CN114802576A - Double-brake control method, double-brake control system and computer readable storage medium - Google Patents
Double-brake control method, double-brake control system and computer readable storage medium Download PDFInfo
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- CN114802576A CN114802576A CN202210495633.9A CN202210495633A CN114802576A CN 114802576 A CN114802576 A CN 114802576A CN 202210495633 A CN202210495633 A CN 202210495633A CN 114802576 A CN114802576 A CN 114802576A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L3/00—Brake-actuating mechanisms; Arrangements thereof
- B62L3/02—Brake-actuating mechanisms; Arrangements thereof for control by a hand lever
- B62L3/026—Brake-actuating mechanisms; Arrangements thereof for control by a hand lever actuation by a turning handle or handlebar
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
- B62L1/02—Brakes; Arrangements thereof in which cycle wheels are engaged by brake elements
- B62L1/04—Brakes; Arrangements thereof in which cycle wheels are engaged by brake elements the tyre surfaces being engaged
Abstract
The application relates to the field of brake control, in particular to a double-brake control method, a double-brake control system and a computer readable storage medium, wherein the method comprises the following steps: s1, acquiring a first electric signal and/or a second electric signal input based on two brake handles; s2, judging whether the first electric signal and/or the second electric signal exceed a threshold value; s3, when the first electric signal and/or the second electric signal exceed the threshold value, a corresponding brake instruction is output, and through the scheme, the brake safety factor can be improved.
Description
Technical Field
The present disclosure relates to the field of brake control, and more particularly, to a dual brake control method, a dual brake control system, and a computer readable storage medium.
Background
The scooter is liked by young people deeply because of characteristics such as its portability and amusement are strong, and because of the needs that the traffic was ridden instead of walk, the market of scooter is more and more hot, however the slide car exists needs speed low, manpower control, function singleness and factor of safety low scheduling problem, along with the development of scooter, electric scooter makes a question, electric scooter has improved the speed of sliding, manual scooter's partial technical defect has also been solved simultaneously, at the high-speed in-process that slides of electric scooter, it is especially important to control electric scooter in time to brake.
In the related art, the brake system of the electric scooter comprises a rear wheel and a rear fork, wherein the rear wheel is installed on the rear fork, a connecting seat is arranged on the rear fork, a brake plate is arranged on the connecting seat, the brake plate acts on the surface of the rear wheel to stop rotating, a return spring is further arranged on the connecting seat, the return spring acts on the brake plate, and the return spring separates the brake plate from the rear wheel when the brake plate is not braked so as to realize the brake of the electric scooter. In the process of braking, the surfaces of the brake plate and the rear wheel are mutually abutted to limit the rotation of the rear wheel, and the brake system of the electric sliding car is aged due to frequent friction between the rear wheel and the brake plate, so that the situation of brake failure is easy to occur.
Also, in other aspects of brake control similar to the electric scooter, the above problems also exist in the prior art.
Therefore, the prior art has yet to be improved based on the above problems.
Disclosure of Invention
The application aims to provide a double-brake control method, which has the advantage of improving the safety coefficient of an electric scooter.
The above object of the present invention is achieved by the following technical solutions:
a dual brake control method, comprising:
s1, acquiring a first electric signal and/or a second electric signal input based on two brake handles;
s2, judging whether the first electric signal and/or the second electric signal exceed a threshold value;
and S3, when the first electric signal and/or the second electric signal exceed a threshold value, outputting a corresponding brake command.
Through the technical scheme, when an operator starts one of the brake handles, the corresponding first electric signal or second electric signal is input into the brake handle, the first electric signal or second electric signal is compared and judged with the threshold value, the misoperation condition is reduced, namely, an error signal is generated due to the influence of signal interference or circuit noise and the like, the brake operation is started by the scooter due to the fact that the error signal is received, so that the normally-running scooter suddenly performs the brake action, the life safety of the operator is influenced, the influence caused by the error signal can be reduced by comparing the electric signal with the threshold value, namely, the error signal is smaller than the threshold value, the brake operation of the scooter cannot be started, and the reliability of the brake is improved.
When the operator starts two brake handles simultaneously, two brake handles all are through the signal of telecommunication of corresponding output, and first signal of telecommunication and second signal of telecommunication all compare the judgement with the threshold value this moment to improve brake operation's usability, if judge one of them signal of telecommunication, for example when only judging first signal of telecommunication, nevertheless first signal of telecommunication does not exceed the threshold value, but the second signal of telecommunication surpasss the threshold value, it indicates that the operator needs electric scooter to make brake operation, but can not output the brake instruction, and then can't realize brake operation.
Optionally, the step S1 includes:
s11, acquiring a first pressure signal and/or a second pressure signal of the two brake handles;
and S12, converting the first pressure signal and/or the second pressure signal into a corresponding first electric signal and/or a corresponding second electric signal.
Through above-mentioned technical scheme, two brake handles can input the signal of telecommunication when the user carries out the brake operation, can be directly click the brake button, perhaps carry out physical operation to the brake handle, similar rotation handle presses the handle etc. through the pressure signal who obtains two brake handles to turn into corresponding signal of telecommunication with the pressure signal.
Optionally, the step S1 further includes:
and S13, periodically acquiring the first electric signal and/or the second electric signal.
Through the technical scheme, in the specific implementation process, the user misoperation possibly exists and triggers the brake command, but the signal duration is short, so that the electric signal is preferably acquired periodically in order to reduce the occurrence of the situation, and the misoperation situation of the user is possibly executed as the normal brake command due to the fact that the sampling period is too dense. The length of time of the cycle is therefore critical.
Optionally, when acquiring a plurality of first electrical signals and/or a plurality of second electrical signals, the step S2 includes:
s21, acquiring average values X1 and X2 of a plurality of first electric signals and/or a plurality of second electric signals;
s22, filtering the X1 and/or the X2 to obtain X1 'and X2';
s23, comparing X1 'and/or X2' with the threshold value.
Through the technical scheme, the values of the electric signals change very fast along with the rotation of the brake handle, each electric signal value acts on the brake operation, the situation that a data transmission channel is blocked easily occurs, and sudden electric signals act on the brake operation easily, in order to reduce the situation, when the average value X1 of the first electric signals is obtained by obtaining a plurality of electric signals and then calculating the average value, the sum of the obtained first electric signals is obtained and then divided by the number of the obtained first electric signals, so that the average value X1 of the first electric signals is obtained, and the average value X2 of the second electric signals is obtained in the same way.
Optionally, before the step S21, the method further includes:
s201, counting the acquired first electric signal and/or second electric signal;
s202, when the number of times of the acquired first electric signal and/or second electric signal exceeds the preset number of times, executing step S21;
s203, when the times of the acquired first electric signals and/or second electric signals do not exceed the preset times, continuously acquiring the first electric signals and/or second electric signals and counting until the times of the acquired first electric signals and/or second electric signals exceed the preset times.
Through the technical scheme, when the first electric signal or the second electric signal is obtained, the obtained times are counted and accumulated, when the accumulated times of the obtained first electric signal or the second electric signal does not exceed the preset times, the action of obtaining the electric signal is continuously executed, the action is compared and judged with the preset times until the accumulated times reach the preset times, and then the step S21 is executed, namely the average value of the electric signals is calculated, the electric signals of the preset times are obtained, and the error can be reduced.
Optionally, when both the first electrical signal and the second electrical signal exceed the threshold, the step S3 includes:
s311, acquiring the time when the first electric signal and the second electric signal exceed the threshold;
s312, comparing the time when the first electric signal and the second electric signal exceed the threshold value;
and S313, outputting a brake command based on the corresponding brake handle based on the electric signal exceeding the threshold value in advance.
Through above-mentioned technical scheme, obtain the time that the signal of telecommunication average value turns into the filtering value and reach the threshold value, the time of filtering value arrival threshold value promptly, the time of the average value arrival threshold value of comparison first signal of telecommunication and second signal of telecommunication, the time is less, explain the operating personnel relative to another brake handle, start this brake handle sooner, perhaps the angle of rotating the brake handle is great, generate brake instruction based on the signal of telecommunication that surpasss the threshold value at first, act on the motor with brake instruction, the motor is made in the scooter, make it make the action of brake or speed reduction, generate brake instruction with the signal of telecommunication that surpasss the threshold value at first, can improve the sensitivity of brake operation.
Optionally, when either the first electrical signal or the second electrical signal exceeds the threshold, the step S3 includes:
and S321, outputting a brake command based on the corresponding brake handle based on the electric signal exceeding the threshold value.
Through the technical scheme, if the electric signal exceeds the threshold value, the operator needs to brake, and the corresponding brake handle is controlled to output a brake instruction through the electric signal exceeding the threshold value.
Optionally, the method further includes:
and S4, when any electric signal does not exceed the threshold value, outputting a fault reason.
Through above-mentioned technical scheme, when starting the brake handle, can input the signal of telecommunication through hall switch, when detecting that arbitrary signal of telecommunication all does not surpass the threshold value, detect whether control panel has circuit connection or a problem of use, after the discharge circuit problem, output magnet problem, probably magnet drops or magnet damage leads to the change that hall switch perception can not detect magnetic field.
The second purpose of the application is to provide a double-brake control system, which has the function of improving the safety factor of the electric scooter.
The second objective of the present application is achieved by the following technical scheme:
a dual brake control system comprising:
the electric signal acquisition module is used for acquiring a first electric signal and/or a second electric signal input based on the two brake handles;
the judging module is used for respectively judging whether the first electric signal and/or the second electric signal exceed a threshold value;
and the command output module is used for outputting a corresponding braking command when the first electric signal and/or the second electric signal exceeds a threshold value.
By adopting the technical scheme, the first electric signal and/or the second electric signal of the two brake handles are obtained through the electric signal obtaining module, the judgment module is used for judging whether the first electric signal and/or the second electric signal exceed the threshold value, and finally the command output module is used for outputting the corresponding brake command based on the electric signal exceeding the threshold value.
The third objective of the present application is to provide a computer storage medium storing a computer program that can be loaded by a processor and execute the double-brake control method as described above.
The third object of the invention is achieved by the following technical scheme:
a computer readable storage medium storing a computer program that can be loaded by a processor and executed to perform any of the above-described weekly issuing methods.
In summary, the invention includes at least one of the following beneficial technical effects:
1. the first electric signal and/or the second electric signal input based on the two brake handles are obtained, so that the situation that when one brake handle is aged and the like, the brake cannot be performed in time can be reduced, meanwhile, the brake operation can be performed in time, and the safety factor is improved;
2. the values of the electric signals change very fast along with the rotation of the brake handle, each electric signal value acts on the brake operation, the situation that a data transmission channel is blocked is easy to occur, and the sudden change electric signals act on the brake operation easily, and the situations are reduced by obtaining a plurality of electric signals and then calculating the average value of the electric signals;
3. the average value of the electric signals is calculated, the electric signals of the preset times are obtained, and errors can be reduced.
Drawings
Fig. 1 is a schematic flow chart of a double-brake control method according to the present application.
Fig. 2 is a flow chart illustrating sub-steps of the double-brake control method of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some 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.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.
In addition, the reference numerals of the steps in this embodiment are only for convenience of description, and do not represent the limitation of the execution sequence of the steps, and in actual application, the execution sequence of the steps may be adjusted or performed simultaneously as needed, and these adjustments or substitutions all belong to the protection scope of the present invention.
The embodiments of the present application will be described in further detail with reference to the accompanying drawings 1-2.
The first embodiment is as follows:
the embodiment of the application provides a double-brake control method, and the main flow of the method is described as follows.
Referring to fig. 1, S1, acquiring a first electric signal and/or a second electric signal input based on two brake levers;
s2, judging whether the first electric signal and/or the second electric signal exceed a threshold value;
and S3, when the first electric signal and/or the second electric signal exceed the threshold value, outputting a corresponding braking instruction.
In the embodiment of the application, in a specific implementation process, when a user needs to brake to control the vehicle to slow down or stop, a brake command is output, for example, by rotating the handle or pressing the brake switch, where the pressing of the brake switch includes a touch type or a handle pinching type, based on the output brake command, an electrical signal is output, and each brake handle outputs an electrical signal correspondingly, so that, in order to achieve a quick response, if only one brake handle inputs the brake command, an electrical signal is obtained at this time, when two brake handles input the brake command, two electrical signals are obtained, therefore, when a first electrical signal and/or a second electrical signal input by two brake handles are based on, a judgment needs to be made, and in a specific driving state, an erroneous operation is easily performed, resulting in inputting the brake command, whether braking operation needs to be executed or not is judged at the moment, whether 1 or 2 electric signals exceed a threshold value or not is judged through the acquired first electric signal and/or second electric signal, if a user accidentally triggers a braking instruction, the electric signal possibly does not exceed the threshold value, therefore, in order to reduce triggering of the braking instruction caused by mistaken touch, the braking operation is executed when the first electric signal and/or the second electric signal exceed the threshold value, a corresponding braking instruction is output, and the braking operation is executed.
In the embodiment of the application, the electric scooter is taken as an example, the electric scooter brakes by adopting a mode of rotating the handles, wherein when an operator needs to start the brake, the operator inputs an electric signal through the brake handles, when the operator rotates the two brake handles, the two brake handles respectively input a first electric signal and a second electric signal, when the operator inputs the electric signal through one of the brake handles, one of the brake handles inputs the electric signal, namely the first electric signal or the second electric signal is input, when the operator brakes, any one of the brake handles can be selected, thus the situation that when one of the brake handles is aged, the emergency brake cannot be performed can be reduced, and meanwhile, the scooter can timely brake to improve the safety factor of the scooter.
Wherein, when the operating personnel starts one of them brake handle, the first signal of telecommunication or the second signal of telecommunication that the brake handle input corresponds, carry out comparison judgement with first signal of telecommunication or the second signal of telecommunication and threshold value, in order to reduce the condition of maloperation, because influence such as signal interference or circuit noise produces wrong signal promptly, the scooter starts the brake operation because of accepting wrong signal, cause this normally scooter of traveling to do the brake action suddenly, cause the influence to operating personnel's life safety, and compare through signal of telecommunication and threshold value, can reduce the influence that wrong signal brought, wrong signal is less than the threshold value promptly, can't start the brake operation of scooter, thereby improve the reliability of brake.
When an operator only starts one of the brake handles, the brake handle only inputs corresponding electric signals, namely outputs one of a first electric signal and a second electric signal, at the moment, the first electric signal or the second electric signal is compared and judged with a threshold value, when the first electric signal or the second electric signal exceeds the threshold value, a corresponding brake instruction is output, the brake instruction acts on the motor, the motor can be controlled to stop working or the working speed of the motor is reduced, and then the brake operation is realized, so that the influence of interference signals generated by a circuit, a power supply and the like on the brake operation is reduced, namely the situation that the brake operation is too sensitive is reduced.
When the operator starts two brake handles simultaneously, two brake handles all are through the signal of telecommunication of corresponding output, and first signal of telecommunication and second signal of telecommunication all compare the judgement with the threshold value this moment to improve brake operation's usability, if judge one of them signal of telecommunication, for example when only judging first signal of telecommunication, nevertheless first signal of telecommunication does not exceed the threshold value, but the second signal of telecommunication surpasss the threshold value, it indicates that the operator needs electric scooter to make brake operation, but can not output the brake instruction, and then can't realize brake operation.
Referring to fig. 1 and 2, specifically, step S1 includes:
s11, acquiring a first pressure signal and/or a second pressure signal of the two brake handles;
and S12, converting the pressure signals into corresponding first electric signals and/or second electric signals based on the first pressure signals and/or the second pressure signals.
In this application embodiment, two brake handles can input the signal of telecommunication when the user carries out the brake operation, can be directly click the brake button, perhaps carry out physical operation to the brake handle, similar rotation handle, press handle etc. in this application embodiment, preferred pressure signal through acquireing two brake handles to turn into corresponding signal of telecommunication with pressure signal.
In the preferred embodiment of the present application, how to convert the pressure signal into the electrical signal is specifically disclosed, and the rotating handle is taken as an example to explain the scheme of the present application, other pressure signals based on the brake handle refer to the handle, and similarly, the electric scooter is taken as an example, a magnet and a hall switch are arranged at the bottom of the brake, magnetic lines of force are arranged between the N-level and the S-level of the magnet, the hall switch is located in a magnetic field formed by the magnetic lines of force, when the brake handle is rotated, the magnet rotates along with the brake handle, and further, the angle, the density and the position of the magnetic lines of force passing through the hall switch are changed, that is, the magnetic field where the hall switch is located is changed, so that a chip on the hall switch senses the change of the magnetic field and converts the change of the magnetic field into the electrical signal with a corresponding value.
The operator can realize controlling the braking degree through controlling the dynamics of pressing the brake handle according to the in-service use condition usually, also can be through the pressure value that receives on the response brake handle, turns into the electromagnetic field that corresponds the change with the pressure value, makes hall switch output the signal of telecommunication of different values through the electromagnetic field that changes.
Through rotating the brake handle, make hall switch be in the magnetic field that changes to this turns into the corresponding signal of telecommunication, relatively speaking, only needs the operating personnel to rotate the brake handle a little, and dual brake system just can perceive, thereby improves dual brake system's sensitivity. When an operator rotates one of the brake handles, the Hall switches at the corresponding positions output corresponding electric signals; when the operator rotates the two brake handles simultaneously, the two brake handles input corresponding electric signals, so that the condition that the brake handle cannot brake when aging or failure occurs can be reduced, and the sensitivity of the sliding electric vehicle is improved
When the operator uses the electric scooter, because the circumstances such as road conditions or vehicle, the operator can realize brake operation through pressing the brake handle, usually the operator can use different power to press the brake handle according to actual conditions, for example, when the operator need carry out emergency braking, can use great power in order to ensure that the brake handle rotates the end, the required brake dynamics control of operator meeting as required electric scooter presses the dynamics of brake handle promptly, thereby make the brake handle rotate certain angle, and then adjust the magnetic line of force intensive degree in hall switch place magnetic field, the change of angle and position, this embodiment promptly, first pressure signal and second pressure signal can be the dynamics and the brake handle pivoted angle of pressing the brake handle, the preferred rotation angle of brake handle of this embodiment.
When an operator only starts one of the brake handles, the pressure signal causes the brake handles to rotate, so that the magnetic field is driven to change, and the chip on the Hall switch is caused to convert the change of the magnetic field into an electric signal, namely a first electric signal or a second electric signal;
when an operator starts the two brake handles simultaneously, the two brake handles receive pressure signals, the pressure signals cause the positions of the magnets at the corresponding positions to move, so that the magnetic field where the Hall switch is located is caused to change, the Hall switch converts the change of the Hall switch into corresponding electric signals, and the first pressure signals and the second pressure signals are correspondingly converted into first electric signals and second electric signals.
Referring to fig. 1 and 2, specifically, step S1 further includes:
and S13, periodically acquiring the first electric signal and/or the second electric signal.
In the embodiment of the application, in a specific implementation process, a user misoperation may exist to trigger a brake instruction, but the signal duration is short, so that in order to reduce the occurrence of such a situation, it is preferable to periodically acquire an electrical signal, specifically, the periodic acquisition time cannot be too long or too short, when the period time length is too long, for example, the time interval in the period is 1s, that is, only once sampling is performed on the electrical signal within 1s, the acquired data is too little within a certain sampling time, and thus the judgment precision is not accurate; when the cycle time length is too short, for example, 1us, in a certain sampling time, relatively dense data may be collected, for example, a user misoperation condition may be caused due to too dense sampling cycle, so that the misoperation condition is regarded as normal brake instruction execution. The time length of the cycle is therefore set to be important, and in the present embodiment, the time length of the cycle is set according to the circuit structure, the power supply and the structure of the vehicle with which the vehicle is matched.
Referring to fig. 1 and 2, in particular, when acquiring a plurality of first electrical signals and/or a plurality of second electrical signals, step S2 includes:
s21, acquiring average values X1 and X2 of the plurality of first electric signals and/or the plurality of second electric signals;
s22, filtering the X1 and/or the X2 to obtain X1 'and X2';
s23, comparing X1 'and/or X2' with the threshold value.
In the specific implementation of the application, the values of the electric signals change very fast along with the rotation of the brake handle, each electric signal value acts on the brake operation, the situation that a data transmission channel is blocked easily occurs, and sudden electric signals are easily caused to act on the brake operation, in order to reduce the situation, when the average value X1 of the first electric signal is obtained by obtaining a plurality of electric signals and then calculating the average value, the sum of the obtained first electric signals is obtained and then divided by the number of the obtained first electric signals, so that the average value X1 of the first electric signal is obtained, and the average value X2 of the second electric signal is obtained in the same way; in other embodiments, solving the average value of the first electrical signal may remove the maximum value and the minimum value of the first electrical signal, then sum the remaining first voltage values, and finally divide by the number of the remaining first electrical signals, so as to reduce the influence of the abnormal value on the average value; the average value of the second electrical signal is solved for the same reason.
Although the error of the quality inspection of the electrical signals can be equalized by obtaining the average value, in the actual working process, some sudden change values may occur, for example, 10 electrical signals are obtained, 9 of the electrical signals exceed the threshold value, and 1 of the electrical signals is 0, and finally, the average value is averaged to result in that the average value is lower than the threshold value, at this time, a brake instruction is not executed according to the result of comparing the value calculated according to the average value with the threshold value, obviously, the value suddenly changed to 0 is an interference value and needs to be skimmed, or 9 of the 10 signals do not exceed the threshold value, and 1 sudden change to a great value and result in that the average value is larger than the threshold value and also needs to be skimmed, therefore, based on the above problems, in the embodiment of the present application, the obtained X1 and X2 are subjected to filtering processing, and more specifically, when only one of the brake handles is pressed and rotated, one of the electrical signals, for example, the first electrical signal is input, the method comprises the steps of collecting a plurality of first electric signal values, wherein the collected number is t, obtaining an average value X1, recording the sum of the first electric signals as S, collecting a plurality of first electric signals X, and further enabling the filter value of the first electric signals in a period to be X1' = (S + X1-X)/t, so that the dual-brake operation is more stable, and the influence of power interference, power fluctuation, circuits and the like on the first electric signal values when a brake handle is started to generate the electric signals is reduced. When the two brake handles are started, the logic of the filter value of the first electric signal is consistent with that of the filter value of the first electric signal, and the filter value corresponding to the first electric signal in the period and the filter value corresponding to the second electric signal in the period are respectively solved.
Comparing the obtained filtered values X1 'and/or X2' with threshold values respectively, and when the filtered values exceed the threshold values, indicating that the situation is that an operator needs to perform braking operation, but not error electric signals generated by interference of circuits, power supplies and the like; when the filtered value does not exceed the threshold, it is an indication that the acquired electrical signal is noise-generated.
Referring to fig. 1 and 2, specifically, before step S21, the method further includes:
s201, counting the acquired first electric signal and/or second electric signal;
when the first electric signal or the second electric signal is acquired, the acquired times are counted and accumulated.
S202, when the number of times of the acquired first electric signal and/or second electric signal exceeds the preset number of times, executing step S21;
for example, when the first electrical signal is acquired, the number of times is calculated in an accumulated manner, and each time the accumulated number of times is performed, the accumulated number of times is compared with the preset number of times, and similarly, the second electrical signal is acquired according to the logic.
S203, when the times of the acquired first electric signal and/or second electric signal do not exceed the preset times, continuously acquiring the first electric signal and/or second electric signal and counting until the times of the acquired first electric signal and/or second electric signal exceed the preset times
When the accumulated number of times of the acquired first electrical signal or the acquired second electrical signal does not exceed the preset number of times, the operation of acquiring the electrical signal is continuously executed, the operation is compared and judged with the preset number of times until the accumulated number of times reaches the preset number of times, and step S21 is executed again, namely, the average value of the electrical signals is calculated, the electrical signals of the preset number of times are acquired, and the error can be reduced.
Referring to fig. 1 and 2, specifically, when both the first electrical signal and the second electrical signal exceed the threshold, step S3 includes:
s311, acquiring the time when the first electric signal and the second electric signal exceed the threshold;
the obtained average value of the electric signal is converted into the time when the filtering value reaches the threshold value, namely the time when the filtering value reaches the threshold value.
S312, comparing the time when the first electric signal and the second electric signal exceed the threshold value;
and comparing the time when the average value of the first electric signal and the second electric signal reaches the threshold, wherein the smaller the time is, the more quickly the operator starts the brake handle or the larger the angle for rotating the brake handle relative to the other brake handle is.
And S313, outputting a brake command based on the corresponding brake handle based on the electric signal exceeding the threshold value in advance.
The electric signal exceeding the threshold value firstly generates a brake instruction, the brake instruction acts on the motor, the motor acts on the scooter to brake or decelerate, and the electric signal exceeding the threshold value firstly generates the brake instruction, so that the sensitivity of brake operation can be improved.
Specifically, the method further comprises:
and S4, when any electric signal does not exceed the threshold value, outputting a fault reason.
Wherein, when starting the brake handle, can input the signal of telecommunication through hall switch, when detecting that arbitrary signal of telecommunication all does not surpass the threshold value, detect control panel and whether have circuit connection or a use problem, after discharge circuit problem, output magnet problem, probably magnet drops or magnet damage leads to the change that hall switch perception can not detect magnetic field.
The implementation principle of the application is as follows: when the brake handle is rotated, the angle of the brake handle can be changed, the first electric signal and/or the second electric signal corresponding to the numerical value are/is input based on the change of the angle, the first electric signal and/or the second electric signal are/is judged respectively, whether the first electric signal and/or the second electric signal exceed the threshold value or not is judged, and only when the value of the electric signal exceeds the threshold value, the corresponding brake instruction is output, so that the insensitivity of a brake system is reduced, and the safety factor of the electric scooter is improved.
Example two:
in one embodiment, a dual-brake control system corresponding to the dual-brake control method in the first embodiment is provided, and applied to improve the safety factor of the electric scooter and reduce the situations of over-sensitive or delayed system response, the system includes:
the electric signal acquisition module is used for inputting a first electric signal and/or a second electric signal based on the two brake handles, wherein the angle of the brake handles is changed by rotating the brake handles, and the first electric signal and/or the second electric signal with corresponding numerical values are input based on the change of the angle of the brake handles.
The judgment module is used for respectively judging whether the first electric signal and/or the second electric signal exceed the threshold value, and respectively comparing the first electric signal and/or the second electric signal with the threshold value according to the input first electric signal and/or the input second electric signal, so that the situation that the double-brake system has misoperation can be reduced, and when the reason of the misoperation is probably that the power supply is subjected to reasons such as fluctuation or interference, an error signal is input and is mistakenly used as the electric signal by the system.
And the command output module is used for outputting a corresponding brake command when the first electric signal and/or the second electric signal exceeds the threshold value, and the system outputs the corresponding brake command only when the first electric signal and/or the second electric signal exceeds the threshold value, so that wrong electric signals are input into the system when the interference on circuits, power supplies and the like is reduced, and further the electric signals are caused to make wrong command actions.
Specifically, the electric signal acquisition module includes:
the pressure signal acquisition unit is used for acquiring a first pressure signal and/or a second pressure signal of the two brake handles, wherein the pressure signal can be a pressure value received by the brake handles or a minimum force required by the brake handles to rotate for a certain angle.
And the signal conversion unit is used for converting the mechanical force applied to the brake handle into an electric signal based on the first pressure signal and/or the second pressure signal and corresponding to the first electric signal and/or the second electric signal so as to facilitate the control system.
Specifically, the electric signal acquisition module further includes:
the timing acquisition unit is configured to acquire the first electrical signal and/or the second electrical signal periodically, where the periodicity may be one-time acquisition of the electrical signals at a time interval, or may be one cycle of acquiring a certain number of electrical signals.
Specifically, the judging module includes:
and the average value acquisition unit is used for acquiring average values X1 and X2 of the plurality of first electric signals and/or the plurality of second electric signals, and respectively calculating the average values of the first electric signals and the second electric signals acquired in one period.
And the threshold calculation unit is used for performing filtering processing on the X1 and/or the X2 to obtain X1 'and X2', and performing filtering processing on the obtained average values X1 and X2 respectively to reduce the influence of the abnormal value on the system.
And the threshold comparison unit is used for comparing the X1 'and/or the X2' with the threshold so as to reduce the influence of error signals generated due to the influence of noise and the like on the system.
Specifically, the determining module further comprises:
and the counting subunit is used for counting the acquired first electric signals and/or second electric signals, and the counting of the second electric signals is the same after the first electric signals are acquired and calculated once.
And a count judgment subunit, configured to execute step S21 when the number of times of acquiring the first electrical signal and/or the second electrical signal exceeds a preset number of times, and compare and judge the accumulated number of times with the preset number of times every time the number of times of performing the electrical signal is counted.
And the judgment execution subunit is used for continuously acquiring the first electric signal and/or the second electric signal and counting the acquired first electric signal and/or the second electric signal when the acquired first electric signal and/or second electric signal does not exceed the preset number, until the acquired first electric signal and/or second electric signal exceeds the preset number, and acquiring the electric signal until the preset number is reached when the accumulated number does not exceed the preset number.
Specifically, when both the first electrical signal and the second electrical signal exceed the threshold, the instruction output module is further configured to:
acquiring the time when the first electric signal and the second electric signal exceed the threshold;
comparing the time at which the first electrical signal and the second electrical signal exceed a threshold;
for outputting a braking command based on the corresponding brake lever based on the electrical signal previously exceeding the threshold value.
Specifically, the instruction output module 3 further includes:
an execution subunit, configured to output a braking instruction based on a corresponding brake handle based on the electrical signal exceeding the threshold,
in addition, the system further comprises:
and the fault judgment module is used for outputting a fault reason when any electric signal does not exceed the threshold value.
The dual brake control system provided in this embodiment can achieve the same technical effects as the foregoing embodiment because of the functions of the modules themselves and the logical connections between the modules, and the principle analysis can refer to the related description of the steps of the locking positioning method, which will not be described herein again.
Example three:
in one embodiment, a computer readable storage medium is provided, which stores a computer program that can be loaded by a processor and executes the above-mentioned double brake control method, and when executed by the processor, the computer program realizes the following steps:
s1, acquiring a first electric signal and/or a second electric signal input based on two brake handles;
s2, judging whether the first electric signal and/or the second electric signal exceed a threshold value;
and S3, when the first electric signal and/or the second electric signal exceed the threshold value, outputting a corresponding braking instruction.
S11, acquiring a first pressure signal and/or a second pressure signal of the two brake handles;
s12, converting the first pressure signal and/or the second pressure signal into a corresponding first electric signal and/or a second electric signal;
and S13, periodically acquiring the first electric signal and/or the second electric signal.
S21, obtaining the average value X1 and X2 of a plurality of first electric signals and/or a plurality of second electric signals;
s22, filtering the X1 and/or the X2 to obtain X1 'and X2';
s23, comparing X1 'and/or X2' with the threshold value.
S201, counting the acquired first electric signal and/or second electric signal;
s202, when the number of times of the acquired first electric signal and/or second electric signal exceeds the preset number of times, executing step S21;
s203, when the times of the acquired first electric signals and/or second electric signals do not exceed the preset times, the first electric signals and/or second electric signals are continuously acquired and counted until the times of the acquired first electric signals and/or second electric signals exceed the preset times.
S311, acquiring the time when the first electric signal and the second electric signal exceed the threshold;
s312, comparing the time when the first electric signal and the second electric signal exceed the threshold value;
and S313, outputting a brake command based on the corresponding brake handle based on the electric signal exceeding the threshold value in advance.
And S321, outputting a brake command based on the corresponding brake handle based on the electric signal exceeding the threshold value.
And S4, when any electric signal does not exceed the threshold value, outputting a fault reason.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The embodiments are preferred embodiments of the present application, and the scope of the present application is not limited by the embodiments, so: all equivalent variations made according to the methods and principles of the present application should be covered by the protection scope of the present application.
Claims (10)
1. A dual brake control method, comprising:
s1, acquiring a first electric signal and/or a second electric signal input based on two brake handles;
s2, judging whether the first electric signal and/or the second electric signal exceed a threshold value;
and S3, when the first electric signal and/or the second electric signal exceed a threshold value, outputting a corresponding brake command.
2. A double brake control method according to claim 1, wherein said step S1 includes:
s11, acquiring a first pressure signal and/or a second pressure signal of the two brake handles;
and S12, converting the first pressure signal and/or the second pressure signal into a corresponding first electric signal and/or a corresponding second electric signal.
3. A dual brake control method according to claim 2, wherein said step S1 further includes:
and S13, periodically acquiring the first electric signal and/or the second electric signal.
4. A double brake control method according to claim 1 or 3, wherein when acquiring a plurality of first electric signals and/or a plurality of second electric signals, the step S2 includes:
s21, acquiring average values X1 and X2 of a plurality of first electric signals and/or a plurality of second electric signals;
s22, filtering the X1 and/or the X2 to obtain X1 'and X2';
s23, comparing X1 'and/or X2' with the threshold value.
5. A dual brake control method according to claim 4, wherein said step S21 is preceded by the step of:
s201, counting the acquired first electric signal and/or second electric signal;
s202, when the number of times of the acquired first electric signal and/or second electric signal exceeds the preset number of times, executing step S21;
s203, when the times of the acquired first electric signals and/or second electric signals do not exceed the preset times, continuously acquiring the first electric signals and/or second electric signals and counting until the times of the acquired first electric signals and/or second electric signals exceed the preset times.
6. A double brake control method according to claim 4, wherein when both the first electric signal and the second electric signal exceed the threshold value, the step S3 includes:
s311, acquiring the time when the first electric signal and the second electric signal exceed the threshold;
s312, comparing the time when the first electric signal and the second electric signal exceed the threshold value;
and S313, outputting a brake command based on the corresponding brake handle based on the electric signal exceeding the threshold value in advance.
7. A dual brake control method according to claim 4, wherein when either the first electric signal or the second electric signal exceeds the threshold value, the step S3 includes:
and S321, outputting a brake command based on the corresponding brake handle based on the electric signal exceeding the threshold value.
8. A dual brake control method according to claim 1, further comprising:
and S4, when any electric signal does not exceed the threshold value, outputting a fault reason.
9. A dual brake control system, comprising:
the electric signal acquisition module is used for acquiring a first electric signal and/or a second electric signal input based on two brake handles;
the judging module is used for respectively judging whether the first electric signal and/or the second electric signal exceed a threshold value;
and the command output module is used for outputting a corresponding braking command when the first electric signal and/or the second electric signal exceeds a threshold value.
10. A computer-readable storage medium storing a computer program that can be loaded by a processor and executes a method of controlling a double brake as claimed in any one of claims 1 to 8.
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| CN202210495633.9A CN114802576A (en) | 2022-05-09 | 2022-05-09 | Double-brake control method, double-brake control system and computer readable storage medium |
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| CN202210495633.9A CN114802576A (en) | 2022-05-09 | 2022-05-09 | Double-brake control method, double-brake control system and computer readable storage medium |
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