CN108790943A - The control method for stopping and its system of wheeled tool - Google Patents
The control method for stopping and its system of wheeled tool Download PDFInfo
- Publication number
- CN108790943A CN108790943A CN201810574433.6A CN201810574433A CN108790943A CN 108790943 A CN108790943 A CN 108790943A CN 201810574433 A CN201810574433 A CN 201810574433A CN 108790943 A CN108790943 A CN 108790943A
- Authority
- CN
- China
- Prior art keywords
- wheeled tool
- wheeled
- tool
- operating status
- stopping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- 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
- B60L7/006—Dynamic electric braking by reversing current, i.e. plugging
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention relates to the control method for stopping of wheeled tool and its systems；Wherein, control method for stopping includes the following steps；Step 1 judges whether wheeled tool is in operating status；If it is, two are entered step, if it is not, then entering step five；Step 2, judges whether user jumps out of wheeled tool；If it is, three are entered step, if it is not, then entering step four；Step 3 exports reverse current, and motor generates opposing torque, to realize that wheeled tool stops；Step 4, wheeled tool remain operational state；Whether step 5 judges user on wheeled tool；If it is, six are entered step, if it is not, then entering step seven；Step 6, control module do output response；Step 7, control module is without response.The present invention effectively prevents user not on wheeled tool, make operation error, definitely traffic safety, prevents the generation of dangerous accident.
Description
Technical field
The present invention relates to wheeled tool control field, more specifically the control method for stopping of finger wheel formula tool and its it is
System.
Background technology
All wheeled tools are in the case where opening power supply status currently on the market, after action accelerates starter or sliding and running
Operation can be started, no matter user is whether on wheeled tool；If user is not on wheeled tool, and operation error adds
Fast starter or sliding and running, wheeled tool start operation suddenly, are easy to happen dangerous accident.
Invention content
It is an object of the invention to overcome the deficiencies of existing technologies, the control method for stopping of wheeled tool is provided and its is
System.
To achieve the above object, the present invention uses following technical scheme：
The control method for stopping of wheeled tool, includes the following steps；
Step 1 judges whether wheeled tool is in operating status；If it is operating status, then two are entered step, if
It is not operating status, then enters step five；
Step 2, judges whether user jumps out of wheeled tool；If it is, three are entered step, if it is not, then into
Step 4；
Step 3 exports reverse current, and motor generates opposing torque, to realize that wheeled tool stops；
Step 4, wheeled tool remain operational state；
Whether step 5 judges user on wheeled tool；If it is, six are entered step, if it is not, then into
Enter step 7；
Step 6, Acceleration of starting device or the wheeled tool of sliding are effective, and control module does output response；
Step 7, Acceleration of starting device or the wheeled tool of sliding are invalid, and control module is without response.
Its further technical solution is：In the step 1, judge wheeled tool whether in fortune by velocity sensor
Row state；If velocity sensor is more than 0, wheeled tool is in operating status, if velocity sensor is 0, at wheeled tool
In stationary state.
Its further technical solution is：In the step 1, judge wheeled tool whether in operation by output power
State；If output power is more than 0, wheeled tool is in operating status, if output power is 0, wheeled tool is in static
State.
Its further technical solution is：In the step 2, judge that user is by pressure sensor or optoelectronic switch
It is no to jump out of wheeled tool.
Its further technical solution is：In the step 3, motor opposing torque is 5-50%.
Its further technical solution is：In the step 5, judge user whether in wheeled work by pressure sensor
On tool.
Its further technical solution is：The wheeled tool is two wheel scooters, four wheel scooters, bicycle or three-wheel
Vehicle.
The Stop Control System of wheeled tool, including control module and connect with control module the first judgment module,
Two judgment modules, third judgment module, brake module and power supply；
First judgment module, for judging whether wheeled tool is in operating status；
Second judgment module, for judging whether user jumps out of wheeled tool；
The third judgment module, for judging user whether on wheeled tool；
The brake module exports reverse current, and motor generates opposing torque, to realize that wheeled tool stops.
Its further technical solution is：First judgment module is velocity sensor, and the velocity sensor is for sentencing
Whether the wheeled tool that breaks is in operating status.
Compared with the prior art, the invention has the advantages that：By judging whether wheeled tool is in operating status, sentences
Whether disconnected user jumps out of wheeled tool, exports reverse current, and motor generates opposing torque, to realize that wheeled tool stops, wheel
Formula tool remains operational state, judges user whether on wheeled tool, and Acceleration of starting device or the wheeled tool of sliding have
Effect, control module do output response, and Acceleration of starting device or the wheeled tool of sliding are invalid, and control module is without response；Effectively prevent
Stop user not on wheeled tool, make operation error, definitely traffic safety, prevents dangerous accident
Occur.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Description of the drawings
Fig. 1 is the flow chart of the control method for stopping of wheeled tool；
Fig. 2 is the block diagram of the Stop Control System of wheeled tool.
10 control module, 20 first judgment module
30 second judgment module, 40 third judgment module
50 brake module, 60 power supply
Specific implementation mode
In order to more fully understand the present invention technology contents, with reference to specific embodiment to technical scheme of the present invention into
One step introduction and explanation, but not limited to this.
If Fig. 1 is to specific embodiment shown in Fig. 2, as shown in Figure 1, the invention discloses the parking toll sides of wheeled tool
Method includes the following steps；
Step 1 judges whether wheeled tool is in operating status；If it is operating status, then two are entered step, if
It is not operating status, then enters step five；
Step 2, judges whether user jumps out of wheeled tool；If it is, three are entered step, if it is not, then into
Step 4；
Step 3 exports reverse current, and motor generates opposing torque, to realize that wheeled tool stops；
Step 4, wheeled tool remain operational state；
Whether step 5 judges user on wheeled tool；If it is, six are entered step, if it is not, then into
Enter step 7；
Step 6, Acceleration of starting device or the wheeled tool of sliding are effective, and control module does output response；
Step 7, Acceleration of starting device or the wheeled tool of sliding are invalid, and control module is without response.
Wherein, in step 1, judge whether wheeled tool is in operating status by velocity sensor；If velocity sensor
More than 0, then wheeled tool is in operating status, if velocity sensor is 0, wheeled tool remains static.
Wherein, in step 1, it can also judge whether wheeled tool is in operating status by output power；If output work
Rate is more than 0, then wheeled tool is in operating status, if output power is 0, wheeled tool remains static.
Further, in step 2, judge whether user jumps out of wheeled tool by pressure sensor or optoelectronic switch.
Wherein, in step 3, motor opposing torque is 5-50%.
Wherein, in step 5, judge user whether on wheeled tool by pressure sensor.
In the present invention, wheeled tool is two wheel scooters, four wheel scooters, bicycle or tricycle.
As shown in Fig. 2, the invention also discloses the Stop Control System of wheeled tool, including control module 10 and with control
The first judgment module 20, the second judgment module 30, third judgment module 40, brake module 50 and the power supply 60 that module 10 connects；
First judgment module 20, for judging whether wheeled tool is in operating status；
Second judgment module 30, for judging whether user jumps out of wheeled tool；
Third judgment module 40, for judging user whether on wheeled tool；
Brake module 50 exports reverse current, and motor generates opposing torque, to realize that wheeled tool stops.
Wherein, the first judgment module 20 is velocity sensor, and whether velocity sensor is for judging wheeled tool in fortune
Row state.
Wherein, control module 10 is microcontroller, and the second judgment module 30, third judgment module 40, brake module 50 are equal
It integrates and forms with microcontroller.
Wherein, the operation principle of the present invention is that：In wheeled tool operation, if user jumps out of wheeled tool,
It detects that the variation of running current value or working condition, control module calculation process or PID are adjusted, exports reverse current, motor
Opposing torque is generated, wheeled tool is in on-position, until parking completely；The variation of working condition may be used switch,
The elements such as pressure sensor, optoelectronic switch are detected；In the state that wheeled tool is static, system electrification, if user
Not onboard, even if Acceleration of starting device or the wheeled tool of sliding, control module do not do output response；The invention can effectively prevent
The maloperation that only user does not occur on wheeled tool, prevents traffic safety to greatest extent, prevents the hair of dangerous accident
It is raw.
In conclusion the present invention judges whether user jumps out of wheel by judging whether wheeled tool is in operating status
Formula tool exports reverse current, and motor generates opposing torque, and to realize that wheeled tool stops, wheeled tool remains operational state,
User is judged whether on wheeled tool, and Acceleration of starting device or the wheeled tool of sliding are effective, and control module is done output and rung
It answers, Acceleration of starting device or the wheeled tool of sliding are invalid, and control module is without response；User is effectively prevented not in wheeled work
In the case of on tool, operation error is made, definitely traffic safety, prevents the generation of dangerous accident.
It is above-mentioned only with embodiment come the technology contents that further illustrate the present invention, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by the present invention's
Protection.Protection scope of the present invention is subject to claims.
Claims (9)
1. the control method for stopping of wheeled tool, which is characterized in that include the following steps；
Step 1 judges whether wheeled tool is in operating status；If it is operating status, then enter
Step 2 then enters step five if not operating status；
Step 2, judges whether user jumps out of wheeled tool；If it is, three are entered step, if it is not, then entering step
Four；
Step 3 exports reverse current, and motor generates opposing torque, to realize that wheeled tool stops；
Step 4, wheeled tool remain operational state；
Whether step 5 judges user on wheeled tool；If it is, six are entered step, if it is not, then entering step
Rapid seven；
Step 6, Acceleration of starting device or the wheeled tool of sliding are effective, and control module does output response；
Step 7, Acceleration of starting device or the wheeled tool of sliding are invalid, and control module is without response.
2. the control method for stopping of wheeled tool according to claim 1, which is characterized in that in the step 1, pass through
Velocity sensor judges whether wheeled tool is in operating status；If velocity sensor is more than 0, wheeled tool is in operation shape
State, if velocity sensor is 0, wheeled tool remains static.
3. the control method for stopping of wheeled tool according to claim 1, which is characterized in that in the step 1, pass through
Output power judges whether wheeled tool is in operating status；If output power is more than 0, wheeled tool is in operating status,
If output power is 0, wheeled tool remains static.
4. the control method for stopping of wheeled tool according to claim 1, which is characterized in that in the step 2, pass through
Pressure sensor or optoelectronic switch judge whether user jumps out of wheeled tool.
5. the control method for stopping of wheeled tool according to claim 1, which is characterized in that in the step 3, motor
Opposing torque is 5-50%.
6. the control method for stopping of wheeled tool according to claim 1, which is characterized in that in the step 5, pass through
Whether pressure sensor judges user on wheeled tool.
7. the control method for stopping of wheeled tool according to claim 1, which is characterized in that the wheeled tool is two-wheeled
Scooter, four wheel scooters, bicycle or tricycle.
8. the Stop Control System of wheeled tool, which is characterized in that first connect including control module and with control module is sentenced
Disconnected module, the second judgment module, third judgment module, brake module and power supply；
First judgment module, for judging whether wheeled tool is in operating status；
Second judgment module, for judging whether user jumps out of wheeled tool；
The third judgment module, for judging user whether on wheeled tool；
The brake module exports reverse current, and motor generates opposing torque, to realize that wheeled tool stops.
9. the Stop Control System of wheeled tool according to claim 8, which is characterized in that first judgment module is
Velocity sensor, the velocity sensor is for judging whether wheeled tool is in operating status.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810574433.6A CN108790943A (en) | 2018-06-06 | 2018-06-06 | The control method for stopping and its system of wheeled tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810574433.6A CN108790943A (en) | 2018-06-06 | 2018-06-06 | The control method for stopping and its system of wheeled tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108790943A true CN108790943A (en) | 2018-11-13 |
Family
ID=64087401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810574433.6A Pending CN108790943A (en) | 2018-06-06 | 2018-06-06 | The control method for stopping and its system of wheeled tool |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111049431A (en) * | 2019-12-06 | 2020-04-21 | 浙江德马科技股份有限公司 | Transfer machine control method and transfer machine control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050205326A1 (en) * | 2004-03-16 | 2005-09-22 | Patmont Motor Werks Inc. | Suspension apparatus for scooter utilizing offset frame with torsion shock absorber |
| CN104760644A (en) * | 2015-04-14 | 2015-07-08 | 上海理工大学 | Electric monocycle |
| CN204527464U (en) * | 2015-04-13 | 2015-08-05 | 重庆交通大学 | Safety-type single wheel balance truck |
| CN105083429A (en) * | 2015-06-24 | 2015-11-25 | 小米科技有限责任公司 | Automatic stopping method and device of electric balance vehicle |
| CN106314201A (en) * | 2016-08-24 | 2017-01-11 | 深圳市踏路科技有限公司 | Platform lorry control method and device |
-
2018
- 2018-06-06 CN CN201810574433.6A patent/CN108790943A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050205326A1 (en) * | 2004-03-16 | 2005-09-22 | Patmont Motor Werks Inc. | Suspension apparatus for scooter utilizing offset frame with torsion shock absorber |
| CN204527464U (en) * | 2015-04-13 | 2015-08-05 | 重庆交通大学 | Safety-type single wheel balance truck |
| CN104760644A (en) * | 2015-04-14 | 2015-07-08 | 上海理工大学 | Electric monocycle |
| CN105083429A (en) * | 2015-06-24 | 2015-11-25 | 小米科技有限责任公司 | Automatic stopping method and device of electric balance vehicle |
| CN106314201A (en) * | 2016-08-24 | 2017-01-11 | 深圳市踏路科技有限公司 | Platform lorry control method and device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111049431A (en) * | 2019-12-06 | 2020-04-21 | 浙江德马科技股份有限公司 | Transfer machine control method and transfer machine control device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181113 |
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| RJ01 | Rejection of invention patent application after publication |