CN108001600A - A kind of Segway Human Transporter method for control speed and its control device - Google Patents
A kind of Segway Human Transporter method for control speed and its control device Download PDFInfo
- Publication number
- CN108001600A CN108001600A CN201810016353.9A CN201810016353A CN108001600A CN 108001600 A CN108001600 A CN 108001600A CN 201810016353 A CN201810016353 A CN 201810016353A CN 108001600 A CN108001600 A CN 108001600A
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- human transporter
- segway human
- speed
- controller
- driving motor
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/60—Rider propelled cycles with auxiliary electric motor power-driven at axle parts
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of Segway Human Transporter method for control speed and its device, and by connecting Segway Human Transporter power supply, sliding power-assisted mode by foot slides Segway Human Transporter；Controller is detected the current sliding speed of Segway Human Transporter；Controller is by detected Segway Human Transporter present speed compared with its set threshold value, when the current sliding speed of Segway Human Transporter is more than or equal to threshold value set by controller, driving motor delivery acceleration signal of the controller to Segway Human Transporter, slide driving motor directly driven electro scooter, when the current sliding speed of Segway Human Transporter be less than controller set by threshold value when, signal for faster is cancelled in driving motor transmission of the controller to Segway Human Transporter, makes Segway Human Transporter deceleration stagnation of movement.The present invention slides power-assisted using foot and starts Segway Human Transporter operation, saves the acceleration components in existing Segway Human Transporter, can optimize the electric-control system part of Segway Human Transporter, reduces complete vehicle fault rate, optimization manufacture cost, reduces security risk.
Description
Technical field
The present invention relates to Segway Human Transporter technical field, and in particular to a kind of Segway Human Transporter method for control speed and its control
Device processed.
Background technology
Existing Segway Human Transporter electric-control system is all by controller, and motor, battery, accelerates the components such as handle composition, electronic
It is all the component that can not be lacked that scooter, which accelerates handle (floor push controls acceleration/putter component), is given birth in existing scooter
Manufacture cost can be increased during production, producting process difficulty is larger, while element can cause signal for faster to turn on after damage, controller
Persistently receive signal for faster, motor is continued spinning movement, easily cause security risk.
The content of the invention
Therefore, the technical problem to be solved in the present invention is to reduce manufacture cost, reduces technology difficulty and prevents by accelerating
" driving " security risk caused by plant failure, so as to provide a kind of Segway Human Transporter method for control speed and its control dress
Put.
Used technical solution is as follows：
On the one hand, the present invention provides a kind of Segway Human Transporter method for control speed, described method includes following steps：Connect
Logical Segway Human Transporter power supply, sliding power-assisted mode by foot slides Segway Human Transporter；Controller is to Segway Human Transporter when advancing slip
Scanning frequency degree is detected；Detected Segway Human Transporter present speed compared with its set threshold value, is worked as electricity by controller
The current sliding speed of dynamic scooter is more than or equal to set by controller during threshold value, and driving motor of the controller to Segway Human Transporter passes
Defeated signal for faster, slides driving motor directly driven electro scooter, when the current sliding speed of Segway Human Transporter is less than control
During threshold value set by device, signal for faster is cancelled in driving motor transmission of the controller to Segway Human Transporter, subtracts Segway Human Transporter
Fast stagnation of movement.
Specific method by Segway Human Transporter stagnation of movement is：Device of removing controls is triggered by the brake switch of Segway Human Transporter to add
Fast signal, driving motor transmission of the controller to Segway Human Transporter cancel signal for faster, make Segway Human Transporter stagnation of movement.
Specific method by Segway Human Transporter stagnation of movement is：By foot scrape along the ground mode or mechanical braking device by electric sliding
Wooden handcart speed is down to below the threshold value set by controller, and driving motor transmission of the controller to Segway Human Transporter, which is cancelled, accelerates letter
Number, make Segway Human Transporter stagnation of movement.
Specific method by Segway Human Transporter stagnation of movement is：Device signal for faster of removing controls is triggered by brake switch first；
The speed for making driving motor by mechanical braking device again gradually reduces, and makes Segway Human Transporter stagnation of movement.
The method that controller is detected the current sliding speed of Segway Human Transporter is：Controller is slided in Segway Human Transporter
The hall signal of the motor of collection driving in real time during row, is calculated the current of Segway Human Transporter according to hall signal and slides speed
Degree.
When the current sliding speed of Segway Human Transporter be more than or equal to controller set by threshold value when, controller pass through control drive
The method of dynamic motor duty cycle drives Segway Human Transporter to run.
The Segway Human Transporter threshold value that the controller is set is 3-8km/h.
On the other hand, present invention also offers a kind of Segway Human Transporter speed control unit, including it is arranged at the slide plate
Controller on vehicle main body frame and the driving motor being electrically connected with the controller, are equipped with speed in the controller and control
Module, Bus- Speed Monitoring module, speed setting module and comparing module, the Bus- Speed Monitoring module are used to detect the electric return board
The current sliding speed of car, the speed setting module are used for the speed threshold value for setting the Segway Human Transporter, the comparison mould
Block is used for by the current sliding speed of the Segway Human Transporter compared with the speed setting module, when Segway Human Transporter is worked as
When preceding sliding speed is more than or equal to the given threshold in the speed setting module, the speed control module is to Segway Human Transporter
Driving motor delivery acceleration signal, slide driving motor directly driven electro scooter；When Segway Human Transporter currently slides
When speed is less than threshold value set in the speed setting module, driving electricity of the speed control module to Segway Human Transporter
Signal for faster is cancelled in machine transmission, makes Segway Human Transporter stagnation of movement.
Brake switch is additionally provided with the Segway Human Transporter, cancels signal for faster for triggering the speed control module,
Make the gradual stagnation of movement of the Segway Human Transporter.
Mechanical braking device is additionally provided with the Segway Human Transporter, device of removing controls is triggered by brake switch and accelerates letter
Number, then the speed of driving motor is gradually reduced by mechanical braking device, make Segway Human Transporter stagnation of movement.
Technical solution of the present invention, has the following advantages that：
A. the present invention slides power-assisted startup Segway Human Transporter operation using foot, and controller detects electric return board vehicle speed automatically,
Driving motor work is played by automatic when electric return board vehicle speed reaches controller predetermined threshold, is slided by driving motor to drive
Wooden handcart slides, and keeps set speed, and the acceleration components in existing Segway Human Transporter can be saved by the present invention, can be with
Optimize the electric-control system part of Segway Human Transporter, reduce complete vehicle fault rate, optimization manufacture cost, reduces security risk.
B. the present invention, can be by braking or directly passing through the form of foot scrape along the ground when controlling Segway Human Transporter stagnation of movement
Realize that Segway Human Transporter slows down, when below the near controller threshold value of electric return board vehicle speed, driving motor is automatically terminated to electricity
The control of dynamic scooter, it is possible to achieve stablize stagnation of movement, reduce the manufacture cost of Segway Human Transporter, and prevent by current acceleration components
" driving " security risk caused by failure.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
Put, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is Segway Human Transporter speed control functional block diagram provided by the present invention；
Fig. 2 is Segway Human Transporter speed control unit structure diagram provided by the present invention；
Fig. 3 is Segway Human Transporter structure diagram provided by the present invention.
In figure：
1- scooter main body frames；2- power supplys；3- controllers；4- drives motor；5- brake switch；6- mechanical brakes fill
Put；7- power switches.
Embodiment
Technical scheme is clearly and completely described below in conjunction with attached drawing.
As shown in figures 1 and 3, the present invention provides a kind of Segway Human Transporter method for control speed, step specific as follows：
【S01】Segway Human Transporter is set to power on 2 by turning on the power switch 7.
【S02】Sliding power-assisted mode by foot slides Segway Human Transporter.
【S03】Controller 3 is detected the current sliding speed of Segway Human Transporter.
The method that controller 3 is detected the current sliding speed of Segway Human Transporter is：Controller is in Segway Human Transporter
The hall signal of the motor 4 of collection driving in real time in taxiing procedures, it is advancing slip to be calculated working as Segway Human Transporter according to hall signal
Scanning frequency degree.
【S04】Controller 3 by detected Segway Human Transporter present speed compared with its set threshold value, specifically
Ground, when the current sliding speed of Segway Human Transporter is more than or equal to threshold value set by controller, drive of the controller to Segway Human Transporter
Dynamic motor delivery acceleration signal, slides driving motor directly driven electro scooter, when the current sliding speed of Segway Human Transporter
During less than threshold value set by controller, signal for faster is cancelled in driving motor transmission of the controller to Segway Human Transporter, makes electronic
Scooter deceleration stagnation of movement.
It can be made in the present invention by following three kinds of modes electronic under driving motor driven scooter operating status
Scooter enters gradual suspended state, but is not limited to following three kinds of methods.
One method：Signal for faster is cancelled by the brake switch trigger controller of Segway Human Transporter, directly releases driving
Acceleration control of the motor to Segway Human Transporter, i.e. driving motor transmission of the controller to Segway Human Transporter are cancelled signal for faster, are made
Segway Human Transporter stagnation of movement.
Secondly method：Electric return board vehicle speed is down to by controller institute by foot scrape along the ground mode or mechanical braking device
Below the threshold value of setting, signal for faster is cancelled in driving motor transmission of the controller to Segway Human Transporter, makes Segway Human Transporter stagnation of movement.
Thirdly method：Device signal for faster of removing controls is triggered by brake switch first；Made again by mechanical braking device
The speed of driving motor gradually reduces, and makes Segway Human Transporter stagnation of movement.
It is of course also possible to controller is set to receive the driving motor after power-off signal to Segway Human Transporter by cutting off the power
Signal for faster is cancelled in transmission, makes Segway Human Transporter stagnation of movement.
In the present invention when the current sliding speed of Segway Human Transporter be more than or equal to controller set by threshold value when, controller leads to
Cross and control the method for driving motor duty cycle to drive Segway Human Transporter to run.
Threshold value set by controller therein can be according to the concrete condition for the people that rides, thus it is possible to vary Segway Human Transporter threshold
Value, the present invention are preferably 3-8km/h.
As shown in Figures 2 and 3, the Segway Human Transporter speed control unit provided in the present invention, including it is arranged at slide plate
Controller 3 on vehicle main body frame 1 and the driving motor 4 being electrically connected with controller 3, are equipped with speed control mould in controller 4
Block, Bus- Speed Monitoring module, speed setting module and comparing module, Bus- Speed Monitoring module are used to detect the current cunning of Segway Human Transporter
Scanning frequency degree, speed setting module are used for the speed threshold value for setting Segway Human Transporter, and comparing module is used for Segway Human Transporter is current
Sliding speed compared with speed setting module, when the current sliding speed of Segway Human Transporter is more than or equal to speed setting module
In given threshold when, driving motor delivery acceleration signal of the speed control module to Segway Human Transporter, makes driving motor direct
Driving Segway Human Transporter slides；When the current sliding speed of Segway Human Transporter is less than threshold value set in speed setting module,
Signal for faster is cancelled in driving motor 4 transmission of the speed control module to Segway Human Transporter, makes Segway Human Transporter stagnation of movement.
The present invention is equipped with brake switch 5 on Segway Human Transporter, cancels signal for faster for triggering speed control module, makes
The gradual stagnation of movement of Segway Human Transporter.
The present invention is also also provided with mechanical braking device 6 on Segway Human Transporter at the same time, makes controller by brake switch
Cancel signal for faster to the driving motor transmission, Segway Human Transporter stagnation of movement is then made by mechanical braking device.Certainly, it is unlimited
Make the structure of Segway Human Transporter deceleration in above two.
Several operating statuses of Segway Human Transporter are specifically described respectively below, this is sentenced set by speed setting module
Threshold value is determined to be illustrated exemplified by 5km/h, this certain threshold value can be modified by specific needs.
Slide：Segway Human Transporter in a manner of foot slides power-assisted starting, allows Segway Human Transporter to move under power on state
Come, the hall signal of the Bus- Speed Monitoring module collection driving motor in controller, and calculate current travel speed.When passing through
When comparing module relatively show that Segway Human Transporter current driving speed exceedes set speed, mould is controlled by the speed in controller
Root tuber controls the duty cycle of driving motor according to current rate conversion into analog voltage signal, reaches and at the uniform velocity controls Segway Human Transporter
The purpose of traveling.
Segway Human Transporter is set at the uniform velocity to be travelled in a certain speed by the speed control module in controller.One can be limited to
Constant speed degree is set to friction speed.Such as：Detect that foot power-assisted is slided more than 5km/h, keep current maximum speed or limit
A certain speed is scheduled at the uniform velocity to travel.
Stagnation of movement：By the mechanical braking device of Segway Human Transporter by the electric return board vehicle speed slided be reduced to 5km/h or
When following, the speed control module in controller sends cancellation signal for faster to driving motor, makes Segway Human Transporter stagnation of movement.It is or logical
Cross brake switch or cut-off switch control disconnects once, speed control module, which is sent, cancels signal for faster, makes the electric sliding of operation
Wooden handcart stagnation of movement.
It is again started up sliding：Segway Human Transporter is allowed to slide again by foot power-assisted mode, during more than setting value, by controlling
Device processed continues to complete the traveling control process of Segway Human Transporter.
The present invention realizes electricity when controlling Segway Human Transporter stagnation of movement, by brake or directly by the form of foot scrape along the ground
Dynamic scooter slows down, and when below the near controller threshold value of electric return board vehicle speed, motor is automatically terminated to Segway Human Transporter
Control, it is possible to achieve stablize stagnation of movement, reduce the manufacture cost of Segway Human Transporter, and prevent as caused by current acceleration components failure
" driving " security risk.
Obviously, the above embodiments are merely examples for clarifying the description, and the restriction not to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
1. a kind of Segway Human Transporter method for control speed, it is characterised in that described method includes following steps：Connect electric return board
Car power supply, sliding power-assisted mode by foot slides Segway Human Transporter；Controller carries out the current sliding speed of Segway Human Transporter
Detection；Controller by detected Segway Human Transporter present speed compared with its set threshold value, when Segway Human Transporter work as
Preceding sliding speed is more than or equal to set by controller during threshold value, driving motor delivery acceleration letter of the controller to Segway Human Transporter
Number, slide driving motor directly driven electro scooter, when the current sliding speed of Segway Human Transporter is less than set by controller
Threshold value when, driving motor from controller to Segway Human Transporter transmission cancel signal for faster, make Segway Human Transporter deceleration stagnation of movement.
2. Segway Human Transporter method for control speed according to claim 1, it is characterised in that by Segway Human Transporter stagnation of movement
Specific method is：Removed controls device signal for faster by the triggering of the brake switch of Segway Human Transporter, controller is to Segway Human Transporter
Driving motor transmission cancel signal for faster, make Segway Human Transporter stagnation of movement.
3. Segway Human Transporter method for control speed according to claim 1, it is characterised in that by Segway Human Transporter stagnation of movement
Specific method is：Electric return board vehicle speed is down to set by controller by foot scrape along the ground mode or mechanical braking device
Below threshold value, signal for faster is cancelled in driving motor transmission of the controller to Segway Human Transporter, makes Segway Human Transporter stagnation of movement.
4. Segway Human Transporter method for control speed according to claim 1, it is characterised in that by Segway Human Transporter stagnation of movement
Specific method is：Device signal for faster of removing controls is triggered by brake switch first；Make driving electric by mechanical braking device again
The speed of machine gradually reduces, and makes Segway Human Transporter stagnation of movement.
5. according to any Segway Human Transporter method for control speed of claim 1-4, it is characterised in that controller is to electronic
The method that the current sliding speed of scooter is detected is：Controller collection driving in real time in Segway Human Transporter taxiing procedures
The hall signal of motor, the current sliding speed of Segway Human Transporter is calculated according to hall signal.
6. Segway Human Transporter method for control speed according to claim 5, it is characterised in that when Segway Human Transporter is when advancing slip
When scanning frequency degree is more than or equal to the threshold value set by controller, controller drives electricity by controlling the method for driving motor duty cycle
Dynamic scooter operation.
7. Segway Human Transporter method for control speed according to claim 1, it is characterised in that the controller setting
Segway Human Transporter threshold value is 3-8km/h.
8. a kind of Segway Human Transporter speed control unit, including the controller that is arranged on the scooter main body frame and with institute
State the driving motor of controller electric connection, it is characterised in that speed control module, Bus- Speed Monitoring mould are equipped with the controller
Block, speed setting module and comparing module, the Bus- Speed Monitoring module be used to detecting the Segway Human Transporter it is current slide speed
Degree, the speed setting module are used for the speed threshold value for setting the Segway Human Transporter, and the comparing module is used for the electricity
The current sliding speed of dynamic scooter is compared with the speed setting module, when the current sliding speed of Segway Human Transporter is more than
During equal to given threshold in the speed setting module, driving motor transmission of the speed control module to Segway Human Transporter
Signal for faster, slides driving motor directly driven electro scooter；When the current sliding speed of Segway Human Transporter is less than the car
In fast setting module during set threshold value, driving motor transmission of the speed control module to Segway Human Transporter, which is cancelled, to be accelerated
Signal, makes Segway Human Transporter stagnation of movement.
9. Segway Human Transporter speed control unit according to claim 8, it is characterised in that on the Segway Human Transporter also
Equipped with brake switch, cancel signal for faster for triggering the speed control module, make the gradual stagnation of movement of the Segway Human Transporter.
10. Segway Human Transporter speed control unit according to claim 9, it is characterised in that on the Segway Human Transporter
Mechanical braking device is additionally provided with, device signal for faster of removing controls is triggered by brake switch, then drive is made by mechanical braking device
The speed of dynamic motor gradually reduces, and makes Segway Human Transporter stagnation of movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016353.9A CN108001600A (en) | 2018-01-08 | 2018-01-08 | A kind of Segway Human Transporter method for control speed and its control device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810016353.9A CN108001600A (en) | 2018-01-08 | 2018-01-08 | A kind of Segway Human Transporter method for control speed and its control device |
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ID=62050179
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| CN201810016353.9A Pending CN108001600A (en) | 2018-01-08 | 2018-01-08 | A kind of Segway Human Transporter method for control speed and its control device |
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| CN108528421A (en) * | 2018-06-06 | 2018-09-14 | 深圳飞亮智能科技有限公司 | The brake control method and its system of wheeled tool |
| CN109533185A (en) * | 2018-10-19 | 2019-03-29 | 天津新日机电有限公司 | A kind of power assist control method of electric bicycle |
| CN110466667A (en) * | 2018-05-10 | 2019-11-19 | 卓楷涵 | Electric carrier power assist control method and electric carrier |
| CN112455594A (en) * | 2020-11-30 | 2021-03-09 | 广东高标电子科技有限公司 | Idling control method for small electric vehicle and small electric vehicle |
| CN113071594A (en) * | 2020-01-03 | 2021-07-06 | 纳恩博（常州）科技有限公司 | System and method for controlling turning on and turning off of scooter and scooter |
| CN113147977A (en) * | 2021-05-25 | 2021-07-23 | 深圳曼威科技有限公司 | Shared electric scooter and control system thereof |
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