CN110597309B

CN110597309B - Control method, device and system of mobile product, storage medium and processor

Info

Publication number: CN110597309B
Application number: CN201910900850.XA
Authority: CN
Inventors: 不公告发明人
Original assignee: Ninebot Changzhou Technology Co Ltd
Current assignee: Ninebot Beijing Technology Co Ltd
Priority date: 2019-09-23
Filing date: 2019-09-23
Publication date: 2022-03-29
Anticipated expiration: 2039-09-23
Also published as: CN110597309A; WO2021057728A1

Abstract

The application provides a control method, a device, a system, a storage medium and a processor of a mobile product, wherein the control method comprises the following steps: under the condition that the mobile product is in accelerated motion, detecting the motion speed of the mobile product in the current motion stage; under the condition that the movement speed is confirmed to reach the maximum speed value and the current movement stage meets a first preset condition, controlling the mobile product to enter a stable movement stage, wherein the first preset condition comprises at least one of the following conditions: the maximum speed value is greater than a speed threshold value, the maximum acceleration of the current motion stage is greater than a preset acceleration, the speed threshold value is the sum of a preset value and the initial speed of the current motion stage, and the preset value is greater than or equal to 0. In the control method, the problems that the speed is continuously updated and the speed of the mobile product is faster and faster due to the fluctuation of the speed are avoided, and the use safety of the mobile product is ensured.

Description

Control method, device and system of mobile product, storage medium and processor

Technical Field

The present application relates to the field of control of mobile products, and in particular, to a method, an apparatus, a system, a storage medium, and a processor for controlling a mobile product.

Background

Nowadays, electric vehicles such as electric scooters and electric bicycles or electric toys are becoming more and more popular. Currently, these types of mobile products are mainly divided into three types, the first being powered mobile products, the second being unpowered mobile products, and the third being mobile products between powered and unpowered mobile products.

The first mobile product mentioned above often controls the power output through the throttle handle or the throttle button, and the deeper the throttle control device is pressed, the stronger the power output or the faster the speed is, and the mobile product can save more labor for the user. The second mobile product is an unpowered mobile product, and compared with a powered mobile product, the unpowered mobile product can meet more operation feelings of users, is more natural and energy-saving, and is simpler in structure. The third mobile product is temporarily called as a power-assisted mode mobile product, can move under no power and can also move under power, and the third mobile product covers the advantages of both the power mobile product and the no-power mobile product.

However, the user experience of the related mobile products of the third mobile product on the market is not very good. In the case of a skateboard, a skateboard mobile product which omits a throttle control device is available on the market, and the power output of the skateboard mobile product is controlled by speed triggering or by a key. In the process of pedaling the skateboard to power output, a user can feel obvious acceleration or deceleration, which is very obtrusive for the user, and in the mode, in the process of power output, if the speed fluctuation is large, the speed of the mobile product is updated, so that the speed is updated continuously, the speed of the mobile product is faster and faster, potential safety hazards are likely to occur, and the experience of the user is affected.

The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Disclosure of Invention

The application mainly aims to provide a control method, a control device, a control system, a storage medium and a processor for a mobile product, so as to solve the problem that the speed of the mobile product in a power-assisted mode in the prior art is difficult to control, which results in an increasing speed.

In order to achieve the above object, according to one aspect of the present application, there is provided a control method of a mobile product, the control method including: detecting the movement speed of the mobile product in the current movement stage under the condition that the mobile product is in accelerated movement; under the condition that the movement speed is confirmed to reach a speed maximum value and the current movement stage meets a first preset condition, controlling the mobile product to enter a stable movement stage, wherein the first preset condition comprises at least one of the following conditions: the maximum speed value is greater than a speed threshold value, the maximum acceleration of the current motion stage is greater than a preset acceleration, the speed threshold value is the sum of a preset value and the initial speed of the current motion stage, and the preset value is greater than or equal to 0.

Further, the acceleration of the steady motion phase is less than an acceleration threshold, which is the absolute value of the maximum acceleration at which the user steps on the mobile product.

Further, the control method includes: confirming that the movement speed reaches the speed maximum, comprising: comparing the movement speeds of the mobile product at two adjacent moments of the current movement stage; and determining the movement speed at the previous moment as the speed maximum value when the difference between the movement speed at the later moment and the movement speed at the previous moment is less than or equal to 0.

Further, the control method includes: confirming that the movement speed reaches the speed maximum, comprising: acquiring the acceleration of the mobile product in the current motion stage; determining the velocity maxima from the acceleration.

Further, the mobile product comprises a motor, and acquiring the acceleration of the mobile product in the current motion phase comprises: acquiring rotating speed and acceleration data of a motor of the mobile product in the current motion stage; determining the velocity maxima from the acceleration, including: removing high-frequency noise data of the rotating speed acceleration data to obtain the rotating speed acceleration data after denoising; and under the condition that the rotating speed acceleration in the de-noised rotating speed acceleration data reaches the maximum value, determining that the movement speed reaches the maximum value of the speed.

Further, the mobile product includes a motor that controls the mobile product to enter a steady motion phase, including one of: controlling the rotating speed of the motor to be a first preset rotating speed, wherein the first preset rotating speed is a rotating speed maximum value, and the rotating speed maximum value is a rotating speed corresponding to the rotating speed maximum value; controlling the rotating speed of the motor to be a second preset rotating speed, wherein the second preset rotating speed is smaller than the rotating speed maximum value; controlling the rotation speed of the motor to decrease from the rotation speed maximum value.

Further, the current motion phase is a first motion phase in which the moving product starts moving from a standstill without being driven by a driving device, the speed maximum of the first motion phase is a first speed maximum, and the moving product is controlled to enter a stable motion phase in a case where it is confirmed that the motion speed reaches the speed maximum and the current motion phase satisfies a first preset condition, including: controlling the moving product to enter the steady motion phase upon confirming that the movement speed reaches the first speed maximum and that the first speed maximum is greater than a speed threshold, the steady motion phase being a second motion phase.

Further, the current movement stage is a third movement stage after the second movement stage, the speed maximum value of the third movement stage is a second speed maximum value, and the mobile product is controlled to enter the stable movement stage when it is determined that the movement speed reaches the speed maximum value and the current movement stage meets a first preset condition, including: and under the condition that the movement speed reaches the second speed maximum value and the acceleration corresponding to the second speed maximum value is larger than a preset acceleration, controlling the mobile product to enter the stable movement stage, wherein the stable movement stage is a fourth movement stage, and the preset acceleration is larger than the maximum acceleration of the mobile product in the second movement stage.

Further, after the moving product enters the steady motion phase, the control method further comprises: detecting whether a second preset condition is met, wherein the second preset condition comprises one of the following conditions: at least part of the body of the user is detached from the mobile product, there being a braking operation acting on the mobile product; and under the condition that the second preset condition is detected to be met, controlling the mobile product to enter a deceleration movement stage.

Further after controlling the moving product to enter a deceleration motion phase, the control method further comprises: detecting whether a third preset condition is met or not under the condition that the movement speed of the mobile product is greater than a preset speed, wherein the third preset condition comprises one of the following conditions: the user's body is returned to the mobile product without the braking operation; and under the condition that the third preset condition is detected to be met, controlling the mobile product to enter the stable motion phase, wherein the preset speed is greater than or equal to 0 and less than or equal to the speed maximum value.

Further, the mobile product includes a motor, and the control method further includes: controlling the driving current to be a positive driving current; the motor is driven to rotate in the forward direction by adopting driving current, the direction of the speed of the moving product is a preset direction under the drive of the forward rotation of the motor, and the preset direction is the direction in which the initial position of the moving product faces to the target position.

In order to achieve the above object, according to one aspect of the present application, there is provided a control apparatus for moving a product, the control apparatus including: the first detection unit is used for detecting the movement speed of the mobile product in the current movement stage under the condition that the mobile product is in accelerated movement; a first control unit, configured to control the mobile product to enter a stable movement phase if it is determined that the movement speed reaches a speed maximum and the current movement phase satisfies a first preset condition, where the first preset condition includes at least one of: the maximum speed value is greater than a speed threshold value, the maximum acceleration of the current motion stage is greater than a preset acceleration, the speed threshold value is the sum of a preset value and the initial speed of the current motion stage, and the preset value is greater than or equal to 0.

In order to achieve the above object, according to another aspect of the present application, there is provided a system including software for executing any one of the control methods and a mobile product.

In order to achieve the above object, according to one aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the control methods.

According to yet another aspect of the present application, there is provided a processor for executing a program, wherein the program executes any one of the control methods.

With the application of the technical solution of the present application, in the above control method, the first preset condition is a speed update condition, which specifically includes that "the speed maximum is greater than a speed threshold" and/or "the maximum acceleration of the current motion phase is greater than a predetermined acceleration". In the control method, when the situation that the movement speed of the current stage reaches the maximum speed value and the current movement stage meets at least one first preset condition is detected, the mobile product is controlled to enter the stable movement stage, and the mobile product is controlled to carry out speed updating. In the method, the problems that the speed is continuously updated and the speed of the mobile product is faster and faster due to the fluctuation of the speed are avoided, and the use safety of the mobile product is ensured.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

FIG. 1 shows a flow chart of a control method of a mobile product of an embodiment of the present application;

FIG. 2 shows a schematic view of a mobile product according to an embodiment of the present application;

FIG. 3 is a schematic view showing a state where a skateboard according to an embodiment of the present application is stepped;

FIG. 4 illustrates a schematic diagram of the velocity variation of a moving product of an embodiment of the present application;

FIG. 5 shows a schematic diagram of the velocity variation of a moving product of another embodiment of the present application;

FIG. 6 is a schematic diagram illustrating velocity variations of a moving product according to yet another embodiment of the present application;

FIG. 7 shows a schematic diagram of the speed variation of a slow moving product of yet another embodiment of the present application;

FIG. 8 is a schematic diagram illustrating the speed change of the brakes after the speed of the mobile product is maintained;

FIG. 9 is a schematic diagram illustrating velocity variations of a moving product according to one embodiment;

FIG. 10 is a schematic diagram illustrating velocity variations of a moving product according to another embodiment;

FIG. 11 is a schematic diagram illustrating velocity variations of a moving product according to yet another embodiment;

FIG. 12 illustrates an acceleration curve of wheel speed for a mobile product according to an embodiment of the present application;

FIG. 13 shows a graph of the acceleration curve of FIG. 12 compared to a low pass filtered curve;

FIG. 14 shows an acceleration curve of the wheel speed of the moving product, a filtered curve, and a velocity curve of the moving product;

FIG. 15 illustrates a logic block diagram of speed control of an embodiment of the present application; and

fig. 16 shows a schematic view of a control device of a mobile product of an embodiment of the present application.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, mobile device, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, mobile device, or apparatus.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.

As described in the background, in the prior art, in the power-assisted mode, when the mobile product is in the transition process from the unpowered mode to the powered mode, if the speed fluctuation of the mobile product is large in the powered process, the mobile product is continuously updated, so that the speed of the mobile product is faster and faster, and a potential safety hazard may occur.

Fig. 1 is a flowchart of a control method of a mobile product according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:

step S101, detecting the movement speed of the mobile product in the current movement stage under the condition that the mobile product is in accelerated movement;

step S102, controlling the mobile product to enter a stable movement stage under the condition that it is determined that the movement speed reaches a speed maximum value and the current movement stage meets a first preset condition, where the first preset condition includes at least one of: the maximum speed value is greater than a speed threshold value, the maximum acceleration of the current motion stage is greater than a preset acceleration, wherein the speed threshold value is the sum of a preset value and the initial speed of the current motion stage, and the preset value is greater than or equal to 0.

In the above control method, the first preset condition is a speed update condition, which specifically includes "the speed maximum is greater than the speed threshold" and/or "the maximum acceleration of the current motion phase is greater than the predetermined acceleration". In the control method, when the situation that the movement speed of the current stage reaches the maximum speed value and the current movement stage meets at least one first preset condition is detected, the mobile product is controlled to enter the stable movement stage, and the mobile product is controlled to carry out speed updating. In the method, the problems that the speed is continuously updated and the speed of the mobile product is faster and faster due to the fluctuation of the speed are avoided, and the use safety of the mobile product is ensured.

The control method can be used without depending on an IMU or other sensors for accelerating human detection, and is simpler and more reliable in software and hardware structure.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

It should be further noted that there are many specific detection methods for detecting the movement speed of the mobile product by the above control method, and the conventional method with a sensor may be adopted, including but not limited to laser speed measurement, radar speed measurement, magnetic induction speed measurement, magnetic encoder speed measurement, or optical encoder speed measurement, and the like, and may also be adopted by a non-inductive observer.

In addition, the mobile product may be a scooter as shown in fig. 2, or may be other vehicles such as an electric bicycle, a power-assisted bicycle, an electric skateboard, an electric power-assisted skateboard, or other electric toys, and similar mobile products. The stage of the movement of the mobile product from rest in the predetermined pattern can be represented by the state of stepping on the skateboard as shown in fig. 3.

In an embodiment of the present application, the acceleration in the stable motion phase is smaller than an acceleration threshold, where the acceleration threshold isThe absolute value of the maximum acceleration at which the user kicks the mobile product. In the scheme, the acceleration in the stable motion phase is smaller than the acceleration threshold value, namely the acceleration in the stable motion phase is smaller, so that a user can not feel obvious acceleration and deceleration in the process of transition from the current motion phase to the stable motion phase, and the better experience effect of the user is further ensured. In the practical application process, the acceleration threshold is generally 3-4 m/s²In the meantime.

In another embodiment of the present application, the control method includes: the method for confirming that the moving speed reaches the speed maximum value can be any method capable of determining the speed maximum value, and a person skilled in the art can select an appropriate method to determine the speed maximum value according to actual conditions. Specifically, the confirming that the movement speed reaches the speed maximum value includes: comparing the moving speeds of the mobile product at two adjacent moments of the current moving stage; and determining that the moving speed at the previous time is the speed maximum value when the difference between the moving speed at the subsequent time and the moving speed at the previous time is less than or equal to 0. In the method, whether the movement speed reaches the maximum speed value can be determined by comparing the difference value of the movement speeds at the next moment and the previous moment.

Another method for confirming that the movement speed reaches the speed maximum value comprises the following steps: acquiring the acceleration of the mobile product in the current motion stage; and determining the maximum speed value according to the acceleration. The method needs to acquire the acceleration of the current stage first, and then confirms the maximum speed value according to the acceleration.

In practical applications, in the case that the mobile product includes a motor, the motion speed of the mobile product may be determined by the rotation speed of the motor, and the acceleration of the mobile product may be determined by the acceleration of the motor.

In order to more accurately determine the speed maximum, in a specific embodiment, the moving product includes a motor, and the acquiring the acceleration of the moving product in the current motion phase includes: and acquiring the rotating speed and acceleration data of the motor of the mobile product in the current motion stage. The curve corresponding to the rotational speed and acceleration data of the motor is shown in fig. 12.

In order to more accurately obtain the acceleration of the motor, in an embodiment of the present application, the determining the maximum speed value according to the acceleration includes: removing high-frequency noise data in the rotating speed acceleration data to obtain the rotating speed acceleration data after denoising; and determining that the motion speed reaches the speed maximum value when the rotation speed acceleration in the de-noised rotation speed acceleration data reaches the maximum value.

In the above scheme, the de-noised rotational speed and acceleration data is filtered to remove high-frequency noise data, as shown in a corresponding curve shown in fig. 13, specifically, filtering may be performed by a low-pass filter, so that interference of high-frequency noise of the original acceleration data can be filtered, and thus the maximum value of the speed at the current motion stage can be determined more accurately.

In the above-mentioned solution, since the filtered rotational speed and acceleration have a phase delay, and it is determined that the maximum speed value is likely to be late when the acceleration of the rotational speed of the motor passes through zero, when the rotational speed and acceleration in the de-noised rotational speed and acceleration data reaches the maximum value, it is determined that the moving speed reaches the maximum speed value, that is, the moving speed at this time is approximate to the maximum speed value. And as can be seen from fig. 13, it takes a short time for the acceleration of the actual motor speed to drop to 0 after reaching the maximum and enter the negative-going region, which is almost as close as zero as the acceleration of the actual motor speed, as shown in fig. 14, which is the actual situation of the maximum speed detected when the mobile product is actually running. In the actual application process, when the change rate of the acceleration in the filtered rotating speed and acceleration data is detected to be changed from positive to negative, the current motor speed is recorded as the maximum value of the speed.

The moving speed of the moving product can be controlled by controlling the rotating speed of the motor, specifically, the moving product is controlled to enter a stable moving stage, and the method comprises one of the following steps: controlling the rotation speed of the motor to be a first predetermined rotation speed, wherein the first predetermined rotation speed is a rotation speed maximum value, and the rotation speed maximum value is a rotation speed corresponding to the speed maximum value, the control method actually controls the mobile product to move at a constant speed in the stable movement stage, such as the speed maintaining stage shown in fig. 4, 6, 8, 9 and 10, in which in an actual situation, although the rotation speed of the motor controlling the stage is constant, the speed is certainly fluctuated in an actual process, such as shown in fig. 10; controlling the rotation speed of the motor to be a second predetermined rotation speed, which is less than the maximum rotation speed, specifically as shown in fig. 11, in this stage, the rotation speed of the motor is controlled to be less than the maximum rotation speed, so that the movement speeds after the initial speed are all less than the initial speed in the stable movement stage; and controlling the rotation speed of the motor to be reduced from the maximum rotation speed value, such as the slow speed reduction stage in fig. 5 and 7.

In the actual application process, whether the mobile product keeps a constant speed state or a deceleration state in a stable motion stage is set, and a user can set the mobile product through app according to own requirements.

For the scheme of "controlling the rotation speed of the motor to be the first predetermined rotation speed", the first preset condition setting may be that "the maximum acceleration of the current motion phase is greater than the predetermined acceleration", or "the maximum speed is greater than the speed threshold and the predetermined value is greater than 0"; for the scheme of "controlling the rotation speed of the motor to be the second predetermined rotation speed", and the first preset condition setting may be that "the maximum acceleration of the current motion phase is greater than the predetermined acceleration", or "the maximum speed is greater than the speed threshold, and the predetermined value is equal to 0"; for the scheme of controlling the rotating speed of the motor to decrease from the maximum rotating speed value, the moving product is controlled to do deceleration movement in a stable movement stage, and the first preset condition setting may be that "the maximum acceleration of the current movement stage is greater than a preset acceleration", or "the maximum speed value is greater than a speed threshold value, and the preset value is equal to 0".

The current stage in the application can be any motion stage, can be an unpowered person pedaling motion stage, and can also be a motion stage with both person pedaling and power. In a specific embodiment of the present invention, the current movement phase is a first movement phase in which the moving product starts moving from a standstill without being driven by the driving device, the speed maximum value of the first movement phase is a first speed maximum value, and the moving product is controlled to enter a stable movement phase when it is confirmed that the movement speed reaches the speed maximum value and the current movement phase satisfies a first preset condition, the method includes: and controlling the moving product to enter the stable moving stage under the condition that the moving speed is confirmed to reach the first speed maximum value and the first speed maximum value is larger than a speed threshold value, wherein the stable moving stage is a second moving stage. The specific process of this embodiment is shown in fig. 4 and 5. In this embodiment, the corresponding predetermined value may be greater than 0.

Of course, the first preset condition updated from the first motion phase to the second motion phase in the present application is not limited to the specific condition described above, and may also be that the maximum acceleration of the first motion phase is greater than the predetermined acceleration. The person skilled in the art can select the appropriate first preset condition according to the actual situation.

In another embodiment of the present invention, the step of controlling the mobile product to enter a stable movement phase when the current movement phase is a third movement phase after the second movement phase, the speed maximum value of the third movement phase is a second speed maximum value, and it is determined that the movement speed reaches the speed maximum value and the current movement phase satisfies a first preset condition includes: and controlling the mobile product to enter the stable movement stage under the condition that the movement speed reaches the second speed maximum value and the maximum acceleration of the third movement stage is larger than a preset acceleration, wherein the stable movement stage is a fourth movement stage, and the preset acceleration is larger than the maximum acceleration of the mobile product in the second movement stage, so that even if the movement speed of the second movement stage fluctuates, the acceleration is smaller due to the fluctuation, and for example, when the scooter is kicked, the scooter generally generates a larger acceleration. Therefore, the speed is not updated due to the fluctuation of the speed in the scheme, so that the speed is increased. The specific process of this embodiment is shown in fig. 6, 7, 10 and 11. Specifically, the second motion phase may be a deceleration motion phase (shown in fig. 7) or a uniform motion phase (shown in fig. 6, 10, and 11, although the actual motion process is not strictly uniform motion).

Of course, in actual operation, the first preset condition updated by the speed after the second movement phase is not limited to the specific condition described above, but may be a condition that the second speed maximum value is greater than the speed threshold value, and for the embodiment of fig. 10, the predetermined value is greater than 0. In this embodiment, a predetermined value greater than 0 may be preset, which may also be referred to as a dead zone, and during the moving process of the mobile product, the speed update is to satisfy that the speed maximum value of the current moving stage is greater than the sum of the predetermined value and the initial speed of the current moving stage. In the embodiment shown in fig. 11, since the maximum value of the moving speed in the second moving phase is the first speed maximum value, the predetermined value in the first preset condition of the speed update after the second moving phase may be 0, that is, when it is confirmed that the moving speed reaches the speed maximum value and the current speed is greater than the first speed maximum value, the speed may be updated, that is, the control is performed to enter the stable moving phase.

In order to further enhance the user experience and safety, in an embodiment of the application, after the mobile product enters the stable movement phase, the control method further includes: detecting whether a second preset condition is met, wherein the second preset condition comprises one of the following conditions: at least part of the body of the user is separated from the mobile product, and a braking operation acting on the mobile product exists; and under the condition that the second preset condition is met, controlling the mobile product to enter a deceleration movement stage.

In the above solution, in the case that it is detected whether at least part of the body of the user is detached from the mobile product, that is, the user is to detach from the mobile product, specifically, the user may be a vehicle jumping behavior, which indicates that the mobile product needs to be decelerated, in this case, the mobile product is controlled to enter a deceleration movement phase, such as the third part of the curve shown in fig. 9. In the case of detection of the presence of a braking operation acting on the mobile product, this may be a braking operation, as illustrated in the third part of the curve of figure 8, after which the mobile product enters a phase of deceleration movement.

In order to stop or decelerate the mobile product, the mobile product can be provided with a brake detection device, which can be a brake handle or a mudguard brake device, or an IMU, and aims to cut off power output or brake when a user can detect the action by braking operation or vehicle jumping operation.

In practical applications, sometimes a user only feels that the moving speed of the moving product is fast and wants to temporarily decelerate the moving product, in order to meet the user's requirement, in an embodiment of the present application, after controlling the moving product to enter a deceleration moving stage, the control method further includes: detecting whether a third preset condition is met or not under the condition that the movement speed of the mobile product is greater than a preset speed, wherein the third preset condition comprises one of the following conditions: the body of the user returns to the mobile product again without the braking operation; and under the condition that the third preset condition is detected to be met, controlling the mobile product to enter the stable motion stage, wherein the preset speed is greater than or equal to 0 and less than or equal to the maximum speed value, and of course, in the actual application process, the preset speed can be 4km/h or 5km/h and the like.

Of course, if the user just wants to stop the mobile product, the second predetermined condition mentioned above needs to be fulfilled at all times, i.e. in case at least part of the body is detached from the mobile product, or in case there is always a braking operation, so that the speed movement phase is decelerated to 0.

In an embodiment of the application, the mobile product includes a motor, and as shown in fig. 15, the control method further includes: controlling the driving current to be a positive driving current; and driving the motor to rotate in a forward direction by using a driving current, wherein the speed direction of the moving product is a preset direction under the forward rotation driving of the motor, and the preset direction is a direction facing to the target position of the moving product.

In the scheme, the driving current is controlled to be the positive driving current, so that the user can not feel other uncomfortable feelings such as resistance when accelerating, the user can kick the moving product at any time very naturally as common unpowered moving products, and the user can not feel the resistance or other abnormal feelings. In the practical application process, the output of the speed controller in fig. 15 can be subjected to amplitude limiting, the output of the speed controller is ensured to be the current for enabling the motor of the mobile product to rotate forwards all the time in the normal state, when the user enables the braking function, the amplitude limiting can be removed to enable the mobile product to realize electric braking or energy recovery, and the specific control block diagram is shown in fig. 15

The working process of fig. 4 to 9 is further described below with a scooter as the mobile product: FIG. 4 illustrates that the skateboard can maintain the user's pedaled speed at all times after pedalling; FIG. 5 shows that after the user has kicked, the skateboard can be slowly slowed from the user's kicking speed, which is slower, and in a manner that is more labor efficient and slides farther than a conventional unpowered skateboard; fig. 6 shows that the user can also perform multi-kicking, and the speed can be kept after each kicking satisfies the first predetermined condition, i.e. how much speed can be kept by kicking, which is labor-saving, and certainly for safety, the speed can be limited; FIG. 7 shows the skateboard operating in slow down mode, with the user (user) kicking, and continuing to slow down after kicking, and then possibly kicking again, several times the user wants to step several times, but after kicking, the skateboard will slow down slowly based on the speed at which you have finished kicking; FIG. 8 shows that if the slide is operating in the speed hold mode, the motor does not hold speed if the brake is being held, but instead has a braking effect, and the logic is the same for the slow speed reduction mode, for fast deceleration and safety; ) Fig. 9 shows that if the skateboard is operating in the speed maintenance mode, the user wants to slow down slightly, after pressing the brake but not waiting until the speed drops to 0, the user releases his hand, and the motor maintains the current speed of the skateboard, which is also labor-saving, does not directly bring the speed to 0, and also maintains the speed after the speed has been reduced.

The embodiment of the present application further provides a control device for a mobile product, and it should be noted that the control device for a mobile product according to the embodiment of the present application may be used to execute the control method for a mobile product according to the embodiment of the present application. The following describes a control device for a mobile product according to an embodiment of the present application.

Fig. 16 is a schematic diagram of a control device for a mobile product according to an embodiment of the present application. As shown in fig. 16, the apparatus includes:

a first detecting unit 10, configured to detect a moving speed of the mobile product in a current moving phase when the mobile product is in an accelerated motion;

a first control unit 20, configured to control the mobile product to enter a stable movement phase when it is determined that the movement speed reaches a speed maximum and the current movement phase satisfies a first preset condition, where the first preset condition includes at least one of: the maximum speed value is greater than a speed threshold value, the maximum acceleration of the current motion stage is greater than a preset acceleration, wherein the speed threshold value is the sum of a preset value and the initial speed of the current motion stage, and the preset value is greater than or equal to 0.

In the above control apparatus, the first preset condition in the first control unit may include "the speed maximum is greater than a speed threshold" and/or "the maximum acceleration of the current exercise stage is greater than a predetermined acceleration". In the control device, the first control unit controls the mobile product to enter the stable motion stage only when detecting that the motion speed of the current stage reaches the speed maximum value and the current motion stage meets the at least one first preset condition, namely, the first control unit controls the mobile product to update the speed. In the device, the problem that the speed is continuously updated due to the fluctuation of the speed and the speed of the mobile product is faster and faster is avoided, and the use safety of the mobile product is ensured.

It should be further noted that, the first detecting units of the control device may be multiple, specifically, may be a traditional sensor, and is not limited to laser speed measurement, radar speed measurement, or magnetic induction speed measurement, and may also be a non-inductive observer.

In addition, the mobile product may be a scooter as shown in fig. 2, or may be other vehicles such as an electric bicycle, a power-assisted bicycle, an electric skateboard, an electric power-assisted skateboard, or other electric toys, and similar mobile products. This stage of movement of the mobile product from rest in the predetermined pattern can be represented by the condition of the skateboard when it is stepped on as shown in figure 3.

In one embodiment of the present application, the acceleration of the steady motion phase is smaller than an acceleration threshold, and the acceleration threshold is an absolute value of a maximum acceleration of the user pushing the mobile product. In the scheme, the acceleration in the stable motion phase is smaller than the acceleration threshold value, namely the acceleration in the stable motion phase is smaller, so that a user can not feel obvious acceleration and deceleration in the process of transition from the current motion phase to the stable motion phase, and the better experience effect of the user is further ensured.

In another embodiment of the present application, the control device includes a confirmation unit, the confirmation unit of the present application may be any unit capable of determining a speed maximum, and a person skilled in the art may select an appropriate unit to determine the speed maximum according to actual conditions. In a specific apparatus, the confirming unit includes a comparing module and a first determining module, wherein the comparing module is configured to compare the moving speeds of the mobile product at two adjacent moments of the current moving stage; the first determining module is configured to determine that the moving speed at the previous time is the maximum speed value when a difference between the moving speed at the next time and the moving speed at the previous time is less than or equal to 0. In the device, whether the movement speed reaches the maximum speed value can be determined through the comparison module and the first determination module, and the determination unit is simple and high in efficiency.

In another embodiment, the confirmation unit includes an obtaining module and a second determining module, and the obtaining module is configured to obtain an acceleration of the mobile product in the current motion phase; the second determining module is used for determining the speed maximum value according to the acceleration. The determining unit needs to acquire the acceleration at the current stage first, and then confirms the maximum speed value according to the acceleration.

It should be noted that, in practical applications, in the case that the mobile product includes a motor, the motion speed of the mobile product can be generally determined by the rotation speed of the motor, and the acceleration of the mobile product can be determined by the acceleration of the motor.

In order to determine the speed maximum more accurately, in a specific embodiment, the mobile product includes a motor, and the obtaining module is further configured to obtain the rotation speed and acceleration data of the motor of the mobile product in the current motion phase. The curve corresponding to the rotational speed and acceleration data of the motor is shown in fig. 12.

In order to more accurately obtain the acceleration of the motor, in an embodiment of the application, the second determining module is further configured to remove high-frequency noise data in the rotational speed and acceleration data to obtain the de-noised rotational speed and acceleration data, and the second determining module is further configured to determine that the movement speed reaches the maximum speed value when the rotational speed and acceleration in the de-noised rotational speed and acceleration data reaches the maximum value.

In the present application, the moving speed of the moving product can be controlled by controlling the rotating speed of the motor, specifically, the first control unit is configured to control the rotating speed of the motor to be a first predetermined rotating speed, the first predetermined rotating speed is a rotating speed maximum value, and the rotating speed maximum value is a rotating speed corresponding to the rotating speed maximum value, the control device actually controls the moving product to move at a constant speed in the stable moving phase, such as the speed maintaining phase shown in fig. 4, 6, 8, 9 and 10, in an actual situation, although the rotating speed of the motor controlling the phase is constant, in an actual process, the speed is definitely fluctuated, as shown in fig. 10; or the first control unit is configured to control the rotation speed of the motor to be a second predetermined rotation speed, where the second predetermined rotation speed is smaller than the maximum rotation speed, specifically as shown in fig. 11, in this stage, the rotation speed of the motor is controlled to be smaller than the maximum rotation speed, so that the movement speeds after the initial speed are all smaller than the initial speed in the stable movement stage; or the first control unit is further configured to control the rotation speed of the motor to decrease from the rotation speed maximum value, as in the slow deceleration phase of fig. 5 and 7.

The current stage in the application can be any motion stage, can be an unpowered person pedaling motion stage, and can also be a motion stage with both person pedaling and power. In a specific embodiment of the present invention, the current movement phase is a first movement phase in which the moving product starts moving from a standstill without being driven by the driving device, the speed maximum value of the first movement phase is a first speed maximum value, the first control unit is configured to control the moving product to enter the steady movement phase when it is confirmed that the movement speed reaches the first speed maximum value and the first speed maximum value is greater than a speed threshold value, and the steady movement phase is a second movement phase. The specific process of this embodiment is shown in fig. 4 and 5. In this embodiment, the corresponding predetermined value may be greater than 0.

In another embodiment of the present invention, the current movement phase is a third movement phase after the second movement phase, the maximum speed value of the third movement phase is a second maximum speed value, the first control unit is configured to control the mobile product to enter the stable movement phase when it is determined that the movement speed reaches the second maximum speed value and the maximum acceleration of the third movement phase is greater than a predetermined acceleration, and the stable movement phase is a fourth movement phase, and the predetermined acceleration is greater than the maximum acceleration of the mobile product in the second movement phase. Therefore, the speed is not updated due to the fluctuation of the speed in the scheme, so that the speed is increased. The specific process of this embodiment is shown in fig. 6, 7, 10 and 11. Specifically, the second motion phase may be a deceleration motion phase (shown in fig. 7) or a uniform motion phase (shown in fig. 6, 10, and 11, although the actual motion process is not strictly uniform motion).

In order to further improve the user experience and safety, in an embodiment of the application, the control device further includes a second detecting unit and a second control unit, wherein the second detecting unit is configured to detect whether a second preset condition is met after the mobile product enters the stable motion phase, and the second preset condition includes one of: at least part of the body of the user is separated from the mobile product, and a braking operation acting on the mobile product exists; the second control unit is used for controlling the mobile product to enter a deceleration movement stage under the condition that the second preset condition is detected to be met.

In the above solution, when the second detecting unit detects whether at least part of the body of the user is detached from the mobile product, that is, the user wants to detach from the mobile product, specifically, the user may be a vehicle jumping behavior, which indicates that the mobile product needs to be decelerated, in this case, the second controlling unit controls the mobile product to enter a deceleration movement phase, such as a third part of the curve shown in fig. 9. In the case of detection of the presence of a braking operation acting on the mobile product, this may be a braking operation, as illustrated in the third part of the curve of figure 8, after which the mobile product enters a phase of deceleration movement.

In order to stop or decelerate the mobile product, the second detection unit and the second control unit of the mobile product can be a brake detection device, can be a brake handle or a mudguard brake device, and can also be an IMU (inertial measurement unit), so that when a user performs a brake operation or a vehicle jumping operation, the action can be detected, and then the power output can be cut off or the brake can be performed.

In an actual application process, sometimes a user only feels that the moving speed of the moving product is fast and wants to decelerate the moving product temporarily, in order to meet the user's requirement, in an embodiment of the present application, the control device further includes a third detecting unit and a third controlling unit, where the third detecting unit is configured to detect whether a third preset condition is met after controlling the moving product to enter a deceleration moving phase and in a case that the moving speed of the moving product is greater than a predetermined speed, and the third preset condition includes one of: the body of the user returns to the mobile product again without the braking operation; the third control unit is used for controlling the mobile product to enter the stable motion phase under the condition that the third preset condition is detected to be met, wherein the preset speed is greater than or equal to 0 and less than or equal to the maximum speed value.

In an embodiment of the present application, the mobile product includes a motor, and as shown in fig. 15, the control unit further includes a fourth control unit and a driving unit, where the fourth control unit is configured to control the driving current to be a positive driving current; the driving unit is used for driving the motor to rotate in the forward direction by adopting a driving current, and the direction of the speed of the moving product is a preset direction under the forward rotation driving of the motor, and the preset direction is a direction towards the target position of the moving product.

In the scheme, the fourth control unit controls the driving current to be the positive driving current, so that the user can accelerate but can not feel other uncomfortable feelings such as resistance, and the user can kick the moving product very naturally as common unpowered moving products at any time and can not feel resistance or other abnormal feelings.

In the actual operation process, a motor of a mobile product is used as a software speed controller, the output of the speed controller is limited in the scheme, the output of the speed controller is ensured to be the current for enabling the sliding plate motor to rotate forwards all the time in a normal state, when a user enables the braking function, the limitation can be removed, the sliding plate can achieve electric braking or energy recovery, the speed controller is mainly controlled by a PID, and the specific control process is shown in a control block diagram in figure 15.

In one embodiment of the present application, a system is included that includes software for executing any of the above-described control devices and a mobile product.

The system includes the software, and the speed updating condition specifically includes "the speed maximum is greater than the speed threshold" and/or "the maximum acceleration of the current motion phase is greater than the predetermined acceleration". In the control method, when the situation that the movement speed of the current stage reaches the maximum speed value and the current movement stage meets at least one first preset condition is detected, the mobile product is controlled to enter the stable movement stage, and the mobile product is controlled to carry out speed updating. In the method, the problems that the speed is continuously updated and the speed of the mobile product is faster and faster due to the fluctuation of the speed are avoided, and the use safety of the mobile product is ensured.

The control device of the mobile product comprises a processor and a memory, wherein the first detection unit, the first control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that the speed is continuously updated and the speed of moving the product is faster and faster due to the fluctuation of the speed is solved by adjusting the kernel parameters.

The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

An embodiment of the present invention provides a storage medium on which a program is stored, the program implementing the control method of the mobile product described above when executed by a processor.

The embodiment of the invention provides a processor, wherein the processor is used for running a program, and the program executes the control method of the mobile product when running.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:

The device herein may be a server, a PC, a PAD, a mobile phone, etc.

The present application also provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product removable from storage on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

1) in the control method of the present application, in the control method, the first preset condition is a speed update condition, which specifically includes "the speed maximum is greater than a speed threshold" and/or "the maximum acceleration of the current motion phase is greater than a predetermined acceleration". In the control method, when the situation that the movement speed of the current stage reaches the maximum speed value and the current movement stage meets at least one first preset condition is detected, the mobile product is controlled to enter the stable movement stage, and the mobile product is controlled to carry out speed updating. In the method, the problems that the speed is continuously updated and the speed of the mobile product is faster and faster due to the fluctuation of the speed are avoided, and the use safety of the mobile product is ensured.

2) In the control device of the present application, the first preset condition in the first control unit includes "the speed maximum is greater than the speed threshold" and/or "the maximum acceleration of the current motion phase is greater than a predetermined acceleration". In the control device, the first control unit controls the mobile product to enter the stable motion stage only when detecting that the motion speed of the current stage reaches the speed maximum value and the current motion stage meets the at least one first preset condition, namely, the first control unit controls the mobile product to update the speed. In the device, the problem that the speed is continuously updated due to the fluctuation of the speed and the speed of the mobile product is faster and faster is avoided, and the use safety of the mobile product is ensured.

3) The system of the present application, including the software, specifically includes "the speed maximum is greater than the speed threshold" and/or "the maximum acceleration of the current motion phase is greater than the predetermined acceleration". In the control method, when the situation that the movement speed of the current stage reaches the maximum speed value and the current movement stage meets at least one first preset condition is detected, the mobile product is controlled to enter the stable movement stage, and the mobile product is controlled to carry out speed updating. In the method, the problems that the speed is continuously updated and the speed of the mobile product is faster and faster due to the fluctuation of the speed are avoided, and the use safety of the mobile product is ensured.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a mobile product, the control method comprising:

detecting the movement speed of the mobile product in the current movement stage under the condition that the mobile product is in accelerated movement;

under the condition that the movement speed is confirmed to reach a speed maximum value and the current movement stage meets a first preset condition, controlling the mobile product to enter a stable movement stage, wherein the first preset condition comprises at least one of the following conditions: the maximum speed value is greater than a speed threshold value, the maximum acceleration of the current motion stage is greater than a preset acceleration, wherein the speed threshold value is the sum of a preset value and the initial speed of the current motion stage, and the preset value is greater than or equal to 0;

the acceleration of the steady motion phase is less than an acceleration threshold, which is the absolute value of the maximum acceleration at which the user steps on the mobile product.

2. The control method according to claim 1, characterized by comprising: confirming that the movement speed reaches the speed maximum,

confirming that the movement speed reaches the speed maximum, comprising:

comparing the movement speeds of the mobile product at two adjacent moments of the current movement stage;

and determining the movement speed at the previous moment as the speed maximum value when the difference between the movement speed at the later moment and the movement speed at the previous moment is less than or equal to 0.

3. The control method according to claim 1, characterized by comprising: confirming that the movement speed reaches the speed maximum,

confirming that the movement speed reaches the speed maximum, comprising:

acquiring the acceleration of the mobile product in the current motion stage;

determining the velocity maxima from the acceleration.

4. The control method of claim 3, wherein the mobile product comprises a motor,

acquiring the acceleration of the mobile product in the current motion phase, comprising: acquiring rotating speed and acceleration data of a motor of the mobile product in the current motion stage;

determining the velocity maxima from the acceleration, including:

removing high-frequency noise data in the rotating speed acceleration data to obtain the rotating speed acceleration data after denoising;

and under the condition that the rotating speed acceleration in the de-noised rotating speed acceleration data reaches the maximum value, determining that the movement speed reaches the maximum value of the speed.

5. The control method of claim 1, wherein the moving product comprises a motor, and wherein controlling the moving product into a steady motion phase comprises one of:

controlling the rotating speed of the motor to be a first preset rotating speed, wherein the first preset rotating speed is a rotating speed maximum value, and the rotating speed maximum value is a rotating speed corresponding to the rotating speed maximum value;

controlling the rotating speed of the motor to be a second preset rotating speed, wherein the second preset rotating speed is smaller than the rotating speed maximum value;

controlling the rotation speed of the motor to decrease from the rotation speed maximum value.

6. The control method according to any one of claims 1 to 5, characterized in that the current movement phase is a first movement phase in which the moving product starts moving from a standstill without drive of a drive means, the speed maximum of the first movement phase being a first speed maximum,

under the condition that the movement speed is confirmed to reach a speed maximum value and the current movement stage meets a first preset condition, controlling the mobile product to enter a stable movement stage, and comprising the following steps of:

controlling the moving product to enter the steady motion phase upon confirming that the movement speed reaches the first speed maximum and that the first speed maximum is greater than a speed threshold, the steady motion phase being a second motion phase.

7. The control method of claim 6, wherein the current movement phase is a third movement phase after the second movement phase, the speed maximum of the third movement phase is a second speed maximum, and the controlling the mobile product to enter a stable movement phase in a case where it is confirmed that the movement speed reaches the speed maximum and the current movement phase satisfies a first preset condition includes:

and under the condition that the movement speed reaches the second speed maximum value and the acceleration corresponding to the second speed maximum value is larger than a preset acceleration, controlling the mobile product to enter the stable movement stage, wherein the stable movement stage is a fourth movement stage, and the preset acceleration is larger than the maximum acceleration of the mobile product in the second movement stage.

8. The control method according to any one of claims 1 to 5, characterized in that after the mobile product enters the steady motion phase, the control method further comprises:

detecting whether a second preset condition is met, wherein the second preset condition comprises one of the following conditions: at least part of the body of the user is detached from the mobile product, there being a braking operation acting on the mobile product;

and under the condition that the second preset condition is detected to be met, controlling the mobile product to enter a deceleration movement stage.

9. The control method of claim 8, wherein after controlling the moving product into a deceleration motion phase, the control method further comprises:

detecting whether a third preset condition is met or not under the condition that the movement speed of the mobile product is greater than a preset speed, wherein the third preset condition comprises one of the following conditions: the user's body is returned to the moving product without the braking operation, wherein the predetermined speed is greater than or equal to 0 and less than or equal to the speed maximum;

and controlling the mobile product to enter the stable motion phase under the condition that the third preset condition is detected to be met.

10. The control method according to any one of claims 1 to 5, wherein the mobile product includes a motor, the control method further comprising:

controlling the driving current to be a positive driving current;

the motor is driven to rotate in the forward direction by adopting driving current, the direction of the speed of the moving product is a preset direction under the drive of the forward rotation of the motor, and the preset direction is the direction in which the initial position of the moving product faces to the target position.

11. A control device for moving a product, the control device comprising:

the first detection unit is used for detecting the movement speed of the mobile product in the current movement stage under the condition that the mobile product is in accelerated movement;

a first control unit, configured to control the mobile product to enter a stable movement phase if it is determined that the movement speed reaches a speed maximum and the current movement phase satisfies a first preset condition, where the first preset condition includes at least one of: the maximum speed value is greater than a speed threshold value, the maximum acceleration of the current motion stage is greater than a preset acceleration, wherein the speed threshold value is the sum of a preset value and the initial speed of the current motion stage, and the preset value is greater than or equal to 0;

12. A system comprising software and a mobile product, characterized in that the software is adapted to perform the control method of any of claims 1 to 10.

13. A storage medium characterized by comprising a stored program, wherein the program executes the control method of any one of claims 1 to 10.

14. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the control method according to any one of claims 1 to 10 when running.