower, if the user wants to experience the two types of cars, the user must purchase the kart and the balance car simultaneously, so that the economic pressure of the consumer is greatly increased, and the resource waste is also caused.
Based on this, it is necessary to provide a vehicle type to satisfy the usage scenarios of the kart and the balance car, however, when designing the vehicle type, the braking function on the vehicle body is mostly based on the physical mechanical type braking, for example, the braking function is realized by adopting a disc brake mode, which is easy to wear the wheels and has low braking precision.
Disclosure of Invention
In order to solve the technical problems, the embodiment of the invention provides an electronic braking method, a frame, a power driving assembly and a vehicle.
The electronic braking method provided by the embodiment of the invention is applied to a vehicle frame, the vehicle frame is used for being connected with a power driving assembly and is provided with a controller and a control assembly, the controller and the control assembly are used for controlling the power driving assembly, and the method comprises the following steps:
after the controller is in communication connection with the power driving assembly, the controller acquires a control command from the control assembly;
the controller determines whether the manipulation command is a braking command when it is determined that the manipulation command is associated with the power drive assembly;
and when the operation instruction is the brake instruction, generating a deceleration signal for controlling the power driving component according to the brake instruction, and sending the deceleration signal to the power driving component, wherein the deceleration signal is used for indicating the power driving component to reduce power output.
In the embodiment of the invention, the control assembly at least comprises an accelerator assembly, a brake assembly and a direction control assembly;
the determining whether the manipulation instruction is a braking instruction comprises:
the controller determines that the manipulation command is a braking command when detecting the manipulation command from the braking component.
In the embodiment of the invention, the brake command is represented by the displacement of the brake component;
the generating a deceleration signal for controlling the power drive assembly according to the brake command comprises:
and detecting a voltage signal corresponding to the displacement of the brake assembly by using a Hall sensor, and taking the voltage signal as the deceleration signal.
In the embodiment of the invention, the power driving component is only connected with the front end of the frame and serves as a front driving power component of the frame; or the like, or, alternatively,
the power driving assembly is only connected with the rear end of the frame and serves as a rear driving force assembly of the frame; or the like, or, alternatively,
and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
Another embodiment of the present invention provides an electronic braking method applied to a power driving assembly, where the power driving assembly is used to connect with a frame, the frame has a control assembly, and a controller for controlling the power driving assembly is disposed on the frame, the method includes:
after the power driving assembly is connected with the frame, the power driving assembly enters a first working state;
after communication connection is established between the power driving assembly in the first working state and the controller, a deceleration signal from the controller is received;
and the power driving component reduces the power output of the power driving component according to the received deceleration signal.
In the embodiment of the present invention, the method further includes:
after the power driving assembly is disconnected from the frame, the power driving assembly enters a second working state; the second working state is different from the first working state, and in the second working state, the power driving component does not provide power output for the frame.
In the embodiment of the invention, the power driving assembly is provided with a self-balancing system, and in the first working state, the self-balancing system of the power driving assembly does not work and the power driving assembly provides power output for the frame; and in the second working state, the self-balancing system of the power driving assembly works.
In the embodiment of the invention, the control assembly at least comprises an accelerator assembly, a brake assembly and a direction control assembly; wherein the brake component corresponds to the deceleration signal;
the power driving assembly reduces its power output according to the received deceleration signal, including:
and the power driving component determines a power reduction strategy of the power driving component according to the deceleration signal and controls the power output to be reduced based on the power reduction strategy.
In the embodiment of the invention, the power driving component is only connected with the front end of the frame and is used as a front driving power component of the frame; or the like, or, alternatively,
the power driving assembly is only connected with the rear end of the frame and is used as a rear driving force assembly of the frame; or the like, or, alternatively,
and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
The frame provided by the embodiment of the invention is connected with the power driving assembly, and the frame is provided with a controller and a control assembly for controlling the power driving assembly; wherein the power drive assembly comprises: the processor and the power driving component are connected in a communication way,
the controller is used for acquiring a manipulation instruction from the manipulation assembly; upon determining that the manipulation command is associated with the power drive assembly, determining whether the manipulation command is a braking command; and when the operation instruction is the brake instruction, generating a deceleration signal for controlling the power driving component according to the brake instruction, and sending the deceleration signal to the power driving component, wherein the deceleration signal is used for indicating the power driving component to reduce power output.
In the embodiment of the invention, the control assembly at least comprises an accelerator assembly, a brake assembly and a direction control assembly;
the controller is specifically configured to: when a manipulation command from the brake assembly is detected, determining that the manipulation command is a brake command.
In the embodiment of the invention, the brake command is represented by the displacement of the brake component;
the frame still includes: the Hall sensor is used for detecting a voltage signal corresponding to the displacement of the brake assembly and taking the voltage signal as the deceleration signal; sending the deceleration signal to the controller.
In the embodiment of the invention, the power driving component is only connected with the front end of the frame and serves as a front driving power component of the frame; or the like, or, alternatively,
the power driving assembly is only connected with the rear end of the frame and serves as a rear driving force assembly of the frame; or the like, or, alternatively,
and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
The power driving assembly provided by the embodiment of the invention is used for being connected with a frame, and comprises: a processor, a power output assembly; wherein the frame has a steering assembly, and a controller for controlling the power drive assembly; after the power driving assembly is connected with the frame, the power driving assembly enters a first working state; when the power drive assembly is in the first operating condition,
the processor is used for receiving a deceleration signal from the controller after establishing communication connection with the controller; and reducing the power output of the self-body according to the received deceleration signal.
In the embodiment of the invention, after the power driving component is disconnected with the frame, the power driving component enters a second working state; the second working state is different from the first working state, and in the second working state, the power driving component does not provide power output for the frame.
In the embodiment of the invention, the power driving assembly is provided with a self-balancing system, and in the first working state, the self-balancing system of the power driving assembly does not work and the power driving assembly provides power output for the frame; and in the second working state, the self-balancing system of the power driving assembly works.
In the embodiment of the invention, the control assembly at least comprises an accelerator assembly, a brake assembly and a direction control assembly; wherein the brake component corresponds to the deceleration signal;
the processor is specifically configured to: and determining a power reduction strategy of the power driving component according to the deceleration signal, and controlling the power output to be reduced based on the power reduction strategy.
In the embodiment of the invention, the power driving component is only connected with the front end of the frame and is used as a front driving power component of the frame; or the like, or, alternatively,
the power driving assembly is only connected with the rear end of the frame and is used as a rear driving force assembly of the frame; or the like, or, alternatively,
and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
The vehicle provided by the embodiment of the invention comprises the vehicle frame and the power driving assembly.
According to the technical scheme of the embodiment of the invention, the frame is used for being connected with the power driving assembly, and the frame is provided with a controller and a control assembly which are used for controlling the power driving assembly. After the power driving assembly is connected with the frame, the power driving assembly enters a first working state; after communication connection is established between the power driving assembly in the first working state and the controller, a deceleration signal from the controller is received; and the power driving component reduces the power output of the power driving component according to the received deceleration signal. After the power driving assembly is disconnected from the frame, the power driving assembly enters a second working state; the second working state is different from the first working state, and in the second working state, the power driving component does not provide power output for the frame. By adopting the technical scheme of the embodiment of the invention, the functions of two vehicle types are realized by one vehicle, when the power driving component is connected with the frame for use, the whole vehicle can realize the function of a kart and has the racing characteristic; when the power driving assembly is detached from the frame and used independently, the power driving assembly can realize the function of the balance car and has the function of riding instead of walking. The combined type of the kart and the balance car greatly improves the product utilization rate, reduces the economic pressure of consumers and reduces the resource waste. Meanwhile, the vehicle provided by the embodiment of the invention has an electronic braking function, the braking process is realized through electric signals, a physical mechanical disc brake is not required to be additionally arranged, the appearance design of the vehicle is simplified, the abrasion to wheels is avoided, and the accurate braking of the vehicle can be realized by the braking mode.
Drawings
Fig. 1 is a first schematic flow chart of an electronic braking method according to an embodiment of the present invention;
FIG. 2 is a schematic view of the connection between the frame and the power drive assembly according to the embodiment of the present invention;
FIG. 3 is a schematic view of the steering assembly controlling the power drive assembly via the controller in accordance with an embodiment of the present invention;
FIG. 4 is a second flowchart illustrating an electronic braking method according to an embodiment of the present invention;
FIG. 5 is a first schematic structural assembly diagram of the vehicle frame according to the embodiment of the present invention;
FIG. 6 is a second structural component view of the frame according to the embodiment of the present invention;
FIG. 7 is a first schematic structural assembly diagram of a power driving assembly according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a power driving assembly according to an embodiment of the present invention;
FIG. 9 is a first schematic view of a vehicle according to an embodiment of the present invention;
FIG. 10 is a second schematic illustration of a vehicle in accordance with an embodiment of the present invention;
fig. 11 is a third schematic view of a vehicle according to an embodiment of the present invention.
Detailed Description
So that the manner in which the features and aspects of the embodiments of the present invention can be understood in detail, a more particular description of the embodiments of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings.
Fig. 1 is a first schematic flow chart of an electronic braking method according to an embodiment of the present invention, where the electronic braking method in this embodiment is applied to a vehicle frame, the vehicle frame is used for being connected with a power driving component, and the vehicle frame has a controller and a control component for controlling the power driving component, as shown in fig. 1, the electronic braking method includes the following steps:
step 101: and after the controller is in communication connection with the power driving assembly, the controller acquires a control command from the control assembly.
In the embodiment of the invention, the frame is of a frame type structure which is bridged at the front and the rear of the vehicle and is a base body of the vehicle. The function of the frame is to support and connect the various assemblies of the vehicle, to maintain the respective assemblies in a relatively correct positional relationship, and to bear various loads inside and outside the vehicle. As shown in fig. 2 (a), the vehicle frame is provided with a controller and a control assembly, wherein the controller and the control assembly are connected in a wired manner or a wireless manner. In one example, the controller and the steering assembly are connected through a wired mode, for example, the controller and the steering assembly are connected through a wire, and the wire can be hidden in the inner portion of the vehicle frame. In another example, the controller and the manipulating component are connected in a wireless manner, such as by bluetooth communication.
In the embodiment of the invention, the operation component is any one or more components capable of controlling the vehicle, such as a steering wheel, a throttle, a brake, a gear lever, a lamp control button and the like. The user can control the vehicle through the control assembly, after the control assembly obtains the operation of the user, the control assembly generates a corresponding control instruction and sends the control instruction to the controller for processing, and after the controller receives the operation instruction, the controller controls the target object based on the operation instruction.
For example: the steering assembly is a steering wheel, a user twists the steering wheel, a sensor capable of detecting a twisting angle is arranged on the steering wheel, after the sensor detects the twisting angle of the steering wheel, a direction steering command is generated based on the twisting angle and sent to the controller, and after the controller receives the direction steering command, the rotation angle of the wheels is determined, and the wheels are controlled to rotate, so that the control of the driving direction of the vehicle is realized. In another embodiment, the steering wheel may not be provided with a sensor capable of detecting the twisting angle, and the twisting of the steering wheel is not used for controlling the differential output of different wheels of the power drive assembly, but is used for controlling the steering of wheels except the power drive assembly, so as to change the running direction of the vehicle.
In the embodiment of the invention, the frame is detachably connected with the power driving assembly. In an application scene, the vehicle frame is connected with the power driving assembly, at the moment, the vehicle frame and the power driving assembly are integrally assembled into the vehicle, and the power driving assembly is connected with the controller in a wired mode or a wireless mode. In one example, the controller is connected to the power drive assembly by a wire, such as a wire. In another example, the controller and the power driving assembly are connected through a wireless mode, such as a Bluetooth communication mode. Thus, a communication path is formed between the steering assembly, the controller and the power drive assembly, and the power drive assembly can be operated by a user through the steering assembly through the action of the controller.
In the embodiment of the invention, the connection mode between the frame and the power driving component is not limited, the power driving component can be clamped on the frame in a buckling mode, the power driving component can be inserted on the frame in a slot mode, and the power driving component can be fixed on the frame in a screw and rivet mode.
After the vehicle frame is connected with the power driving assembly and the controller is in communication connection with the power driving assembly, the controller detects a control command from the control assembly, such as: detecting a throttle command from a throttle, detecting a brake command from a brake assembly, detecting a directional command from a directional control assembly, and the like.
Step 102: the controller determines whether the manipulation command is a braking command when it is determined that the manipulation command is associated with the power drive assembly.
In the embodiment of the invention, when the controller detects the manipulation instruction of the manipulation component, the target object corresponding to the manipulation instruction is determined firstly, namely, which object to be controlled by the manipulation instruction is determined. For example: when the headlight turning command of the lamp control button is detected, the object to be controlled is determined to be the headlight of the vehicle. For another example: when a directional manipulation instruction from the directional control assembly is detected, it is determined that the object to be controlled is the power drive assembly. Another example is: when a throttle manipulation instruction from the throttle is detected, it is determined that the object to be controlled is the power drive component.
If it is determined that the manipulation command corresponds to the power drive assembly, it is determined whether the manipulation command is a braking command.
Here, the operation assembly comprises a throttle assembly, a brake assembly and a direction control assembly.
As shown in fig. 3, the control assembly includes a throttle assembly, the form of the throttle assembly is not limited, and the throttle assembly may be a manual throttle or a foot-controlled throttle. Taking a manual throttle as an example, the throttle can be in the form of a knob, and a user can control the throttle by rotating the knob by hands. Taking a foot-controlled accelerator as an example, the accelerator can be in a pedal form, and a user can control the accelerator by stepping on the pedal with different force. The throttle component is connected with the controller in a wired mode or a wireless mode, in one example, the controller is connected with the throttle component in a wired mode, for example, a lead is adopted to connect the controller and the throttle component, and the lead can be hidden in the frame. In another example, the controller and the throttle assembly are connected in a wireless manner, such as by bluetooth communication. After the vehicle frame is connected with the power driving assembly and the controller is in communication connection with the power driving assembly, the controller detects an accelerator operation instruction from the accelerator assembly. Here, the throttle operation command carries a throttle size parameter, and the throttle size parameter includes, but is not limited to, the following parameters: the pedaling strength of the accelerator pedal, the travel change quantity of the accelerator pedal and the rotation angle of the knob.
As shown in fig. 3, the operating assembly includes a brake assembly, the form of the brake assembly is not limited, and the brake assembly may be a manual brake or a foot-controlled brake. The brake assembly is connected with the controller in a wired mode or a wireless mode, in one example, the controller is connected with the brake assembly in a wired mode, for example, the controller and the brake assembly are connected through a conducting wire, and the conducting wire can be hidden in the frame. In another example, the controller and the brake assembly are connected wirelessly, such as by bluetooth communication. After the frame is connected with the power driving assembly and the controller is in communication connection with the power driving assembly, the controller detects a braking instruction from the braking assembly. Here, the braking instruction carries braking force parameters, and the braking force parameters include, but are not limited to, the following parameters: the trampling force of the brake pedal and the stroke change quantity of the brake pedal.
As shown in fig. 3, the steering assembly includes a directional control assembly, which may be in the form of a steering wheel, that can be controlled by a user by twisting the steering wheel. The direction control assembly is connected with the controller in a wired mode or a wireless mode, in one example, the controller is connected with the direction control assembly in a wired mode, for example, a lead is used for connecting the controller and the direction control assembly, and the lead can be hidden in the frame. In another example, the controller and the direction control assembly are connected wirelessly, such as by bluetooth communication. After the vehicle frame is connected with the power driving assembly and the controller is in communication connection with the power driving assembly, the controller detects a direction control command from the direction control assembly. Here, the steering command carries the angle of the twisting of the steering wheel, where the steering assembly has a sensor capable of detecting the angle of the twisting of the steering wheel.
Based on this, the determining whether the manipulation command is a braking command includes: the controller determines that the manipulation command is a braking command when the manipulation command from the braking component is detected.
Step 103: and when the operation instruction is the brake instruction, generating a deceleration signal for controlling the power driving component according to the brake instruction, and sending the deceleration signal to the power driving component, wherein the deceleration signal is used for indicating the power driving component to reduce power output.
Specifically, the braking instruction is characterized by the displacement of the braking component; and detecting a voltage signal corresponding to the displacement of the brake assembly by using a Hall sensor, and taking the voltage signal as the deceleration signal.
In the embodiment of the invention, the power driving component is used as a part of the vehicle, so that a user can conveniently utilize the brake component on the vehicle to electronically brake the power driving component through the controller, thereby realizing accurate vehicle speed control on the premise of safety and reliability, and the user can utilize the vehicle to play speed competition entertainment.
In the above scheme of the embodiment of the invention, the power driving component and the frame have the following connection forms:
1) the power driving component is only connected with the front end of the frame and serves as a front driving power component of the frame; or the like, or, alternatively,
2) the power driving assembly is only connected with the rear end of the frame and serves as a rear driving force assembly of the frame; or the like, or, alternatively,
3) and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
Accordingly, the drive modes of the power drive assembly include at least: the power output control device comprises a first driving mode, a second driving mode and a third driving mode, wherein in the first driving mode, only the power driving component connected with the front end of the frame provides power output, in the second driving mode, only the power driving component connected with the rear end of the frame provides power output, and in the third driving mode, the power driving components connected with the front end and the rear end of the frame provide power output.
Fig. 4 is a second flowchart of an electronic braking method according to an embodiment of the present invention, where the electronic braking method in this embodiment is applied to a power driving assembly, the power driving assembly is used to be connected to a frame, the frame has a control assembly, and a controller for controlling the power driving assembly is disposed on the frame. As shown in fig. 4, the electronic braking method includes the following steps:
step 401: and after the power driving assembly is connected with the frame, the power driving assembly enters a first working state.
In the embodiment of the invention, the frame is of a frame type structure which is bridged at the front and the rear of the vehicle and is a base body of the vehicle. The function of the frame is to support and connect the various assemblies of the vehicle, to maintain the respective assemblies in a relatively correct positional relationship, and to bear various loads inside and outside the vehicle.
In one embodiment, as shown in fig. 2 (a), a controller and a manipulating assembly for controlling the power driving assembly are provided on the vehicle frame, wherein the controller and the manipulating assembly are connected in a wired or wireless manner. In one example, the controller and the steering assembly are connected through a wired mode, for example, the controller and the steering assembly are connected through a wire, and the wire can be hidden in the inner portion of the vehicle frame. In another example, the controller and the manipulating component are connected in a wireless manner, such as by bluetooth communication.
In another embodiment, as shown in fig. 2 (b), a steering assembly is provided on the vehicle frame, and a controller for controlling the power driving assembly is provided on the power driving assembly, wherein the controller and the steering assembly are connected in a wired or wireless manner. In one example, the controller and the steering assembly are connected by a wire, such as a wire. In another example, the controller and the manipulating component are connected in a wireless manner, such as by bluetooth communication.
In the embodiment of the invention, the operation component is any one or more components capable of controlling the vehicle, such as a steering wheel, a throttle, a brake, a gear lever, a lamp control button and the like. The user can control the vehicle through the control assembly, after the control assembly obtains the operation of the user, the control assembly generates a corresponding control instruction and sends the control instruction to the controller for processing, and after the controller receives the operation instruction, the controller controls the target object based on the operation instruction.
For example: the steering assembly is a steering wheel, a user twists the steering wheel, a sensor capable of detecting a twisting angle is arranged on the steering wheel, after the sensor detects the twisting angle of the steering wheel, a direction steering command is generated based on the twisting angle and sent to the controller, and after the controller receives the direction steering command, the rotation angle of the wheels is determined, and the wheels are controlled to rotate, so that the control of the driving direction of the vehicle is realized. In another embodiment, the steering wheel may not be provided with a sensor capable of detecting the twisting angle, and the twisting of the steering wheel is not used for controlling the differential output of different wheels of the power drive assembly, but is used for controlling the steering of wheels except the power drive assembly, so as to change the running direction of the vehicle.
In the embodiment of the invention, the frame is detachably connected with the power driving assembly. In an application scene, the frame is connected with the power driving component, and then the frame and the power driving component are integrally assembled to form the vehicle.
In the embodiment of the invention, the connection mode between the frame and the power driving component is not limited, the power driving component can be clamped on the frame in a buckling mode, the power driving component can be inserted on the frame in a slot mode, and the power driving component can be fixed on the frame in a screw and rivet mode.
In the embodiment of the invention, the power driving component has two working states, and after the power driving component is connected with the frame, the power driving component enters a first working state. And when the power driving assembly is disconnected with the frame, the power driving assembly enters a second working state.
The power driving assembly is provided with a self-balancing system, in the first working state, the self-balancing system of the power driving assembly does not work, and the power driving assembly provides power output for the frame; and in the second working state, the self-balancing system of the power driving assembly works.
In the embodiment of the invention, the self-balancing system can detect the gravity center of a human body and control the power output of each driving unit in the power driving assembly according to the gravity center of the human body, thereby realizing the following operations of the power driving assembly: forward, backward, turn, stop. For example: when the gravity center of the human body inclines left, the self-balancing system controls the power driving assembly to turn left; when the gravity center of the human body inclines rightwards, the self-balancing system controls the power driving assembly to turn rightwards; when the gravity center of the human body leans forward, the self-balancing system controls the power driving assembly to move forward; when the gravity center of the human body tilts backwards, the self-balancing system controls the power driving assembly to retreat or decelerate or stop.
Step 402: and after the communication connection is established between the power driving assembly in the first working state and the controller, receiving a deceleration signal from the controller.
In one embodiment, the controller is arranged on the frame, and the power driving assembly is connected with the controller in a wired mode or a wireless mode. In one example, the controller is connected to the power drive assembly by a wire, such as a wire. In another example, the controller and the power driving assembly are connected through a wireless mode, such as a Bluetooth communication mode. Thus, a communication path is formed between the steering assembly, the controller and the power drive assembly, and the power drive assembly can be operated by a user through the steering assembly through the action of the controller.
In another embodiment, the controller is arranged on the power driving assembly, and the controller on the power driving assembly is connected with the control assembly on the vehicle frame in a wired mode or a wireless mode. Thus, a communication path is formed between the steering assembly and a controller in the power drive assembly, and the power drive assembly can be operated by a user through the steering assembly through the action of the controller.
In the embodiment of the invention, the operating component is specifically a brake component, accordingly, when the brake component displaces, the Hall sensor detects the displacement and generates a voltage signal in a direct proportion relation with the displacement, and the voltage signal is a deceleration signal. The Hall sensor transmits the deceleration signal to the controller, thereby realizing the deceleration control of the power driving component.
Step 403: and the power driving component reduces the power output of the power driving component according to the received deceleration signal.
In the embodiment of the invention, the power driving component determines a power reduction strategy of the power driving component according to the deceleration signal and controls the power output to be reduced based on the power reduction strategy.
In one embodiment, the power reduction strategy may be to reduce the power output of one of the power take-offs (motor plus wheels) in the power drive assembly.
In another embodiment, the power reduction strategy may be to reduce the power output of all of the power take-offs (motors plus wheels) in the power drive assembly.
In the embodiment of the invention, the reduction of the power output of the power driving component can be realized by changing the current loaded on the motor.
In the embodiment of the invention, the power driving component and the frame are connected in the following modes:
1) the power driving component is only connected with the front end of the frame and serves as a front driving power component of the frame; or the like, or, alternatively,
2) the power driving assembly is only connected with the rear end of the frame and is used as a rear driving force assembly of the frame; or the like, or, alternatively,
3) and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
Accordingly, the drive modes of the power drive assembly include at least: the power output control device comprises a first driving mode, a second driving mode and a third driving mode, wherein in the first driving mode, only the power driving component connected with the front end of the frame provides power output, in the second driving mode, only the power driving component connected with the rear end of the frame provides power output, and in the third driving mode, the power driving components connected with the front end and the rear end of the frame provide power output.
Fig. 5 is a schematic structural composition diagram of a vehicle frame according to an embodiment of the present invention, as shown in fig. 5, the vehicle frame 10 is connected to a power driving assembly, and the vehicle frame 10 has a controller 101 and a manipulating assembly for controlling the power driving assembly; wherein the power drive assembly comprises: a processor and a power output assembly, wherein after the frame 10 is connected with the power driving assembly and the controller 101 is in communication connection with the processor of the power driving assembly,
the controller 101 is used for acquiring a manipulation instruction from the manipulation assembly; upon determining that the manipulation command is associated with the power drive assembly, determining whether the manipulation command is a braking command; and when the operation instruction is the brake instruction, generating a deceleration signal for controlling the power driving assembly according to the brake instruction, and sending the deceleration signal to the processor of the power driving assembly, wherein the deceleration signal is used for indicating the power driving assembly to reduce power output.
In one embodiment, the steering assembly includes at least a throttle assembly 102, a brake assembly 103, a directional control assembly 104;
the controller 101 is specifically configured to: when the control command from the brake component 103 is detected, the control command is determined to be a brake command.
In one embodiment, the braking command is characterized by a displacement of the braking assembly 103;
the frame 10 further includes: a hall sensor 105 for detecting a voltage signal corresponding to the displacement of the brake assembly 103 and taking the voltage signal as the deceleration signal; the deceleration signal is sent to the controller 101.
In one embodiment, the power drive assembly is connected only to the front end of the frame 10, and the power drive assembly is used as a front drive power assembly of the frame 10; or the like, or, alternatively,
the power driving assembly is only connected with the rear end of the frame 10 and serves as a rear driving force assembly of the frame 10; or the like, or, alternatively,
the power driving assembly connected to the front end of the frame 10 serves as a front driving power assembly of the frame 10, and the power driving assembly connected to the rear end of the frame 10 serves as a rear driving power assembly of the frame 10.
Those skilled in the art will appreciate that the functions performed by the various components of the frame shown in FIG. 5 may be understood with reference to the description of the electronic braking method previously described.
Based on the vehicle frame shown in fig. 5, the embodiment of the invention further provides a vehicle frame with a specific shape, and it should be noted that the vehicle frame of the embodiment of the invention is not limited to the shape shown in fig. 6, and any shape of vehicle frame as long as the embodiment of the invention can be implemented should be covered within the protection scope of the invention. As shown in fig. 6, the vehicle frame 10 includes: a controller 101, a throttle assembly 102, a brake assembly 103, a directional control assembly 104, a front wheel assembly 105, and a seat assembly 106. Of course, the frame 10 may have additional components, such as a display screen, audio, lights, etc.
Fig. 7 is a schematic structural diagram of a power driving assembly according to an embodiment of the present invention, and as shown in fig. 7, the power driving assembly 20 includes: a processor 201, a power take-off assembly 202; the power driving assembly 20 is used for connecting with a frame; wherein the frame has a steering assembly, and a controller 200 for controlling the power drive assembly 20; wherein: after the power driving assembly 20 is connected with the frame, the power driving assembly 20 enters a first working state; when the power drive assembly 20 is in the first operating condition,
the processor 201 is configured to receive a deceleration signal from the controller 200 after establishing a communication connection with the controller 200; and reducing the power output of the self-body according to the received deceleration signal.
In one embodiment, after the power driving assembly 20 is disconnected from the frame, the power driving assembly 20 enters a second working state; the second operating condition is different from the first operating condition in which the power drive assembly 20 does not provide power output to the frame.
In one embodiment, the power driving assembly 20 has a self-balancing system, in the first operating state, the self-balancing system of the power driving assembly 20 is not operated, and the power driving assembly 20 provides power output for the frame; in the second operating state, the self-balancing system of power drive assembly 20 operates.
In one embodiment, the operating assembly at least comprises a throttle assembly, a brake assembly and a direction control assembly; wherein the brake component corresponds to the deceleration signal;
the processor 201 is specifically configured to: from the deceleration signal, a power reduction strategy for the power drive assembly 20 is determined and the power output is controlled to be reduced based on the power reduction strategy.
In one embodiment, the power drive assembly 20 is connected only to the front end of the frame as a front drive power assembly of the frame; or the like, or, alternatively,
the power driving component 20 is only connected with the rear end of the frame and is used as a rear driving force component of the frame; or the like, or, alternatively,
the power driving assembly 20 connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly 20 connected with the rear end of the frame is used as a rear driving power assembly of the frame.
Those skilled in the art will appreciate that the functions performed by the various components of the power drive assembly shown in fig. 7 may be understood with reference to the associated description of the electronic braking method described above.
Based on the power driving assembly described above in fig. 7, the embodiment of the invention further provides a power driving assembly having a specific shape, and it should be noted that the power driving assembly of the embodiment of the invention is not limited to the shape shown in fig. 8, and any shape of power driving assembly is within the scope of the invention as long as the embodiment of the invention can be implemented. As shown in fig. 8, the power drive assembly 20 includes: a processor (not shown), a power output assembly 202, a pedal 203, a self-balancing system (not shown), and a power source (not shown). Of course, the power driving assembly can also comprise more components, such as an indicator light, a communication module and the like.
The embodiment of the present invention further provides a vehicle, the vehicle includes any of the vehicle frames and the power driving assembly, fig. 9 and fig. 10 are schematic structural diagrams of a vehicle with a specific shape, it should be noted that the vehicle of the embodiment of the present invention is not limited to the shape shown in fig. 9 and fig. 10, and any shape of vehicle should be covered within the protection scope of the present invention as long as the embodiment of the present invention can be implemented. As shown in fig. 9 and 10, the vehicle includes: frame 10, power drive assembly 20, wherein, detachable connection between power drive assembly 20 and frame 10. Wherein, frame 10 includes: a controller 101, a throttle assembly 102, a brake assembly 103, a directional control assembly 104, a front wheel assembly 105, and a seat assembly 106. The power drive assembly 20 includes: a processor (not shown), a power output assembly 202, a pedal 203, a self-balancing system (not shown), and a power source (not shown).
When coupled between power drive assembly 20 and frame 10, the vehicle may be used as a kart, as shown in FIG. 11, which is a side view of the vehicle shown schematically in FIG. 11. At this point, the self-balancing system of power drive assembly 20 is off and power drive assembly 20 provides a power output for the vehicle under the control of controller 101.
When power drive assembly 20 is disconnected from frame 10, power drive assembly may be used as a balance car, and at this time, the self-balancing system of power drive assembly 20 is turned on, and the user may use power drive assembly 20 alone as a transportation tool.
The technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
In the embodiments provided in the present invention, it should be understood that the disclosed method and apparatus may be implemented in other ways. The above-described apparatus embodiments are merely illustrative. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (17)
1. An electronic braking method, applied to a vehicle frame, the vehicle frame being adapted to be connected to a power drive assembly, the vehicle frame having a controller and a steering assembly for controlling the power drive assembly, the power drive assembly comprising: a processor, a power output assembly; the steering assembly includes at least: a brake assembly; the method comprises the following steps:
after the controller is in communication connection with the processor of the power driving assembly, the controller acquires a control instruction from the control assembly;
the controller determines whether the manipulation command is a braking command when it is determined that the manipulation command is associated with the power drive assembly;
when the control instruction is the brake instruction, generating a deceleration signal for controlling the power driving assembly according to the brake instruction, and sending the deceleration signal to the processor of the power driving assembly, wherein the deceleration signal is used for indicating the power driving assembly to reduce power output; wherein the braking instruction is characterized by a displacement of the braking component; the generating a deceleration signal for controlling the power drive assembly according to the brake command comprises: detecting a voltage signal in a direct proportion relation with the displacement of the brake assembly by using a Hall sensor, and taking the voltage signal as the deceleration signal;
after the power driving assembly is connected with the frame, the power driving assembly enters a first working state; and after the processor of the power driving assembly in the first working state is in communication connection with the controller, the processor receives a deceleration signal from the controller.
2. The electronic braking method of claim 1, wherein the steering assembly further comprises at least a throttle assembly, a directional control assembly;
the determining whether the manipulation instruction is a braking instruction comprises:
the controller determines that the manipulation command is a braking command when detecting the manipulation command from the braking component.
3. The electronic braking method according to claim 1,
the power driving component is only connected with the front end of the frame and serves as a front driving power component of the frame; or the like, or, alternatively,
the power driving assembly is only connected with the rear end of the frame and serves as a rear driving force assembly of the frame; or the like, or, alternatively,
and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
4. An electronic braking method, applied to a power drive assembly, the power drive assembly comprising: the power driving assembly is used for being connected with a vehicle frame, the vehicle frame is provided with a control assembly, and a controller used for controlling the power driving assembly is arranged on the vehicle frame, and the method comprises the following steps:
after the power driving assembly is connected with the frame, the power driving assembly enters a first working state;
after communication connection is established between the processor of the power driving assembly in the first working state and the controller, a deceleration signal from the controller is received; wherein the deceleration signal is generated by the controller based on a brake command to operate a component; the brake command is represented by the displacement of the brake assembly, and the controller detects a voltage signal in a direct proportion relation with the displacement of the brake assembly by using a Hall sensor and takes the voltage signal as the deceleration signal;
and the power driving component reduces the power output of the power driving component according to the received deceleration signal.
5. The electronic braking method according to claim 4, further comprising:
after the power driving assembly is disconnected from the frame, the power driving assembly enters a second working state; the second working state is different from the first working state, and in the second working state, the power driving component does not provide power output for the frame.
6. The electronic braking method of claim 5, wherein the power driving assembly has a self-balancing system, and in the first working state, the self-balancing system of the power driving assembly does not work, and the power driving assembly provides power output for the frame; and in the second working state, the self-balancing system of the power driving assembly works.
7. The electronic braking method of claim 4, wherein the steering assembly includes at least a throttle assembly, a directional control assembly; wherein the brake component corresponds to the deceleration signal;
the power driving assembly reduces its power output according to the received deceleration signal, including:
and the power driving component determines a power reduction strategy of the power driving component according to the deceleration signal and controls the power output to be reduced based on the power reduction strategy.
8. The electronic braking method according to claim 4,
the power driving component is only connected with the front end of the frame and serves as a front driving power component of the frame; or the like, or, alternatively,
the power driving assembly is only connected with the rear end of the frame and is used as a rear driving force assembly of the frame; or the like, or, alternatively,
and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
9. A vehicle frame, wherein said vehicle frame is connected to a power drive assembly and said vehicle frame has a controller and a steering assembly for controlling said power drive assembly; wherein the power drive assembly comprises: a processor, a power output assembly; the steering assembly includes at least: a brake assembly; after the controller establishes a communication connection with the processor of the power drive assembly,
the controller is used for acquiring a manipulation instruction from the manipulation assembly; upon determining that the manipulation command is associated with the power drive assembly, determining whether the manipulation command is a braking command; when the control instruction is the brake instruction, generating a deceleration signal for controlling the power driving assembly according to the brake instruction, and sending the deceleration signal to the processor of the power driving assembly, wherein the deceleration signal is used for indicating the power driving assembly to reduce power output; wherein the braking instruction is characterized by a displacement of the braking component; the frame still includes: the controller is specifically used for detecting a voltage signal in a direct proportion relation with the displacement of the brake assembly by using the Hall sensor and taking the voltage signal as the deceleration signal;
after the power driving assembly is connected with the frame, the power driving assembly enters a first working state; when the power driving assembly is in the first working state, the processor is used for receiving a deceleration signal from the controller after communication connection is established between the processor and the controller.
10. The frame of claim 9, wherein the steering assembly further comprises at least a throttle assembly, a directional control assembly;
the controller is specifically configured to: when a manipulation command from the brake assembly is detected, determining that the manipulation command is a brake command.
11. The vehicle frame of claim 9,
the power driving component is only connected with the front end of the frame and serves as a front driving power component of the frame; or the like, or, alternatively,
the power driving assembly is only connected with the rear end of the frame and serves as a rear driving force assembly of the frame; or the like, or, alternatively,
and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
12. A power drive assembly, comprising: a processor, a power output assembly; the power driving assembly is used for being connected with the frame; wherein the frame has a steering assembly, and a controller for controlling the power drive assembly;
after the power driving assembly is connected with the frame, the power driving assembly enters a first working state; when the power drive assembly is in the first operating condition,
the processor is used for receiving a deceleration signal from the controller after establishing communication connection with the controller; reducing the power output of the self according to the received deceleration signal; wherein the deceleration signal is generated by the controller based on a brake command to operate a component; the brake command is represented by the displacement of the brake assembly, and the controller detects a voltage signal in a direct proportion relation with the displacement of the brake assembly by using the Hall sensor and takes the voltage signal as the deceleration signal.
13. The power drive assembly according to claim 12, wherein after the power drive assembly is disconnected from the frame, the power drive assembly enters a second operating state; the second working state is different from the first working state, and in the second working state, the power driving component does not provide power output for the frame.
14. The power drive assembly of claim 13, wherein the power drive assembly has a self-balancing system, and in the first operating state, the self-balancing system of the power drive assembly is not operated and the power drive assembly provides a power output for the frame; and in the second working state, the self-balancing system of the power driving assembly works.
15. The power drive assembly of claim 12, wherein the steering assembly includes at least a throttle assembly, a brake assembly, a directional control assembly; wherein the brake component corresponds to the deceleration signal;
the processor is specifically configured to: and determining a power reduction strategy of the power driving component according to the deceleration signal, and controlling the power output to be reduced based on the power reduction strategy.
16. The power drive assembly as claimed in claim 12,
the power driving component is only connected with the front end of the frame and serves as a front driving power component of the frame; or the like, or, alternatively,
the power driving assembly is only connected with the rear end of the frame and is used as a rear driving force assembly of the frame; or the like, or, alternatively,
and the power driving assembly connected with the front end of the frame is used as a front driving power assembly of the frame, and the power driving assembly connected with the rear end of the frame is used as a rear driving power assembly of the frame.
17. A vehicle comprising a frame as claimed in any of claims 9 to 11 and a power drive assembly as claimed in any of claims 12 to 16.
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| CN201711019555.0A CN107902031B (en) | 2017-10-27 | 2017-10-27 | Electronic braking method, frame, power driving assembly and vehicle |
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