CN118161354A - Energy recovery control method and device - Google Patents
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Abstract
The application discloses an energy recovery control method and device, comprising the following steps: acquiring a target driving route of a user on the trip event; determining at least one slope area in the target driving route; determining one or more slope areas needing energy recovery according to the gradient value of the downhill road section of each slope area; the following is performed for each ramp region: determining a target slope area needing to be driven into first according to the current position and the target driving route of the electric wheelchair; when the distance between the current position of the electric wheelchair and the target slope surface area is detected to be smaller than the preset distance, determining a target energy recovery mode grade matched with the target slope surface area according to the gradient value of the downhill road section of the target slope surface area; and controlling the motor to charge the battery pack of the electric wheelchair according to the target energy recovery mode level when the electric wheelchair enters the initial position of the target slope area. The application can improve the accuracy and efficiency of energy recovery.
Description
Technical Field
The application relates to the technical field of energy recovery, in particular to an energy recovery control method and device.
Background
Currently, electric wheelchairs are increasingly becoming an important vehicle for disabled people to travel. However, the electric wheelchair has the advantages of low electricity storage capacity, fast battery consumption and poor cruising ability, and is an important problem for the disabled to travel by taking the electric wheelchair, and in order to improve the cruising ability of the electric wheelchair, besides a battery energy management system, the method for recovering energy during downhill is generally adopted by the current electric wheelchair, and is to convert potential energy of the electric wheelchair during deceleration and downhill into electric energy, recover the electric energy into a power battery and increase the electric quantity of a storage battery.
The existing electric wheelchair downhill energy recovery scheme mainly comprises the steps of controlling the electric wheelchair to recover energy and adjust energy recovery level according to the speed, gradient value and battery electric quantity after the electric wheelchair enters a downhill, but in practical application, whether the electric wheelchair needs to be started for energy recovery and the energy recovery level needing to be adapted cannot be predicted in advance before the electric wheelchair enters the downhill section, so that the wheelchair cannot timely enter an energy recovery mode of a corresponding level at the first time of entering the downhill section, and partial potential energy cannot be timely recovered, and energy waste is caused.
Disclosure of Invention
The application provides an energy recovery control method and an energy recovery control device, wherein a controller is used for realizing energy recovery according to a target energy recovery mode grade when entering a target slope area by pre-judging an energy recovery road section in advance and adapting the energy recovery mode grade according to the gradient value of the energy recovery road section, so that the energy recovery is favorably carried out according to the pre-judging grade in time when entering a downhill road section, the energy recovery efficiency is improved, and the energy waste is avoided.
In a first aspect, an embodiment of the present application provides an energy recovery control method applied to a controller of an electric wheelchair, the method including the steps of:
Acquiring a target driving route of a user on the trip event;
determining at least one slope area in the target driving route, wherein the single slope area at least comprises a downhill road section;
determining one or more slope areas needing energy recovery according to the gradient value of the downhill road section of each slope area;
Performing the following for each of the one or more ramp regions:
Determining a target slope area needing to be driven into first according to the current position of the electric wheelchair and the target driving route;
When the distance between the current position of the electric wheelchair and the target slope surface area is detected to be smaller than a preset distance, determining a target energy recovery mode level adapting to the target slope surface area according to a gradient value of a downhill road section of the target slope surface area, wherein the gradient value and the energy recovery mode level form a positive association relation; and
And when the electric wheelchair enters the initial position of the target slope area, controlling the motor to charge the battery pack of the electric wheelchair according to the target energy recovery mode level.
In one example, the target energy recovery pattern levels include low, medium, and high levels; the determining a target energy recovery mode level adapted to the target slope area according to the gradient value of the downhill road section of the target slope area comprises the following steps:
Detecting that the distance between the current position of the electric wheelchair and the target slope area is smaller than the preset distance;
acquiring the gradient value of the downhill road section of the target slope surface area;
If the gradient value is not larger than a first gradient threshold value, determining that the target energy recovery mode level adapting to the target slope area is low; and if the gradient value is detected to be larger than the first gradient threshold value and smaller than a second gradient threshold value, determining that the target energy recovery mode grade adapting to the target slope surface area is a middle grade; and if the gradient value is not smaller than the second gradient threshold value, determining that the target energy recovery mode grade adapting to the target slope surface area is high.
In one example, the controlling the motor to charge the battery pack of the electric wheelchair according to the target energy recovery mode level when the electric wheelchair is driven into the starting position includes:
Detecting the initial position of the electric wheelchair entering the target slope area;
determining an energy recovery torque intensity of the electric wheelchair according to the target energy recovery mode level;
Controlling the motor to enter a generator mode according to the energy recovery torque strength to generate electricity, wherein the energy recovery torque strength and the electricity generation amount of the motor in the generator mode are in positive association;
Acquiring output current of the motor in the generator mode through an output current acquisition circuit; the output current is three-phase alternating current; and converting the three-phase alternating current into direct current through a direct current inverter; and
The direct current is input to the battery pack through a charging control circuit to realize charging of the battery pack.
In one example, the method further comprises:
And if the user is detected to execute the acceleration operation, controlling the electric wheelchair to exit the target energy recovery mode.
In one example, the determining one or more slope areas for which energy recovery is required according to the gradient value of the downhill road section of each slope area includes:
Acquiring the gradient value of the downhill road section of each slope area;
detecting that one or more of the grade values is greater than or equal to a third grade threshold;
determining the one or more slope areas corresponding to the one or more slope values requires energy recovery.
In an example, the obtaining the target driving route of the current trip event of the user includes:
When the starting of the electric wheelchair is detected, a route acquisition signal is sent to a mobile terminal;
And receiving a route feedback signal from the mobile terminal, wherein the route feedback signal is used for representing the mobile terminal to determine the target driving route information of the current trip event according to map navigation data, and the target driving route information comprises a target driving route, a slope surface area position in the target driving route and a slope value of the slope surface area.
In one example, the method further comprises:
When the user is detected to press an energy recovery mode key for the first time, the electric wheelchair is controlled to start or exit the energy recovery mode, and the energy recovery mode key comprises an energy recovery starting key and an energy recovery exiting key; and
When the user is detected to press the energy recovery level key for the second time, the electric wheelchair is controlled to switch to the energy recovery mode corresponding to the level, and the energy recovery level key comprises an energy recovery low-level key, an energy recovery medium-level key and an energy recovery high-level key.
In a second aspect, an embodiment of the present application provides an energy recovery control device applied to a controller of an electric wheelchair, the device including:
The acquisition unit is used for acquiring a target driving route of the user on the trip event;
A first determining unit configured to determine at least one slope area in the target travel route, the single slope area including at least a downhill road section;
the second determining unit is used for determining one or more slope areas needing energy recovery according to the gradient value of the downhill road section of each slope area;
An execution unit for performing, for each of the one or more ramp regions, the following operations: determining a target slope area needing to be driven into first according to the current position of the electric wheelchair and the target driving route; when the distance between the current position of the electric wheelchair and the target slope surface area is detected to be smaller than a preset distance, determining a target energy recovery mode level adapting to the target slope surface area according to a gradient value of a downhill road section of the target slope surface area, wherein the gradient value and the energy recovery mode level form a positive association relation; and controlling a motor to charge a battery pack of the electric wheelchair according to the target energy recovery mode level when the electric wheelchair enters the initial position of the target slope area.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the first aspect of the embodiment of the present application.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program/instructions for execution by a processor to perform the steps of the method of the first aspect described above.
According to the embodiment of the application, the controller determines the slope area capable of recovering energy in the target driving route of the wheelchair user; then, when the distance between the wheelchair and the first-in target slope area is detected to be smaller than a preset distance according to the current position of the wheelchair and the target driving route, adapting the grade of the energy recovery mode according to the gradient value of the target slope area; and finally, when the wheelchair is detected to drive into the target slope area, energy recovery is carried out according to the level, so that the slope area and the energy recovery level of the energy recovery are pre-judged in advance. Therefore, compared with the prior energy recovery control scheme that the energy recovery is required to be started and the energy recovery grade is calculated only after the wheelchair descends, the energy recovery control method and the energy recovery control device can timely enter the energy recovery mode of the corresponding grade at the first time when the wheelchair enters the descending road section, so that the energy recovery efficiency is improved, and the energy waste is avoided.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a system architecture diagram of an energy recovery control system provided by an embodiment of the present application;
Fig. 2 is a block diagram of an electronic device according to an embodiment of the present application;
FIG. 3 is a flow chart of steps of a method for controlling energy recovery according to an embodiment of the present application;
FIG. 4 is an overall flow chart of an energy recovery control method provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of an energy recovery control method for an electric wheelchair according to an embodiment of the present application;
Fig. 6 is a functional unit composition block diagram of an energy recovery control device according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
At present, the existing energy recovery control scheme mainly starts an energy recovery mode after an electric wheelchair is detected to enter a downhill slope, and adjusts energy recovery grades according to gradient values measured in real time, so that a slope area needing energy recovery and an energy recovery mode grade needing adaptation cannot be determined in advance according to a target driving route, and accordingly energy recovery of corresponding grades cannot be timely carried out at a first moment of entering the target slope area, and energy recovery requirements of the electric wheelchair in a downhill slope section are difficult to meet.
In view of the foregoing, an embodiment of the present application provides an energy recovery control method and apparatus, and the following detailed description of the embodiment of the present application refers to the accompanying drawings.
Referring to fig. 1, fig. 1 is a system architecture diagram of an energy recovery control system according to an embodiment of the present application, and as shown in fig. 1, the energy recovery control system includes a mobile terminal 100, a position sensor 120, an electric wheelchair controller 110, a motor controller 130, a motor 140, a dc inverter 150, a battery pack 160, an electric wheelchair rear wheel 170, and the like.
The mobile terminal 100 is configured to interact with the electric wheelchair controller 110 by signals, and send target driving route information of the current travel event of the wheelchair user to the electric wheelchair controller 110, where the target driving route information includes a target driving route, a slope area in the target driving route, and a slope value of the slope area, and the mobile terminal includes a mobile phone, a tablet computer, and the like.
The position sensor 120 is used to transmit position information of the electric wheelchair to the electric wheelchair controller 110 in real time.
The electric wheelchair controller 110 is configured to determine one or more ramp areas in the target travel route for which energy recovery is desired; the method comprises the steps of determining a target slope area where the wheelchair enters first according to a target driving route and the current position of the wheelchair, and determining the distance between the current position of the wheelchair and the target slope area; the system is also used for determining a target energy recovery mode grade of the adaptive target slope surface area according to the gradient value of the downhill road section of the target slope surface area when the distance is detected to be smaller than the preset distance; and also to send an energy recovery command to the motor controller 130 upon detecting that the electric wheelchair is driving into the target slope area.
The motor controller 130 is configured to control the motor 140 to apply an electromagnetic anti-tug force to the electric wheelchair rear wheel 170 according to the target energy recovery mode level after receiving the energy recovery command, the electromagnetic anti-tug force being used to both brake the wheelchair and charge the battery pack 160. Specifically, the reverse induction current generated by the electromagnetic reverse drag force passes through the dc inverter 150 to reach the battery pack 160, thereby achieving energy recovery.
It can be seen that, in this embodiment, the electric wheelchair controller 110 obtains the target driving route of the current trip event of the user and the slope area and the slope value in the route through the signaling interaction with the mobile terminal 100, so as to determine the slope area capable of performing energy recovery; the position information of the wheelchair is acquired in real time through the position sensor 120, so that the target slope area where the wheelchair enters first and the distance between the current position of the wheelchair and the target slope area are determined; then when the distance is detected to be smaller than the preset distance, determining a target energy recovery mode grade adapting to the area according to the gradient value of the downhill road section of the target slope area; and then sends an energy recovery command to the motor controller 130 upon detecting that the wheelchair is driving into the target slope area. The motor controller 130, upon receiving the energy recovery command, controls the motor 140 to generate power according to the target energy recovery mode level and charge the battery pack 160. The wheelchair is controlled to recover energy according to the energy recovery grade which is pre-adapted to the area at the first moment when the wheelchair enters the target slope area.
Referring to fig. 2, fig. 2 is a block diagram of an electronic device according to an embodiment of the present application, which is configured to execute the energy recovery control system of fig. 1, and as shown in fig. 2, the electronic device may include one or more of the following components: processor 210, communication interface 220, memory 230 coupled to processor 210, and communication bus 240 connecting the various system components, including memory 230 and processor 210, wherein memory 230 may store one or more computer programs that may be configured to implement the methods described in the embodiments above when executed by one or more processors 210.
Processor 210 may include one or more processing cores. The processor 210 utilizes various interfaces and lines to connect various portions of the overall electronic device, perform various functions of the electronic device, and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 230, and invoking data stored in the memory 230. Alternatively, the processor 210 may be implemented in at least one hardware form of digital signal Processing (DIGITAL SIGNAL Processing, DSP), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 210 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for being responsible for rendering and drawing of display content; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 210 and may be implemented solely by a single communication chip.
Memory 230 may include random access Memory (Random Access Memory, RAM) or Read-Only Memory (ROM). Memory 230 may be used to store instructions, programs, code, a set of codes, or a set of instructions. The memory 230 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The storage data area may also store data created by the electronic device in use, etc.
Communication bus 240 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry Standard architecture (IndustryStandardArchitecture; hereinafter ISA) bus, micro channel architecture (MicroChannelArchitecture; hereinafter MAC) bus, enhanced ISA bus, video electronics standards Association (VideoElectronicsStandardsAssociation; hereinafter VESA) local bus, and peripheral component interconnect (PeripheralComponentInterconnection; hereinafter PCI) bus.
It will be appreciated that the electronic device may include more or fewer structural elements than those described in the above-described block diagrams, including, for example, a power module, physical key, wi-Fi module, speaker, bluetooth module, sensor, etc., without limitation.
Referring to fig. 3, fig. 3 is a flowchart illustrating steps of an energy recovery control method according to an embodiment of the application, which is applied to the electric wheelchair controller 110 in fig. 1, as shown in fig. 3, and the method includes the following steps:
step S301, a target driving route of the user on the current trip event is obtained.
In one possible embodiment, the obtaining the target driving route of the current trip event of the user includes:
When the starting of the electric wheelchair is detected, a route acquisition signal is sent to a mobile terminal;
and receiving a route feedback signal from the mobile terminal, wherein the route feedback signal is used for representing the target driving route information of the current trip event determined by the mobile terminal according to map navigation data.
The target driving route information comprises a target driving route, a slope surface area position in the target driving route and a slope value of the slope surface area.
In one possible embodiment, the determining, by the mobile terminal, the target travel route information of the current trip event according to map navigation data includes:
The mobile terminal sends out first inquiry information for acquiring a travel destination of the travel event of the user;
Receiving the travel destination information;
Determining a plurality of alternative reference routes to the travel destination by the map navigation data;
detecting that the user selects one of the plurality of alternative reference routes;
and determining the alternative reference route as the target driving route.
And determining the target driving route information related to the target driving route through the map navigation data.
The first inquiry information may be presented by voice broadcasting or prompting on a display screen of the terminal.
The mobile terminal comprises a mobile phone, a tablet personal computer and the like.
It can be seen that, in this embodiment, the electric wheelchair controller performs signaling interaction with the mobile terminal, so that the target travel route information of the travel event determined by calculation at the mobile terminal side can be obtained, and thus, the slope area position in the target travel route can be determined according to the obtained target travel route information, and the slope area for energy recovery and the energy recovery intensity adapted to the area can be determined according to the slope value. The energy recovery area and the energy recovery grade are determined in advance, so that the energy recovery mode of the corresponding grade is started in time at the first moment when the electric wheelchair reaches the energy recovery area, and the energy recovery efficiency is improved.
Step S302, determining at least one slope area in the target driving route, wherein the single slope area at least comprises a downhill road section.
In one possible embodiment, the determining at least one ramp area in the target driving route includes:
The electric wheelchair controller receives the target travel route information from the mobile terminal;
determining slope values of a slope surface area in the target driving route and a downhill road section in the slope surface area according to the target driving route information;
and marking the area with the gradient value larger than the preset gradient value as the slope area.
In one possible embodiment, the method further comprises:
and marking the area with the gradient value not larger than the preset gradient value as a plane area.
Wherein the gradient value is an angle value of an acute included angle formed between the slope surface and the horizontal plane.
The mobile terminal determines that three slope areas in the target driving route can be three, namely a first slope area, a second slope area and a third slope area, through map navigation data and a big data algorithm, and determines that gradient values of downhill road sections in the three slope areas can be 9, 3 and 45 respectively; and then the mobile terminal sends the positions and gradient values of the three slope areas to an electric wheelchair controller, the electric wheelchair controller judges the three slope areas, the preset gradient value can be 8, so that the gradient value 3 of the second slope area is smaller than the preset gradient value 8, and the electric wheelchair controller determines that the slope area in the target driving route comprises the first slope area and the third slope area.
It can be seen that in this embodiment, the electric wheelchair controller receives the information about the target driving route from the mobile terminal, including the slope area position and the gradient value of the downhill road section, and then the electric wheelchair controller marks the area with the gradient value greater than the preset gradient value as the slope area and marks the area with the gradient value not greater than the preset gradient value as the plane area, so that the slope area with the smaller gradient value can be excluded, the wheelchair controller can perform a subsequent series of operations only on the slope area with the larger gradient value, the workload of the wheelchair controller is reduced, and the accuracy of wheelchair energy recovery in the downhill process is improved.
Step S303, determining one or more slope areas needing energy recovery according to the gradient value of the downhill road section of each slope area.
In one possible embodiment, the determining one or more slope areas for which energy recovery is required according to the gradient value of the downhill road section of each slope area includes:
Acquiring the gradient value of the downhill road section of each slope area;
detecting that one or more of the grade values is greater than or equal to a third grade threshold;
determining the one or more slope areas corresponding to the one or more slope values requires energy recovery.
For example, the third gradient threshold may be 10, and the wheelchair controller determines that the slope area in the target travel route includes the first slope area and the third slope area, and the corresponding gradient values are 9 and 45, so that if it is detected that the gradient value 45 of the third slope area is greater than the third gradient threshold 25, it may determine that the third slope area is an area where energy recovery is required.
It can be seen that in this embodiment, the controller detects the slope value of the slope area marked in the target driving route, and determines the slope area with the slope value greater than or equal to the third slope threshold value as the slope area needing energy recovery, so that the slope area with the slope value smaller than the third slope threshold value is determined as the slope area needing no energy recovery, recovery is implemented only for the slope area with the larger slope value, and the wheelchair is prevented from entering an energy recovery mode on all slope areas in the driving process, thereby affecting normal driving of the wheelchair and driving experience of the user.
Step S304, for each of the one or more slope areas, performing the following operations:
Determining a target slope area needing to be driven into first according to the current position of the electric wheelchair and the target driving route;
When the distance between the current position of the electric wheelchair and the target slope surface area is detected to be smaller than a preset distance, determining a target energy recovery mode level adapting to the target slope surface area according to a gradient value of a downhill road section of the target slope surface area, wherein the gradient value and the energy recovery mode level form a positive association relation; and
And when the electric wheelchair enters the initial position of the target slope area, controlling the motor to charge the battery pack of the electric wheelchair according to the target energy recovery mode level.
In one possible embodiment, the target energy recovery pattern levels include low, medium, and high levels; the determining a target energy recovery mode level adapted to the target slope area according to the gradient value of the downhill road section of the target slope area comprises the following steps:
Detecting that the distance between the current position of the electric wheelchair and the target slope area is smaller than the preset distance;
acquiring the gradient value of the downhill road section of the target slope surface area;
If the gradient value is not larger than a first gradient threshold value, determining that the target energy recovery mode level adapting to the target slope area is low; and if the gradient value is detected to be larger than the first gradient threshold value and smaller than a second gradient threshold value, determining that the target energy recovery mode grade adapting to the target slope surface area is a middle grade; and if the gradient value is not smaller than the second gradient threshold value, determining that the target energy recovery mode grade adapting to the target slope surface area is high.
For example, the preset distance may be 3m, and the distance between the current position of the electric wheelchair and the target slope area may be 2m, and the gradient value of the third slope area required for energy recovery is 45; and the first grade threshold may be 20 and the second grade threshold may be 40, then the target energy recovery mode level for adapting the slope area may be determined to be high.
The current position of the electric wheelchair can be determined in real time by a position sensor arranged on the wheelchair, and the distance between the current position of the electric wheelchair and the target slope area can be calculated by a wheelchair controller according to the current position of the wheelchair and the position of the target slope area through an algorithm model.
In one possible embodiment, the controlling the motor to charge the battery pack of the electric wheelchair according to the target energy recovery mode level when the electric wheelchair is driven into the starting position includes:
Detecting the initial position of the electric wheelchair entering the target slope area;
determining an energy recovery torque intensity of the electric wheelchair according to the target energy recovery mode level;
Controlling the motor to enter a generator mode according to the energy recovery torque strength to generate electricity, wherein the energy recovery torque strength and the electricity generation amount of the motor in the generator mode are in positive association;
Obtaining output current of the motor in the generator mode through an output current acquisition circuit, wherein the output current is three-phase alternating current; and converting the three-phase alternating current into direct current through a direct current inverter; and
The direct current is input to the battery pack through a charging control circuit to realize charging of the battery pack.
The energy recovery torque intensity comprises weak, standard and strong, and corresponds to the low level, the medium level and the high level of the energy recovery mode level one by one respectively.
In one possible embodiment, the method further comprises:
And if the user is detected to execute the acceleration operation, controlling the electric wheelchair to exit the target energy recovery mode.
When a user performs acceleration operation in the process of recovering the energy of the wheelchair in a downhill mode, the motor mainly performs a motor mode, converts electric energy into mechanical energy and drives the electric wheelchair to accelerate, and at the moment, the electric wheelchair is controlled to exit the target energy recovery mode, so that the motor exits the generator mode.
In one possible embodiment, the method further comprises:
When the user is detected to press an energy recovery mode key for the first time, the electric wheelchair is controlled to start or exit the energy recovery mode, and the energy recovery mode key comprises an energy recovery starting key and an energy recovery exiting key; and
When the user is detected to press the energy recovery level key for the second time, the electric wheelchair is controlled to switch to the energy recovery mode corresponding to the level, and the energy recovery level key comprises an energy recovery low-level key, an energy recovery medium-level key and an energy recovery high-level key.
The energy recovery mode key and the energy recovery grade key can support a user to automatically control the wheelchair to enter an energy recovery mode and support the user to autonomously set the grade of energy recovery; when the user is not detected to press the energy recovery exit button, the controller controls the electric wheelchair to automatically enter an energy recovery mode of a corresponding grade according to the adaptive energy recovery grade of the slope area determined in advance.
It can be seen that, in this embodiment, the electric wheelchair controller determines, according to the current position of the wheelchair and the target driving route, a target slope area into which the electric wheelchair first drives, then calculates, in real time, a distance between the current position of the wheelchair and the target slope area, then determines, when detecting that the distance is smaller than a preset distance, a target energy recovery mode level adapted to the slope area according to a gradient value of a downhill road section of the target slope area, and finally, when detecting that the electric wheelchair drives into the starting position of the target slope area, controls the motor to adapt a corresponding energy recovery torque intensity according to the target energy recovery mode level, and enters the generator mode according to the energy recovery torque intensity to charge the battery pack. The slope surface area needing energy recovery and the energy recovery mode grade of the area are determined in advance, so that the electric wheelchair enters the energy recovery mode of the corresponding grade at the first time of entering the area, the energy recovery efficiency is improved, and energy waste is avoided.
Referring to fig. 4, fig. 4 is an overall flowchart of an energy recovery control method according to an embodiment of the application, as shown in fig. 4, the method includes the following steps:
S401, acquiring a target driving route of the user on the current trip event.
In one possible embodiment, the obtaining the target driving route of the current trip event of the user includes:
When the starting of the electric wheelchair is detected, a route acquisition signal is sent to a mobile terminal;
and receiving a route feedback signal from the mobile terminal, wherein the route feedback signal is used for representing the target driving route information of the current trip event determined by the mobile terminal according to map navigation data.
The target driving route information comprises a target driving route, a slope surface area position in the target driving route and a slope value of the slope surface area.
S402, determining a slope area needing energy recovery in the target driving route.
In one possible embodiment, the determining the slope area in the target driving route where energy recovery is needed includes:
Determining at least one slope area in the target driving route;
acquiring the gradient value of a downhill road section of each slope surface area;
detecting that one or more of the grade values is greater than or equal to a third grade threshold;
determining the one or more slope areas corresponding to the one or more slope values requires energy recovery.
S403, determining a target slope area needing to be driven into first according to the current position and the target driving route of the electric wheelchair.
S404, whether the distance between the current position of the electric wheelchair and the target slope area is smaller than a preset distance or not.
If the distance between the current position of the electric wheelchair and the target slope area is smaller than the preset distance, step S405 is executed.
S405, whether the gradient value of the downhill road section of the target slope surface area is not greater than the first gradient threshold value.
If the gradient value of the downhill road section of the target slope area is not greater than the first gradient threshold value, step S406 is executed; otherwise, step S407 is performed.
S406, determining that the target energy recovery mode level of the adaptive target slope area is low.
S407, whether the gradient value of the downhill road section of the target slope surface area is not smaller than a second gradient threshold value.
If the gradient value of the downhill road section of the target slope area is not less than the second gradient threshold value, step S408 is executed; otherwise, step S409 is performed.
S408: and determining the grade of the target energy recovery mode adapting to the target slope surface area to be high.
S409: and determining the grade of the target energy recovery mode adapting to the target slope surface area as a middle grade.
S410: when the electric wheelchair enters the initial position of the target slope area, the electric motor is controlled to charge the battery pack of the electric wheelchair according to the target energy recovery mode level.
In one possible embodiment, the controlling the motor to charge the battery pack of the electric wheelchair according to the target energy recovery mode level when the electric wheelchair is driven into the starting position includes:
Detecting the initial position of the electric wheelchair entering the target slope area;
determining an energy recovery torque intensity of the electric wheelchair according to the target energy recovery mode level;
Controlling the motor to enter a generator mode according to the energy recovery torque strength to generate electricity, wherein the energy recovery torque strength and the electricity generation amount of the motor in the generator mode are in positive association;
Obtaining output current of the motor in the generator mode through an output current acquisition circuit, wherein the output current is three-phase alternating current; and converting the three-phase alternating current into direct current through a direct current inverter; and
The direct current is input to the battery pack through a charging control circuit to realize charging of the battery pack.
The energy recovery torque intensity comprises weak, standard and strong, and corresponds to the low level, the medium level and the high level of the energy recovery mode level one by one respectively.
S411, detecting that the electric wheelchair is driven away from the target slope area, and exiting the energy recovery mode.
S412, whether other target slope areas exist in the target driving route.
If there are other target slope areas in the target driving route, step S403 is executed; otherwise, step S413 is performed.
S413, keeping the electric wheelchair out of the energy recovery mode.
It can be seen that, in this embodiment, the electric wheelchair and the mobile terminal perform signaling interaction to obtain the target travel route information of the current travel time of the user, so as to determine the slope area where energy recovery is required according to the slope area position and the slope value in the target travel route, and determine the position of the electric wheelchair in real time through the position sensor, further determine the distance between the current position of the electric wheelchair and the target slope area where the electric wheelchair first enters, then determine the grade of the target energy recovery mode adapting to the area according to the slope value of the target slope area when the distance is detected to be smaller than the preset distance, and control the motor to enter the energy recovery mode of the corresponding grade when the initial position of the wheelchair entering the target slope area is detected, thereby realizing the accurate and intelligent control function of energy recovery of the electric wheelchair and being beneficial to improving energy waste.
Referring to fig. 5, fig. 5 is a schematic diagram of an energy recovery control method for an electric wheelchair according to an embodiment of the present application, and as shown in fig. 5, the scene is a normal driving scene of the electric wheelchair.
The electric wheelchair is driven by a user in a left plane area, a target slope area where the electric wheelchair is driven first is formed on the right side, and the electric wheelchair is driven to the right target slope area by the user operating a handle of the electric wheelchair.
Wherein, in 5-1 of fig. 5, when the distance between the current position of the electric wheelchair and the target slope area is smaller than the preset distance, the electric wheelchair controller determines the target energy recovery mode level adapted to the target slope area according to the gradient value of the target slope area.
In fig. 5-2, when the electric wheelchair is driven into the starting position of the target slope area, the electric motor is controlled to enter the generator mode according to the target energy recovery mode level to charge the battery pack of the electric wheelchair.
It can be understood that when the electric wheelchair controller determines the target driving route and determines the target slope area where the electric wheelchair first drives in according to the slope area and the gradient value in the target driving route and the current position information of the electric wheelchair, the controller calculates the distance between the current position of the electric wheelchair and the target slope area in real time, when the distance is smaller than the preset distance, the controller determines the grade of the energy recovery mode adapted to the target slope area according to the gradient value of the target slope area, and when the electric wheelchair is detected to enter the starting position of the target slope area, the controller immediately controls the motor to enter the power generation mode according to the grade to charge the battery pack, so that the energy recovery mode of the corresponding grade is started in time at the first moment when the wheelchair enters the target slope area, and potential energy is recovered as much as possible in the descending process of the wheelchair is ensured.
Referring to fig. 6, fig. 6 is a functional unit block diagram of an energy recovery control device according to an embodiment of the present application, and as shown in fig. 6, the energy recovery control device includes the following units:
an obtaining unit 601, configured to obtain a target travel route of a current travel event of a user;
a first determining unit 602, configured to determine at least one slope area in the target driving route, where a single slope area includes at least a downhill road segment;
a second determining unit 603, configured to determine one or more slope areas in need of energy recovery according to a gradient value of a downhill road section of each slope area;
An execution unit 604, configured to perform, for each of the one or more slope areas, the following operations: determining a target slope area needing to be driven into first according to the current position of the electric wheelchair and the target driving route; when the distance between the current position of the electric wheelchair and the target slope surface area is detected to be smaller than a preset distance, determining a target energy recovery mode level adapting to the target slope surface area according to a gradient value of a downhill road section of the target slope surface area, wherein the gradient value and the energy recovery mode level form a positive association relation; and controlling a motor to charge a battery pack of the electric wheelchair according to the target energy recovery mode level when the electric wheelchair enters the initial position of the target slope area.
In one possible embodiment, the target energy recovery pattern levels include low, medium, and high levels; the determining a target energy recovery mode level adapted to the target slope area according to the gradient value of the downhill road section of the target slope area comprises the following steps:
Detecting that the distance between the current position of the electric wheelchair and the target slope area is smaller than the preset distance;
acquiring the gradient value of the downhill road section of the target slope surface area;
If the gradient value is not larger than a first gradient threshold value, determining that the target energy recovery mode level adapting to the target slope area is low; and if the gradient value is detected to be larger than the first gradient threshold value and smaller than a second gradient threshold value, determining that the target energy recovery mode grade adapting to the target slope surface area is a middle grade; and if the gradient value is not smaller than the second gradient threshold value, determining that the target energy recovery mode grade adapting to the target slope surface area is high.
In one possible embodiment, the controlling the motor to charge the battery pack of the electric wheelchair according to the target energy recovery mode level when the electric wheelchair is driven into the starting position includes:
Detecting the initial position of the electric wheelchair entering the target slope area;
determining an energy recovery torque intensity of the electric wheelchair according to the target energy recovery mode level;
Controlling the motor to enter a generator mode according to the energy recovery torque strength to generate electricity, wherein the energy recovery torque strength and the electricity generation amount of the motor in the generator mode are in positive association;
Obtaining output current of the motor in the generator mode through an output current acquisition circuit, wherein the output current is three-phase alternating current; and converting the three-phase alternating current into direct current through a direct current inverter; and
The direct current is input to the battery pack through a charging control circuit to realize charging of the battery pack.
In one possible embodiment, the method further comprises:
And if the user is detected to execute the acceleration operation, controlling the electric wheelchair to exit the target energy recovery mode.
In one possible embodiment, the determining one or more slope areas for which energy recovery is required according to the gradient value of the downhill road section of each slope area includes:
Acquiring the gradient value of the downhill road section of each slope area;
detecting that one or more of the grade values is greater than or equal to a third grade threshold;
determining the one or more slope areas corresponding to the one or more slope values requires energy recovery.
In one possible embodiment, the obtaining the target driving route of the current trip event of the user includes:
When the starting of the electric wheelchair is detected, a route acquisition signal is sent to a mobile terminal;
And receiving a route feedback signal from the mobile terminal, wherein the route feedback signal is used for representing the mobile terminal to determine the target driving route information of the current trip event according to map navigation data, and the target driving route information comprises a target driving route, a slope area in the target driving route and a slope value of the slope area.
In one possible embodiment, the method further comprises:
When the user is detected to press an energy recovery mode key for the first time, the electric wheelchair is controlled to start or exit the energy recovery mode, and the energy recovery mode key comprises an energy recovery starting key and an energy recovery exiting key; and
When the user is detected to press the energy recovery level key for the second time, the electric wheelchair is controlled to switch to the energy recovery mode corresponding to the level, and the energy recovery level key comprises an energy recovery low-level key, an energy recovery medium-level key and an energy recovery high-level key.
It can be understood that, since the method embodiment and the apparatus embodiment are different presentation forms of the same technical concept, the content of the method embodiment portion in the present application should be synchronously adapted to the apparatus embodiment portion, which is not described herein.
The device can interact with the mobile terminal through the acquisition unit 601 in a signaling manner to acquire the target driving route of the user on the current trip event; subsequently, at least one slope area in the target driving route is determined by a first determination unit 602, wherein a single slope area comprises at least a downhill road section; then, determining one or more slope areas needing energy recovery according to the gradient value of the downhill road section of each slope area through a second determining unit 603; next, the following operations are performed for each slope area by the execution unit 604: the method comprises the steps of determining a target slope area which is driven into firstly according to the current position of the electric wheelchair and a target driving route, determining an energy recovery mode grade which is adapted to the target slope area according to a gradient value of the target slope area when the distance between the current position of the electric wheelchair and the target slope area is detected to be smaller than a preset distance, and controlling a motor to enter a generator mode to charge a battery pack according to the energy recovery mode grade when the wheelchair is detected to drive into the target slope area, so that the energy recovery mode of the corresponding grade is started in time at the first time when the electric wheelchair enters the target slope area, potential energy waste is avoided, and energy recovery efficiency is improved.
Further, an embodiment of the present application provides a computer storage medium storing a computer program capable of being loaded by a processor and executing the abnormal scan pattern state identification method as described above, the computer readable storage medium including, for example: a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RandomAccessMemory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, it should be understood by those skilled in the art that the embodiments described in the specification are all preferred embodiments, and the acts and elements referred to are not necessarily required for the present application.
Only one logic function is divided, and other division modes can be adopted in actual implementation; for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may be physically included separately, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: u disk, removable hard disk, magnetic disk, optical disk, volatile memory or nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (programmableROM, PROM), an erasable programmable read-only memory (erasablePROM, EPROM), an electrically erasable programmable read-only memory (electricallyEPROM, EEPROM), or a flash memory, among others. The volatile memory may be Random Access Memory (RAM) which acts as an external cache. By way of example, and not limitation, many forms of Random Access Memory (RAM) are available, such as static random access memory (STATICRAM, SRAM), dynamic Random Access Memory (DRAM), synchronous dynamic random access memory (synchronousDRAM, SDRAM), double data rate synchronous dynamic random access memory (doubledatarateSDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (ENHANCEDSDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCHLINKDRAM, SLDRAM), and direct memory bus random access memory (directrambusRAM, DRRAM), among other mediums that can store program code.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
The foregoing has outlined rather broadly the more detailed description of embodiments of the application, wherein the principles and embodiments of the application are explained in detail using specific examples, the above examples being provided solely to facilitate the understanding of the method and core concepts of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Although the present application is disclosed above, the present application is not limited thereto. Variations and modifications, including combinations of the different functions and implementation steps, as well as embodiments of the software and hardware, may be readily apparent to those skilled in the art without departing from the spirit and scope of the application.
Claims (10)
1. An energy recovery control method, characterized by being applied to a controller of an electric wheelchair, comprising:
Acquiring a target driving route of a user on the trip event;
determining at least one slope area in the target driving route, wherein the single slope area at least comprises a downhill road section;
determining one or more slope areas needing energy recovery according to the gradient value of the downhill road section of each slope area;
Performing the following for each of the one or more ramp regions:
Determining a target slope area needing to be driven into first according to the current position of the electric wheelchair and the target driving route;
When the distance between the current position of the electric wheelchair and the target slope surface area is detected to be smaller than a preset distance, determining a target energy recovery mode level adapting to the target slope surface area according to a gradient value of a downhill road section of the target slope surface area, wherein the gradient value and the energy recovery mode level form a positive association relation; and
And when the electric wheelchair enters the initial position of the target slope area, controlling the motor to charge the battery pack of the electric wheelchair according to the target energy recovery mode level.
2. The method of claim 1, wherein the target energy recovery pattern levels include low, medium, and high levels; the determining a target energy recovery mode level adapted to the target slope area according to the gradient value of the downhill road section of the target slope area comprises the following steps:
Detecting that the distance between the current position of the electric wheelchair and the target slope area is smaller than the preset distance;
acquiring the gradient value of the downhill road section of the target slope surface area;
If the gradient value is not larger than a first gradient threshold value, determining that the target energy recovery mode level adapting to the target slope area is low; and if the gradient value is detected to be larger than the first gradient threshold value and smaller than a second gradient threshold value, determining that the target energy recovery mode grade adapting to the target slope surface area is a middle grade; and if the gradient value is not smaller than the second gradient threshold value, determining that the target energy recovery mode grade adapting to the target slope surface area is high.
3. The method of claim 2, wherein controlling the motor to charge the battery pack of the electric wheelchair in accordance with the target energy recovery mode level when the electric wheelchair is driven into the starting position comprises:
Detecting the initial position of the electric wheelchair entering the target slope area;
determining an energy recovery torque intensity of the electric wheelchair according to the target energy recovery mode level;
Controlling the motor to enter a generator mode according to the energy recovery torque strength to generate electricity, wherein the energy recovery torque strength and the electricity generation amount of the motor in the generator mode are in positive association;
Obtaining output current of the motor in the generator mode through an output current acquisition circuit, wherein the output current is three-phase alternating current; and converting the three-phase alternating current into direct current through a direct current inverter; and
The direct current is input to the battery pack through a charging control circuit to realize charging of the battery pack.
4. A method according to claim 3, characterized in that the method further comprises:
And if the user is detected to execute the acceleration operation, controlling the electric wheelchair to exit the target energy recovery mode.
5. The method according to any one of claims 1-4, wherein said determining one or more slope areas for which energy recovery is required based on the grade value of the downhill road segment of each slope area comprises:
Acquiring the gradient value of the downhill road section of each slope area;
detecting that one or more of the grade values is greater than or equal to a third grade threshold;
determining the one or more slope areas corresponding to the one or more slope values requires energy recovery.
6. The method according to claim 5, wherein the obtaining the target travel route of the current trip event of the user includes:
When the starting of the electric wheelchair is detected, a route acquisition signal is sent to a mobile terminal;
And receiving a route feedback signal from the mobile terminal, wherein the route feedback signal is used for representing the mobile terminal to determine the target driving route information of the current trip event according to map navigation data, and the target driving route information comprises a target driving route, a slope surface area position in the target driving route and a slope value of the slope surface area.
7. The method of claim 6, wherein the method further comprises:
When the user is detected to press an energy recovery mode key for the first time, the electric wheelchair is controlled to start or exit the energy recovery mode, and the energy recovery mode key comprises an energy recovery starting key and an energy recovery exiting key; and
When the user is detected to press the energy recovery level key for the second time, the electric wheelchair is controlled to switch to the energy recovery mode corresponding to the level, and the energy recovery level key comprises an energy recovery low-level key, an energy recovery medium-level key and an energy recovery high-level key.
8. An energy recovery control device, characterized by being applied to a controller of an electric wheelchair, comprising:
The acquisition unit is used for acquiring a target driving route of the user on the trip event;
A first determining unit configured to determine at least one slope area in the target travel route, the single slope area including at least a downhill road section;
the second determining unit is used for determining one or more slope areas needing energy recovery according to the gradient value of the downhill road section of each slope area;
An execution unit for performing, for each of the one or more ramp regions, the following operations: determining a target slope area needing to be driven into first according to the current position of the electric wheelchair and the target driving route; when the distance between the current position of the electric wheelchair and the target slope surface area is detected to be smaller than a preset distance, determining a target energy recovery mode level adapting to the target slope surface area according to a gradient value of a downhill road section of the target slope surface area, wherein the gradient value and the energy recovery mode level form a positive association relation; and controlling a motor to charge a battery pack of the electric wheelchair according to the target energy recovery mode level when the electric wheelchair enters the initial position of the target slope area.
9. An electronic device comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured for execution by the processor, the programs comprising instructions for performing the steps of the method of any of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program/instructions, characterized in that the computer program/instructions are executed by a processor for carrying out the steps of the method according to any of claims 1-7.
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