CN108499085A - A kind of intelligence scooter control speed method - Google Patents

Abstract

The invention discloses a kind of intelligent scooters to control speed method, variation of the scooter along the acceleration of headstock direction of advance is detected by the three axis accelerometer on scooter, according to the speed of the variation control scooter of the acceleration, pedal ground generates the mode of power, to start and control operation and the speed of scooter, the comfort for increasing user allows the object for appreciation of four wheel scooters to get up more convenient interesting, and scooter is more advantageous to the various grandstand plays of transformation in this way.

Description

A kind of intelligence scooter control speed method

Technical field

The present invention relates to scooter technical field, more particularly to a kind of intelligent scooter controls speed method.

Background technology

There is traditional pin to provide power with stepping on for existing four wheel scooter, ensures scooter movement.Present market goes out A kind of existing electric four-wheeled scooter controls scooter operation and speed by using a remote-control handle, this is current market Has the maximum control mode of Segway Human Transporter.And occur someone now by mobile phone and four wheel scooters, scooter bluetooth with Mobile phone connects, and obtains mobile phone volume button permission by cell phone application, volume button controls the scooter speed of service, existing four-wheel Segway Human Transporter is the change that scooter startup and speed is controlled by using remote-control handle and mobile phone, and scooter is made to use Come more complicated.

Invention content

Technical problem to be solved by the invention is to provide a kind of intelligent scooters to control speed method, can not have to use Remote-control handle and mobile phone, can start and change the speed of scooter, and scooter is made to stop, and increase relaxing for scooter Adaptive.

To achieve the above object, the present invention provides technical solution below：

A kind of intelligence scooter control speed method, scooter edge is detected by the three axis accelerometer on scooter The variation for the acceleration of headstock direction of advance specifically includes as follows according to the speed of the variation control scooter of the acceleration Step：

a）Scooter initialize, detect scooter acceleration occur it is primary or twice self-defined start-up course when, slide plate Vehicle powers on, and starts；The self-defined start-up course is：Acceleration sports positive acceleration value from zero, prominent from positive acceleration figure Become reversed acceleration figure；

b）Scooter detects that primary self-defined acceleration often occurs for the acceleration of scooter in motion state, i.e. power-up state When process, scooter adds a gear, when scooter is in highest gear, detects that self-defined acceleration variation occurs for acceleration again When process, scooter keeps current gear；The self-defined accelerator is：Acceleration sports positive acceleration value from zero, Reversed acceleration figure is sported from positive acceleration figure, is finally decreased to zero；

c）When detecting that self-defined docking process has occurred in the acceleration of scooter, scooter power down is gradually decelerated to stopping；From Defining docking process is：Acceleration keeps a backward acceleration value or backward acceleration value to increase；

In above step, forward direction refers to the direction that the headstock of scooter advances, and refers to reversely opposite with the headstock direction of scooter Direction.

Compared with prior art, the beneficial effects of the invention are as follows：Scooter control speed method in the present invention does not have to make Scooter is controlled with remote-control handle or mobile phone, by similar traditional on-electric scooter, pedal ground generates the side of power Formula reduces parts, reduces manufacturing cost, increase user's to start and control operation and the speed of scooter Comfort allows the object for appreciation of four wheel scooters to get up more convenient interesting, and it is dynamic to be more advantageous to the various styles of transformation for scooter in this way Make.

Description of the drawings

The specific implementation mode of the present invention is described in further detail below in conjunction with the accompanying drawings.

Fig. 1 show the direction of the acceleration of three axis accelerator meters of middle slide plate vehicle of the present invention.

Specific implementation mode

Sliding a kind of preferred embodiment of intelligent scooter control speed method that the invention will now be described in detail with reference to the accompanying drawings.

As shown in Figure 1, the control speed method of the scooter in the present invention by three axis accelerometer come measurement of skateboarding vehicle The acceleration of three axial directions of itself, it is assumed that scooter headstock direction is x-axis, z-axis perpendicular to scooter vehicle body perpendicular to ground, Y-axis is perpendicular to xoz planes i.e. perpendicular to vehicle body section, and direction uses the right-hand rule, thumb to be directed toward z-axis positive direction, and four refer to It is positive direction of the y-axis perpendicular to the direction of the palm of the hand to positive direction of the x-axis, is identified by the acceleration of measurement of skateboarding vehicle x-axis direction The motion state of scooter.

Analysis scooter makes the process of the variation of the acceleration of its x-axis direction such as by way of pedaling ground power-assisted first Under：

（1）Known by Newton's Theorem, effectively just will produce acceleration.When one foot of user is on scooter, another pedal Ground cart forward will give the power of one direction x-axis of scooter, will generate an acceleration in x-axis direction；

（2）Using four wheel scooters, user can pedal ground to give scooter power-assisted, and scooter is made to run, and measurement of skateboarding vehicle adds Speed, acceleration are shown as, and originally scooter is static, and foot steps on ground and generates thrust, and acceleration increases suddenly, with less touch with the ground, Acceleration can immediately reduce again, and because of people station upper slide, scooter becomes larger to geostatic pressure, and by frictional force, scooter does not have It powers on, therefore scooter is only by frictional force, user can the ground power-assisted such as again；

（3）Scooter is when powering on, and under normal circumstances, is to maintain at the uniform velocity, i.e. the power of scooter itself is equal with frictional force, When user pedals ground, the acceleration of scooter can become positive acceleration, and speed increases, less touch with the ground, the frictional force that scooter is subject to Can be temporarily more than the power of scooter, acceleration becomes backward acceleration, and speed reduces, until scooter frictional force again with The power of scooter is consistent, at the uniform velocity moves ahead；

（4）When scooter stops, user contiguously faces scooter by a foot and generates a pulling force, the acceleration of scooter Degree variation is that originally scooter travels at the uniform speed, because electric power is converted into mechanical force, acceleration zero, when user produces scooter A raw pulling force, scooter x-axis will produce a reversed acceleration, and acceleration can inversely increase, and detect this variation, close Scooter operation is closed, scooter runs out of steam, and scooter receives frictional ground force and the pulling force of people at this time, and acceleration can drastically increase Greatly, it is reduced to zero with speed, acceleration can become zero again.

It is analyzed according to above procedure, the present invention provides a kind of intelligent scooters to control speed method, by being mounted on cunning Three axis accelerometer on wooden handcart detects variation of the scooter along the acceleration of headstock direction of advance, according to the acceleration The speed of variation control scooter, specifically comprises the following steps：

a）Scooter initialize, detect scooter acceleration occur it is primary or twice self-defined start-up course when, slide plate Vehicle powers on, and starts；The self-defined start-up course is：Acceleration sports positive acceleration value from zero, prominent from positive acceleration figure Become reversed acceleration figure；

b）Scooter detects that primary self-defined acceleration often occurs for the acceleration of scooter in motion state, i.e. power-up state When process, scooter adds a gear, when scooter is in highest gear, detects that self-defined acceleration variation occurs for acceleration again When process, scooter keeps current gear；The self-defined accelerator is：Acceleration sports positive acceleration value from zero, Reversed acceleration figure is sported from positive acceleration figure, is finally decreased to zero；

c）When detecting that self-defined docking process has occurred in the acceleration of scooter, scooter power down is gradually decelerated to stopping；From Defining docking process is：Acceleration keeps a backward acceleration value or backward acceleration value to increase, the time range of holding Between 7-15 seconds.

In above step, forward direction refers to the direction that the headstock of scooter advances, i.e. X-axis positive direction, refers to reversely and slide plate The opposite direction of the headstock direction of advance of vehicle, i.e. X-axis negative direction.

Scooter control speed method in the present invention does not have to control scooter using remote-control handle or mobile phone, leads to Similar traditional on-electric scooter is crossed, pedal ground generates the mode of power, to start and control operation and the speed of scooter, Reduce parts, reduce manufacturing cost, increase the comfort of user, the object for appreciation of four wheel scooters is allowed to get up to be more convenient to have Interest, scooter, which is more advantageous to, in this way converts various grandstand plays.

The above are merely the preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art, Without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the guarantor of the present invention Protect range.

Claims (1)

1. a kind of intelligence scooter controls speed method, which is characterized in that pass through the three axis accelerometer on scooter Variation of the scooter along the acceleration of headstock direction of advance is detected, according to the speed of the variation control scooter of the acceleration Degree, specifically comprises the following steps：

a）Scooter initialize, detect scooter acceleration occur it is primary or twice self-defined start-up course when, slide plate Vehicle powers on, and starts；The self-defined start-up course is：Acceleration sports positive acceleration value from zero, prominent from positive acceleration figure Become reversed acceleration figure；

b）Scooter detects that primary self-defined acceleration often occurs for the acceleration of scooter in motion state, i.e. power-up state When process, scooter adds a gear, when scooter is in highest gear, detects that self-defined acceleration variation occurs for acceleration again When process, scooter keeps current gear；The self-defined accelerator is：Acceleration sports positive acceleration value from zero, Reversed acceleration figure is sported from positive acceleration figure, is finally decreased to zero；

c）When detecting that self-defined docking process has occurred in the acceleration of scooter, scooter power down is gradually decelerated to stopping；From Defining docking process is：Acceleration keeps a backward acceleration value or backward acceleration value to increase；

In above step, forward direction refers to the direction that the headstock of scooter advances, and refers to reversely opposite with the headstock direction of scooter Direction.