CN115107921B - Rocker calibration method and device and electric scooter - Google Patents
Rocker calibration method and device and electric scooter Download PDFInfo
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- CN115107921B CN115107921B CN202110258309.0A CN202110258309A CN115107921B CN 115107921 B CN115107921 B CN 115107921B CN 202110258309 A CN202110258309 A CN 202110258309A CN 115107921 B CN115107921 B CN 115107921B
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- 230000008569 process Effects 0.000 claims abstract description 90
- 238000004590 computer program Methods 0.000 claims description 12
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- 230000006641 stabilisation Effects 0.000 claims 1
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- 238000004891 communication Methods 0.000 description 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
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Abstract
The invention discloses a rocker calibration method, a rocker calibration device and an electric scooter, wherein the method comprises the following steps: responding to a rocker calibration instruction sent by the terminal, and executing a corresponding rocker calibration process; the rocker calibration instruction comprises a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction; in the calibration process of each rocker, the electric parameters which tend to be stable are collected through a collecting circuit; and determining whether the calibration of the rocker is qualified according to the first electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker centering calibration instruction and the second electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration instruction, and the third electrical parameter acquired by the acquisition circuit in the rocker backward calibration process corresponding to the rocker backward calibration instruction. Therefore, the method can realize the function of calibrating the rocker by the terminal, increases the portability of a rocker calibration tool, and improves the accuracy of rocker calibration by analyzing data in the calibration process.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a rocker calibration method and device and an electric scooter.
Background
At present, the electric scooter gradually enters our life, not only is the electric scooter accepted by people because of the characteristic of high cost performance, but also the environment-friendly life brings green age for people.
Electric scooter that has on the market installs the rocker on like the balance car and can be equipped with a rocker respectively like left side and right side, and the rocker is markd and is connected the rocker to the host computer through the wiring usually by operating personnel, and operating personnel instructs according to the host computer and accomplishes the demarcation of rocker gradually, and whole process is comparatively complicated to the host computer is inconvenient to carry.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, a first object of the present invention is to provide a method for calibrating a rocker, which can realize the function of calibrating the rocker by using a terminal, increase the portability of a rocker calibration tool, and improve the accuracy of the rocker calibration by analyzing data in the calibration process.
The second object of the invention is to provide a rocker calibrating device.
A third object of the present invention is to provide an electric scooter.
A fourth object of the invention is to propose a computer device.
A fifth object of the present invention is to propose a non-transitory computer readable storage medium.
A sixth object of the invention is to propose a computer programme product.
In order to achieve the above objective, an embodiment of a first aspect of the present invention provides a method for calibrating a rocker, including the following steps: responding to a rocker calibration instruction sent by the terminal, and executing a corresponding rocker calibration process; the rocker calibration instruction comprises a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction; in the calibration process of each rocker, voltage acquisition is carried out on the electric parameters which tend to be stable through an acquisition circuit; and determining whether the calibration of the rocker is qualified according to the first electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker centering calibration instruction, the second electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration instruction, and the third electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker backward calibration instruction.
According to the rocker calibration method provided by the embodiment of the invention, a controller responds to rocker calibration instructions sent by a terminal, such as a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction, and executes corresponding rocker calibration processes according to the instructions, in each rocker calibration process, voltage acquisition is carried out on electric parameters which tend to be stable through an acquisition circuit, and whether the calibration of the rocker is qualified is determined according to a first electric parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker centering calibration instruction, a second electric parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration instruction, and a third electric parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker backward calibration instruction. Therefore, the method can realize the function of calibrating the rocker by the terminal, increases the portability of a rocker calibration tool, and improves the accuracy of rocker calibration by analyzing data in the calibration process.
In addition, the rocker calibration method provided by the embodiment of the invention can also have the following additional technical characteristics:
according to one embodiment of the present invention, the electrical parameter is a voltage value, wherein the collecting, by the collecting circuit, the electrical parameter after being stabilized includes: detecting the voltage value acquired by the acquisition circuit once every a first preset time; calculating the difference value of the voltage values acquired by the acquisition circuit twice; and under the condition that the difference value of the voltage values acquired by the adjacent two acquisition circuits is continuously preset for less than the first preset voltage value and continuously preset for a second preset time, determining that the voltage value tends to be stable.
According to one embodiment of the present invention, the first electrical parameter is a first voltage value, the second electrical parameter is a second voltage value, and the third electrical parameter is a third voltage value, wherein the determining whether the calibration of the rocker is acceptable includes: judging whether the first voltage value is in a first preset voltage interval range or not; and if the first voltage value is in the first preset voltage interval range, determining that the centering calibration of the rocker is qualified.
According to an embodiment of the present invention, the determining whether the calibration of the rocker is acceptable further includes: judging whether the rocking direction of the rocker is forward or not according to the first voltage value and the second voltage value; judging whether the absolute value of the difference value between the first voltage value and the second voltage value is in a first preset difference value interval range or not under the condition that the swinging direction of the rocker is forward; and if the absolute value of the difference value between the first voltage value and the second voltage value is in a first preset difference value interval range, determining that the forward calibration of the rocker is qualified.
According to an embodiment of the present invention, the determining whether the calibration of the rocker is acceptable further includes: judging whether the rocking direction of the rocker is backward or not according to the first voltage value and the third voltage value; judging whether the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range or not under the condition that the rocking direction of the rocker is backward; and if the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range, determining that the backward calibration of the rocker is qualified.
According to an embodiment of the present invention, the method for calibrating a rocker further includes: judging whether the swing amplitude difference of the rocker is normal in the forward calibration and backward calibration processes of the rocker according to the first electrical parameter, the second electrical parameter and the third electrical parameter; and under the condition that the rocker shaking amplitude difference is normal, storing the first electric parameter, the second electric parameter and the third electric parameter.
To achieve the above object, an embodiment of a second aspect of the present invention provides a device for calibrating a rocker, including: the response module is used for responding to the rocker calibration instruction sent by the terminal and executing a corresponding rocker calibration process; the rocker calibration instruction comprises a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction; the acquisition module is used for carrying out voltage acquisition on the electric parameters which tend to be stable in the calibration process of each rocker through the acquisition circuit; the determining module is used for determining whether the calibration of the rocker is qualified according to the first electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker centering calibration instruction, the second electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration instruction, and the third electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker backward calibration instruction.
According to the rocker calibration device provided by the embodiment of the invention, the response module responds to rocker calibration instructions such as a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction sent by a terminal, and executes corresponding rocker calibration processes according to the instructions, and the acquisition module acquires voltage of the electric parameters which tend to be stable in each rocker calibration process through the acquisition circuit, so that the determination module determines whether the calibration of the rocker is qualified according to the first electric parameters acquired by the acquisition circuit in the rocker centering calibration process corresponding to the rocker centering calibration instruction, the second electric parameters acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration instruction, and the third electric parameters acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker backward calibration instruction. Therefore, the device can realize the function of calibrating the rocker by the terminal, increases the portability of a rocker calibrating tool, and improves the accuracy of rocker calibration by analyzing data in the calibrating process.
In addition, the device for calibrating the rocker provided by the embodiment of the invention can also have the following additional technical characteristics:
according to one embodiment of the present invention, the electrical parameter is a voltage value, wherein the acquisition module is specifically configured to: detecting the voltage value acquired by the acquisition circuit once every a first preset time; calculating the difference value of the voltage values acquired by the acquisition circuit twice; and under the condition that the difference value of the voltage values acquired by the adjacent two acquisition circuits is continuously preset for times smaller than the first preset voltage value and continuously preset for a second preset time, acquiring the current voltage value as the voltage value which tends to be stable.
According to one embodiment of the present invention, the first electrical parameter is a first voltage value, the second electrical parameter is a second voltage value, and the third electrical parameter is a third voltage value, wherein the determining module is specifically configured to: judging whether the first voltage value is in a first preset voltage interval range or not; and if the first voltage value is in the first preset voltage interval range, determining that the centering calibration of the rocker is qualified.
According to one embodiment of the present invention, the determining module is specifically further configured to: judging whether the rocking direction of the rocker is forward or not according to the first voltage value and the second voltage value; judging whether the absolute value of the difference value between the first voltage value and the second voltage value is in a first preset difference value interval range or not under the condition that the swinging direction of the rocker is forward; and if the absolute value of the difference value between the first voltage value and the second voltage value is in a first preset difference value interval range, determining that the forward calibration of the rocker is qualified.
According to one embodiment of the present invention, the determining module is specifically further configured to: judging whether the rocking direction of the rocker is backward or not according to the first voltage value and the third voltage value; judging whether the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range or not under the condition that the rocking direction of the rocker is backward; and if the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range, determining that the backward calibration of the rocker is qualified.
According to an embodiment of the present invention, the apparatus further includes: the judging module is used for judging whether the swing amplitude difference of the rocker is normal in the forward calibration and backward calibration processes of the rocker according to the first electric parameter, the second electric parameter and the third electric parameter; and the storage module is used for storing the first electric parameter, the second electric parameter and the third electric parameter under the condition that the swing amplitude difference of the rocker is normal.
In order to achieve the above objective, an embodiment of the third aspect of the present invention provides an electric scooter, which includes the device for calibrating a rocker as described above.
According to the electric scooter provided by the embodiment of the invention, through the rocker calibrating device, the function of calibrating the rocker by the terminal can be realized, the portability of a rocker calibrating tool is increased, whether the operation of each step is qualified or not is judged by analyzing the data in the calibrating process, corresponding early warning is given for the reverse operation and unqualified movement amplitude of the rocker, the accuracy of rocker calibration is improved, and the out-of-control effect of the electric scooter caused by abnormal calibration is avoided.
To achieve the above object, a fourth aspect of the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for calibrating a rocker as described above when executing the program.
The computer equipment provided by the embodiment of the invention can realize the function of calibrating the rocker by using the terminal, increases the portability of a rocker calibration tool, judges whether the operation of each step is qualified or not by analyzing the data in the calibration process, gives corresponding early warning for reverse operation and unqualified movement amplitude of the rocker, improves the accuracy of rocker calibration, and avoids the out-of-control result of the electric scooter caused by abnormal calibration.
To achieve the above object, a fifth aspect of the present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for rocker calibration described above.
The non-transitory computer readable storage medium of the embodiment of the invention can realize the function of calibrating the rocker by using the terminal, increases the portability of a rocker calibration tool, judges whether the operation of each step is qualified or not by analyzing the data in the calibration process, gives corresponding early warning for the reverse operation and unqualified movement amplitude of the rocker, improves the accuracy of rocker calibration, and avoids the out-of-control result of the electric scooter caused by abnormal calibration.
To achieve the above object, an embodiment of the sixth aspect of the present invention provides a computer program product, which when executed by an instruction processor in the computer program product, implements the method for calibrating a rocker as described above.
The computer program product of the embodiment of the invention can realize the function of calibrating the rocker by using the terminal, increases the portability of a rocker calibration tool, judges whether the operation of each step is qualified or not by analyzing the data in the calibration process, gives corresponding early warning for the reverse operation and unqualified movement amplitude of the rocker, improves the accuracy of rocker calibration, and avoids the out-of-control result of the electric scooter caused by abnormal calibration.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a rocker calibration system according to one embodiment of the invention;
FIG. 2 is a flow chart of a method of rocker calibration according to an embodiment of the invention;
FIG. 3 is a block schematic diagram of a rocker-calibrated device according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The method, the device, the electric scooter, the computer equipment and the storage medium for calibrating the rocker according to the embodiment of the invention are described below with reference to the accompanying drawings.
In the embodiment of the invention, the electric scooter refers to a transportation means and an auxiliary means for the purpose of scooter, and the speed of the electric scooter is lower unlike an electric vehicle. For example, the electric scooter may be an electric motorcycle, an electric bicycle, a balance car, etc., and the type of the electric scooter is not particularly limited in the present invention, and is within the scope of the present invention.
FIG. 1 is a schematic diagram of a rocker calibration system according to one embodiment of the invention, as shown in FIG. 1, which is mainly composed of a controller, a wireless communication circuit, an acquisition circuit, a rocker and a terminal. The terminal such as a mobile phone and a tablet personal computer can establish connection and communication with the wireless communication circuit through Bluetooth or wifi (Wireless Fidelity, infinite Fidelity), and the terminal downloads corresponding APP (Application) to achieve calibration of the rocker by the APP. In the calibration process, the controller reads the voltage change condition caused by rocking of the rocker in the calibration process through the acquisition circuit.
It should be noted that, in practical application, the controller, the wireless communication circuit and the acquisition circuit may be integrated into one module, and be directly used for the electric scooter.
FIG. 2 is a flow chart of a method of rocker calibration according to an embodiment of the invention. As shown in FIG. 2, the rocker calibrating method of the embodiment of the invention comprises the following steps:
s1, responding to a rocker calibration instruction sent by a terminal, and executing a corresponding rocker calibration process; the rocker calibration instructions comprise a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction.
Specifically, when the rocker is required to be calibrated, an operator firstly establishes wireless communication connection between the terminal and the electric scooter, and after the wireless communication connection is established, an APP is used for sending a rocker calibration instruction to the controller, so that the controller enters a calibration mode after receiving the rocker calibration instruction, and calibration is completed according to a specific sequence. For example, a 3-step calibration mode can be adopted, the rocker is firstly calibrated in the middle, then calibrated forwards, and finally calibrated backwards; or the rocker is firstly calibrated in the middle, then calibrated backwards, and finally calibrated forwards. It should be noted that, the execution sequence of the rocker calibration is not particularly limited in the invention, and can be specifically selected according to actual conditions.
S2, in the calibration process of each rocker, the electric parameters which tend to be stable are collected through a collecting circuit.
In the present embodiment, the electrical parameter may be a voltage value, a current value, a capacitance value, a resistance value, or the like, and is not particularly limited in the present invention.
As an alternative implementation method, when the electrical parameter is a voltage value, the collecting circuit collects the electrical parameter after being stabilized, including: detecting the voltage value acquired by the acquisition circuit every a first preset time; calculating the difference value of the voltage values acquired by the adjacent two acquisition circuits; and under the condition that the difference value of the voltage values acquired by the adjacent two acquisition circuits is continuously preset for less than the first preset voltage value and continuously preset for the second preset time, determining that the voltage value tends to be stable. The first preset time, the first preset voltage value and the second preset time can be set according to actual needs, for example, the first preset time can be 10ms, the first preset voltage value can be 0.1V, and the second preset time can be 3s.
For example, during the middle calibration, the front calibration and the back calibration of the rocker, the controller samples the voltage value collected by the collecting circuit such as an ADC (Analog-to-Digital Converter) at intervals of 10ms, and if the fluctuation of the voltage value is less than 0.1V for two times before and after and is stable for 3s, it is determined that the voltage value tends to be stable, that is, the electrical parameter tends to be stable.
And S3, determining whether the calibration of the rocker is qualified according to the first electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker centering calibration instruction, the second electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration instruction and the third electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker backward calibration instruction.
As an optional implementation manner, the first electrical parameter is a first voltage value, the second electrical parameter is a second voltage value, and the third electrical parameter is a third voltage value, where determining whether calibration of the rocker is qualified includes: judging whether the first voltage value is in a first preset voltage interval range or not; and if the first voltage value is in the first preset voltage interval range, determining that the centering calibration of the rocker is qualified. The first preset voltage interval range can be valued according to the motor magnetic field intensity and the structure difference of the rocking of the control rocker.
Specifically, the operator uses the APP to send a rocker centering instruction to the controller, such as by a key on the APP that "begins centering calibration". Then, the operator swings the rocker back to release (e.g., swings the rocker forward to release, swings the rocker backward to release, swings the rocker forward to release, and naturally resets the rocker to the centered position without limitation.
In the centering process of rocking the rocker by an operator, the controller uses the acquisition circuit to judge whether the rocker is centered in a qualified mode or not according to the first voltage value and a first preset voltage interval range, wherein the voltage values are generated by the rocker at different positions in the rocking process, and after the voltage values tend to be stable, the voltage values tend to be stable are recorded as first voltage values. When the first voltage value is in a first preset voltage interval range, judging that the rocker is qualified in centering, and feeding back a command for qualified centering calibration of the rocker to the terminal at the moment, for example, enabling the terminal to send out a prompt tone for successful centering calibration so as to remind an operator of qualified centering calibration; when the first voltage value is not in the first preset voltage interval range, if the first voltage value is lower than the minimum value of the first preset voltage interval range or is larger than the maximum value of the first preset voltage interval range, judging that the rocker centering calibration fails, and feeding back a command of failing centering calibration of the rocker to the terminal at the moment, if the terminal is enabled to send a prompt tone of failing centering calibration, reminding an operator of failing centering calibration, so that the operator can perform centering calibration again.
It should be noted that, under the condition that the centering calibration of the rocker is qualified, the forward calibration of the rocker can be performed first, then the backward calibration of the rocker can be performed, or the backward calibration of the rocker can be performed first, then the forward calibration of the rocker can be performed, and the specific sequence is not limited. The procedure of forward calibration of the rocker is described first, and then the procedure of backward calibration of the rocker is described, but the sequence is not used as the sequence of calibration of the rocker.
As an optional implementation manner, determining whether the calibration of the rocker is qualified or not further includes: judging whether the rocking direction of the rocker is forward or not according to the first voltage value and the second voltage value; under the condition that the swinging direction of the rocker is forward, judging whether the absolute value of the difference value of the first voltage value and the second voltage value is in a first preset difference value interval range or not; and if the absolute value of the difference value between the first voltage value and the second voltage value is in the range of the first preset difference value interval, determining that the forward calibration of the rocker is qualified. The first preset difference interval range may be set according to practical situations, and is not limited herein.
Specifically, in the case of qualified rocker centering, the operator uses the APP to send a rocker forward calibration command to the controller, such as by a "start forward calibration" button on the APP. The operator then pushes the rocker forward to the top end for more than 3 seconds.
In the process that an operator pushes the rocker forwards to the top end, the controller counts voltage values generated by the rocker at different positions in the shaking process through the acquisition circuit, after the voltage values tend to be stable, the voltage values tend to be stable are recorded as second voltage values, and whether the shaking direction of the rocker is forward or not is judged according to the first voltage values and the second voltage values. When the second voltage value is smaller than the first voltage value, judging that the rocking direction of the rocker is forward; when the second voltage value is larger than the first voltage value, the rocker is judged to shake reversely, namely the rocker shaking direction is backward.
And under the condition that the swinging direction of the rocker is forward, judging whether forward calibration of the rocker is qualified or not according to the absolute value of the difference value of the first voltage value and the second voltage value. When the absolute value of the difference value between the first voltage value and the second voltage value is in the range of a first preset difference value interval, determining that forward calibration of the rocker is qualified, recording the current second voltage value, and feeding back a command for qualified forward calibration of the rocker to the terminal at the moment, for example, making the terminal send a prompt sound for successful forward calibration so as to remind an operator that the forward calibration is qualified; when the absolute value of the difference value between the first voltage value and the second voltage value is not in the first preset difference value interval range, for example, when the absolute value of the difference value between the first voltage value and the second voltage value is larger than the maximum value of the first preset difference value interval range, the rocker is judged to shake forwards too much, and if an operator uses violence to shake the rocker beyond the limit of the front end; when the absolute value of the difference value between the first voltage value and the second voltage value is smaller than the minimum value of the range of the first preset difference value interval, the rocker is judged to shake too little forward, if an operator does not shake the rocker to the limit of the front end, the rocker is judged to be failed to calibrate forward under the two conditions, at the moment, a command of failed forward calibration of the rocker can be fed back to the terminal, if the terminal is enabled to send a prompt tone of failed forward calibration, the operator is reminded of failed forward calibration, and the operator can calibrate forward again.
As an optional implementation manner, determining whether the calibration of the rocker is qualified or not further includes: judging whether the rocking direction of the rocker is backward according to the first voltage value and the third voltage value; under the condition that the rocking direction of the rocker is backward, judging whether the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range or not; and if the absolute value of the difference value between the first voltage value and the third voltage value is in the range of the second preset difference value interval, determining that the backward calibration of the rocker is qualified. The second preset difference interval range may be set according to practical situations, and is not limited herein.
Specifically, in the case of qualified rocker centering, the operator uses the APP to send a rocker rearward calibration command to the controller, such as by a "start rearward calibration" button on the APP. The operator then pushes the rocker back to the top end for more than 3 seconds.
In the process that an operator pushes the rocker backwards to the top end, the controller uses the acquisition circuit to count voltage values generated by the rocker at different positions in the shaking process, after the voltage values tend to be stable, the voltage values tend to be stable are recorded as third voltage values, and whether the shaking direction of the rocker is backwards or not is judged according to the first voltage values and the third voltage values. When the third voltage value is larger than the first voltage value, judging that the rocking direction of the rocker is backward; when the third voltage value is smaller than the first voltage value, the rocker is judged to shake reversely, namely the rocker shake direction is forward.
And under the condition that the rocking direction of the rocker is backward, judging whether the backward calibration of the rocker is qualified or not according to the absolute value of the difference value of the first voltage value and the third voltage value. When the absolute value of the difference value between the first voltage value and the third voltage value is in the range of a second preset difference value interval, determining that the backward calibration of the rocker is qualified, recording the current third voltage value, and feeding back an instruction of qualified backward calibration of the rocker to the terminal at the moment, for example, making the terminal send a prompt sound of successful backward calibration to remind an operator of qualified backward calibration; when the absolute value of the difference value between the first voltage value and the third voltage value is not in the second preset difference value interval range, for example, when the absolute value of the difference value between the first voltage value and the third voltage value is larger than the maximum value of the second preset difference value interval range, judging that the rocker is swayed backwards too much, and if an operator sways the rocker beyond the limit of the rear end by using violence; when the absolute value of the difference value between the first voltage value and the third voltage value is smaller than the minimum value of the range of the second preset difference value interval, the rocker is judged to shake backwards too little, if an operator does not shake the rocker to the limit of the rear end, the rocker is judged to fail in backward calibration under both conditions, at the moment, a command of failing backward calibration of the rocker can be fed back to the terminal, if the terminal sends out a prompt tone of failing backward calibration, so that the operator is reminded of failing backward calibration, and the operator can perform backward calibration again.
According to the rocker calibration method provided by the embodiment of the invention, the controller responds to the rocker calibration command sent by the terminal to execute the corresponding rocker calibration process, wherein the rocker calibration command comprises a rocker centering calibration command, a rocker forward calibration command and a rocker backward calibration command, in each rocker calibration process, the electric parameters which tend to be stable are collected through the collecting circuit, and whether the calibration of the rocker is qualified is determined according to the first electric parameters collected by the collecting circuit in the rocker calibration process corresponding to the rocker centering calibration command, the second electric parameters collected by the collecting circuit in the rocker calibration process corresponding to the rocker forward calibration command and the third electric parameters collected by the collecting circuit in the rocker calibration process corresponding to the rocker backward calibration command. Therefore, the method can realize the function of calibrating the rocker by using the terminal, increases the portability of a rocker calibration tool, judges whether the operation of each step is qualified or not by analyzing data in the calibration process, gives corresponding early warning to the reverse operation and unqualified movement amplitude of the rocker, improves the accuracy of rocker calibration, and avoids the out-of-control consequence of the vehicle caused by abnormal calibration.
In order to further improve accuracy of rocker calibration, the method for rocker calibration further comprises the following steps: judging whether the swing amplitude difference of the rocker is normal in the forward calibration and backward calibration processes of the rocker according to the first electric parameter, the second electric parameter and the third electric parameter; and under the condition that the swing amplitude difference of the rocker is normal, storing the first electric parameter, the second electric parameter and the third electric parameter.
Continuing to take the electric parameters as voltage values for illustration, after centering, forward and backward calibration is qualified, the controller calculates the difference value y= ||s1-s2| -s 1-s 3|of the distances between the second voltage value s2 and the third voltage value s3 and the first voltage value s1 respectively, and compares y with an ideal difference value according to practical conditions to judge whether the front and back shaking range difference of the rocker is normal or not so as to adjust in time when the front and back shaking range difference is overlarge and undersize, thereby further improving the accuracy of rocker calibration. And under the conditions that the centering, forward and backward calibration actions are finished and qualified, and the swing amplitude difference of the rocker is normal in the forward and backward calibration processes of the rocker, each key data such as a first voltage value, a second voltage value and a third voltage value is stored in the controller, so that data errors or losses are avoided.
In summary, according to the method for calibrating the rocker according to the embodiment of the invention, the controller responds to the rocker calibration command sent by the terminal to execute the corresponding rocker calibration process, the rocker calibration command includes a rocker centering calibration command, a rocker forward calibration command and a rocker backward calibration command, in each rocker calibration process, voltage acquisition is performed on the electrical parameter which tends to be stable through the acquisition circuit, and whether the calibration of the rocker is qualified is determined according to the first electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker centering calibration command, the second electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration command, and the third electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker backward calibration command. And judging whether the swing amplitude difference of the rocker is normal in the forward calibration and backward calibration processes of the rocker according to the first electrical parameter, the second electrical parameter and the third electrical parameter after the rocker is qualified, and storing the first electrical parameter, the second electrical parameter and the third electrical parameter under the condition that the swing amplitude difference of the rocker is normal. Therefore, the method can realize the function of calibrating the rocker by using the terminal, increases the portability of a rocker calibration tool, judges whether the operation of each step is qualified or not by analyzing data in the calibration process, gives corresponding early warning to the reverse operation and unqualified movement amplitude of the rocker, further improves the accuracy of rocker calibration, and avoids the out-of-control consequence of the vehicle caused by abnormal calibration.
In order to realize the embodiment, the invention also provides a rocker calibrating device.
FIG. 3 is a block schematic diagram of a rocker-calibrated device according to an embodiment of the invention.
As shown in fig. 3, the rocker calibrating device 300 includes: a response module 310, an acquisition module 320, and a determination module 330.
The response module 310 is configured to respond to a rocker calibration instruction sent by the terminal, and execute a corresponding rocker calibration process; the rocker calibration instruction comprises a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction; the acquisition module 320 is configured to perform voltage acquisition on the electrical parameter that is stabilized by the acquisition circuit during calibration of each rocker; the determining module 330 is configured to determine whether the calibration of the rocker is qualified according to the first electrical parameter collected by the collecting circuit during the calibration of the rocker corresponding to the rocker centering calibration instruction, the second electrical parameter collected by the collecting circuit during the calibration of the rocker corresponding to the rocker forward calibration instruction, and the third electrical parameter collected by the collecting circuit during the calibration of the rocker corresponding to the rocker backward calibration instruction.
In one embodiment of the present invention, the electrical parameter is a voltage value, wherein the acquisition module 320 is specifically configured to: detecting the voltage value acquired by the acquisition circuit every a first preset time; calculating the difference value of the voltage values acquired by the adjacent two acquisition circuits; and under the condition that the difference value of the voltage values acquired by the adjacent two acquisition circuits is continuously preset for less than the first preset voltage value and continuously preset for the second preset time, acquiring the current voltage value as the voltage value which tends to be stable.
In one embodiment of the present invention, the first electrical parameter is a first voltage value, the second electrical parameter is a second voltage value, and the third electrical parameter is a third voltage value, wherein the determining module 330 is specifically configured to: judging whether the first voltage value is in a first preset voltage interval range or not; and if the first voltage value is in the first preset voltage interval range, determining that the centering calibration of the rocker is qualified.
In one embodiment of the present invention, the determining module 330 is specifically further configured to: judging whether the rocking direction of the rocker is forward or not according to the first voltage value and the second voltage value; under the condition that the swinging direction of the rocker is forward, judging whether the absolute value of the difference value of the first voltage value and the second voltage value is in a first preset difference value interval range or not; and if the absolute value of the difference value between the first voltage value and the second voltage value is in the range of the first preset difference value interval, determining that the forward calibration of the rocker is qualified.
In one embodiment of the present invention, the determining module 330 is specifically further configured to: judging whether the rocking direction of the rocker is backward according to the first voltage value and the third voltage value; under the condition that the rocking direction of the rocker is backward, judging whether the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range or not; and if the absolute value of the difference value between the first voltage value and the third voltage value is in the range of the second preset difference value interval, determining that the backward calibration of the rocker is qualified.
In an embodiment of the present invention, the apparatus further includes: the judging module is used for judging whether the swing amplitude difference of the rocker is normal in the forward calibration and backward calibration processes of the rocker according to the first electric parameter, the second electric parameter and the third electric parameter; and the storage module is used for storing the first electric parameter, the second electric parameter and the third electric parameter under the condition that the swing amplitude difference of the rocker is normal.
It should be noted that the foregoing explanation of the method embodiment of rocker calibration is also applicable to the device of rocker calibration of this embodiment, and will not be repeated here.
According to the rocker calibration device provided by the embodiment of the invention, the response module responds to rocker calibration instructions sent by the terminal, such as a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction, a corresponding rocker calibration process is executed, the acquisition module acquires voltage of the electric parameters which tend to be stable in each rocker calibration process through the acquisition circuit, and the determination module determines whether the calibration of the rocker is qualified according to the first electric parameters acquired by the acquisition circuit in the rocker centering calibration process corresponding to the rocker centering calibration instruction, the second electric parameters acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration instruction, and the third electric parameters acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker backward calibration instruction. Therefore, the device can realize the function of calibrating the rocker by the terminal, increases the portability of a rocker calibration tool, judges whether the operation of each step is qualified or not by analyzing data in the calibration process, gives corresponding early warning to the reverse operation and unqualified movement amplitude of the rocker, improves the accuracy of rocker calibration, and avoids the out-of-control effect of the vehicle caused by abnormal calibration.
In order to achieve the above purpose, the invention also provides an electric scooter, which comprises the rocker calibrating device.
According to the electric scooter provided by the embodiment of the invention, through the rocker calibrating device, the function of calibrating the rocker by the terminal can be realized, the portability of a rocker calibrating tool is increased, whether the operation of each step is qualified or not is judged by analyzing the data in the calibrating process, corresponding early warning is given for the reverse operation and unqualified movement amplitude of the rocker, the accuracy of rocker calibration is improved, and the out-of-control effect of the electric scooter caused by abnormal calibration is avoided.
In order to achieve the above object, the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the method for calibrating the rocker when executing the program.
The computer equipment provided by the embodiment of the invention can realize the function of calibrating the rocker by using the terminal, increases the portability of a rocker calibration tool, judges whether the operation of each step is qualified or not by analyzing the data in the calibration process, gives corresponding early warning for reverse operation and unqualified movement amplitude of the rocker, improves the accuracy of rocker calibration, and avoids the out-of-control result of the electric scooter caused by abnormal calibration.
To achieve the above object, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-mentioned method for calibrating a rocker.
The non-transitory computer readable storage medium of the embodiment of the invention can realize the function of calibrating the rocker by using the terminal, increases the portability of a rocker calibration tool, judges whether the operation of each step is qualified or not by analyzing the data in the calibration process, gives corresponding early warning for the reverse operation and unqualified movement amplitude of the rocker, improves the accuracy of rocker calibration, and avoids the out-of-control result of the electric scooter caused by abnormal calibration.
To achieve the above object, the present invention further provides a computer program product, which when executed by an instruction processor in the computer program product, implements the method for calibrating a rocker as described above.
The computer program product of the embodiment of the invention can realize the function of calibrating the rocker by using the terminal, increases the portability of a rocker calibration tool, judges whether the operation of each step is qualified or not by analyzing the data in the calibration process, gives corresponding early warning for the reverse operation and unqualified movement amplitude of the rocker, improves the accuracy of rocker calibration, and avoids the out-of-control result of the electric scooter caused by abnormal calibration.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (13)
1. The rocker calibration method is characterized by comprising the following steps of:
responding to a rocker calibration instruction sent by the terminal, and executing a corresponding rocker calibration process; the rocker calibration instruction comprises a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction;
in the calibration process of each rocker, the electric parameters which tend to be stable are collected through a collecting circuit;
determining whether the calibration of the rocker is qualified according to a first electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker centering calibration instruction, a second electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration instruction, and a third electrical parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker backward calibration instruction;
The method further comprises the steps of:
judging whether the swing amplitude difference of the rocker is normal in the forward calibration and backward calibration processes of the rocker according to the first electrical parameter, the second electrical parameter and the third electrical parameter;
and under the condition that the rocker shaking amplitude difference is normal, storing the first electric parameter, the second electric parameter and the third electric parameter.
2. The method of claim 1, wherein the electrical parameter is a voltage value, and wherein the acquiring, by the acquisition circuit, the electrical parameter after the stabilization comprises:
detecting the voltage value acquired by the acquisition circuit once every a first preset time;
calculating the difference value of the voltage values acquired by the acquisition circuit twice;
and under the condition that the difference value of the voltage values acquired by the adjacent two acquisition circuits is continuously preset for less than the first preset voltage value and continuously preset for a second preset time, determining that the voltage value tends to be stable.
3. The method of claim 1, wherein the first electrical parameter is a first voltage value, the second electrical parameter is a second voltage value, and the third electrical parameter is a third voltage value, wherein the determining whether the calibration of the rocker is acceptable comprises:
Judging whether the first voltage value is in a first preset voltage interval range or not;
and if the first voltage value is in the first preset voltage interval range, determining that the centering calibration of the rocker is qualified.
4. The method of claim 3, wherein said determining whether calibration of said rocker is acceptable further comprises:
judging whether the rocking direction of the rocker is forward or not according to the first voltage value and the second voltage value;
judging whether the absolute value of the difference value between the first voltage value and the second voltage value is in a first preset difference value interval range or not under the condition that the swinging direction of the rocker is forward;
and if the absolute value of the difference value between the first voltage value and the second voltage value is in a first preset difference value interval range, determining that the forward calibration of the rocker is qualified.
5. The method of claim 3, wherein said determining whether calibration of said rocker is acceptable further comprises:
judging whether the rocking direction of the rocker is backward or not according to the first voltage value and the third voltage value;
judging whether the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range or not under the condition that the rocking direction of the rocker is backward;
And if the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range, determining that the backward calibration of the rocker is qualified.
6. A rocker calibrating device, comprising:
the response module is used for responding to the rocker calibration instruction sent by the terminal and executing a corresponding rocker calibration process; the rocker calibration instruction comprises a rocker centering calibration instruction, a rocker forward calibration instruction and a rocker backward calibration instruction;
the acquisition module is used for acquiring the electric parameters which tend to be stable through the acquisition circuit in the calibration process of each rocker;
the determining module is used for determining whether the calibration of the rocker is qualified or not according to the first electric parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker centering calibration instruction, the second electric parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker forward calibration instruction and the third electric parameter acquired by the acquisition circuit in the rocker calibration process corresponding to the rocker backward calibration instruction;
the device further comprises:
the judging module is used for judging whether the swing amplitude difference of the rocker is normal in the forward calibration and backward calibration processes of the rocker according to the first electric parameter, the second electric parameter and the third electric parameter;
And the storage module is used for storing the first electric parameter, the second electric parameter and the third electric parameter under the condition that the swing amplitude difference of the rocker is normal.
7. The device according to claim 6, wherein the electrical parameter is a voltage value, wherein the acquisition module is specifically configured to:
detecting the voltage value acquired by the acquisition circuit once every a first preset time;
calculating the difference value of the voltage values acquired by the acquisition circuit twice;
and under the condition that the difference value of the voltage values acquired by the adjacent two acquisition circuits is continuously preset for times smaller than the first preset voltage value and continuously preset for a second preset time, acquiring the current voltage value as the voltage value which tends to be stable.
8. The apparatus of claim 6, wherein the first electrical parameter is a first voltage value, the second electrical parameter is a second voltage value, and the third electrical parameter is a third voltage value, wherein the determining module is specifically configured to:
judging whether the first voltage value is in a first preset voltage interval range or not;
and if the first voltage value is in the first preset voltage interval range, determining that the centering calibration of the rocker is qualified.
9. The apparatus according to claim 8, wherein the determining module is further specifically configured to:
judging whether the rocking direction of the rocker is forward or not according to the first voltage value and the second voltage value;
judging whether the absolute value of the difference value between the first voltage value and the second voltage value is in a first preset difference value interval range or not under the condition that the swinging direction of the rocker is forward;
and if the absolute value of the difference value between the first voltage value and the second voltage value is in a first preset difference value interval range, determining that the forward calibration of the rocker is qualified.
10. The apparatus according to claim 8, wherein the determining module is further specifically configured to:
judging whether the rocking direction of the rocker is backward or not according to the first voltage value and the third voltage value;
judging whether the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range or not under the condition that the rocking direction of the rocker is backward;
and if the absolute value of the difference value between the first voltage value and the third voltage value is in a second preset difference value interval range, determining that the backward calibration of the rocker is qualified.
11. An electric scooter, comprising: a rocker calibrating device according to any of claims 6-10.
12. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of rocker calibration according to any one of claims 1-5 when the program is executed.
13. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method of rocker calibration according to any of claims 1-5.
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