WO2017088691A1 - 电动车的电机控制方法、电机控制装置以及电动车、计算机存储介质 - Google Patents

电动车的电机控制方法、电机控制装置以及电动车、计算机存储介质 Download PDF

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Publication number
WO2017088691A1
WO2017088691A1 PCT/CN2016/106093 CN2016106093W WO2017088691A1 WO 2017088691 A1 WO2017088691 A1 WO 2017088691A1 CN 2016106093 W CN2016106093 W CN 2016106093W WO 2017088691 A1 WO2017088691 A1 WO 2017088691A1
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Prior art keywords
electric vehicle
state parameter
motor
handle
parameter
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PCT/CN2016/106093
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English (en)
French (fr)
Inventor
柴富华
乔万阳
陈中元
刘磊
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纳恩博（北京）科技有限公司
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Publication of WO2017088691A1 publication Critical patent/WO2017088691A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M7/00—Motorcycles characterised by position of motor or engine
    • B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/14—Vehicles with one wheel only
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to the field of electric vehicle technology, and in particular to a motor control method for an electric vehicle, a motor control device, and an electric vehicle and a computer storage medium.
  • the electric vehicle in the prior art mainly comprises a motor wheel, a foot pedal, a main control board and a handle arranged on the wheel of the motor.
  • the foot pedal is arranged on both sides of the motor wheel, and the main control board is connected with the motor wheel through the main The control panel controls the operation of the motor wheels.
  • the motor wheel is turned off by the main control board, and the item can be carried by the handle.
  • the user In the prior art electric vehicle, the user sometimes forgets to turn off the motor after using the electric vehicle, or when carrying the electric vehicle, it is possible to touch the main control board and turn on the motor. When the above situation occurs, the motor wheel is likely to continue to operate and cause damage to the user. Therefore, the electric vehicle of the prior art has low safety and cannot guarantee the safety of the user.
  • the invention provides a motor control method for an electric vehicle, a motor control device, an electric vehicle and a computer storage medium, so as to solve the problem that the electric vehicle in the prior art has low safety.
  • a motor control method for an electric vehicle includes: detecting a state parameter of the electric vehicle, wherein the state parameter is used to reflect whether the electric vehicle is in a raised state; Whether the state parameter meets the preset condition; when the state parameter meets the preset condition, it is determined that the electric vehicle is in the raised state, and the motor of the electric vehicle is controlled to stop running.
  • detecting the state parameter of the electric vehicle specifically includes: detecting a state parameter of the first component of the electric vehicle to control the motor to stop running when the state parameter of the first component meets the preset condition.
  • the first component is a handle of the electric vehicle
  • the state parameter of the electric vehicle is a state parameter of the handle
  • the state parameter of the handle refers to a handle that reflects whether the user lifts the electric vehicle through the handle.
  • the position parameter and/or the handle pressure parameter, and analyzing whether the state parameter meets the preset condition comprises: analyzing whether the state parameter of the handle meets the first preset condition; when the state parameter meets the preset condition, determining that the electric vehicle is being lifted
  • the state, and controlling the motor of the electric vehicle to stop running includes: determining that the state parameter of the handle meets the first preset condition, determining that the electric vehicle is in the lifted state, and controlling the motor of the electric vehicle to stop running.
  • the first component is a shock absorbing spring of the electric vehicle
  • the state parameter of the electric vehicle is a state parameter of the damper spring
  • the state parameter of the damper spring refers to a shape variable and/or an elastic force of the damper spring.
  • the first component is a wheel of an electric vehicle
  • the state parameter of the electric vehicle is a state parameter of the wheel
  • the state parameter of the wheel refers to a displacement amount of the wheel relative to the frame and/or a pressure parameter of the wheel
  • analysis Whether the state parameter meets the preset condition includes: analyzing whether the bit state parameter of the wheel meets the third preset condition; when the state parameter meets the preset condition, determining that the electric vehicle is in the raised state, and controlling the motor of the electric vehicle to stop running
  • the method includes: when analyzing the state parameter of the wheel to meet the third preset condition, determining that the electric vehicle is in a raised state, and controlling the motor of the electric vehicle to stop running.
  • a motor control device for an electric vehicle.
  • the motor control device includes: a detecting device configured to detect a state parameter of the electric vehicle; and a processor configured to analyze whether the state parameter conforms to the preset a control device configured to control the motor of the electric vehicle to stop running; wherein the detecting device sends the detected state parameter to the processor, and when the state parameter meets the preset condition, the processor sends a signal to the control device to pass the control device Control the motor to stop running.
  • the detecting device is configured to:
  • the first component is a handle of the electric vehicle
  • the state parameter of the electric vehicle is a state parameter of the handle
  • the state parameter of the handle refers to whether the user passes the a handle position parameter and/or a handle pressure parameter that the handle lifts the electric vehicle
  • the processor is configured to: analyze whether the state parameter of the handle meets a first preset condition
  • the processor When analyzing that the state parameter of the handle conforms to the first preset condition, the processor sends a signal to the control device to control the motor to stop running by the control device.
  • the first component is a damper spring of the electric vehicle
  • the state parameter of the electric vehicle is a state parameter of the damper spring
  • the state parameter of the damper spring refers to the reduction The deformation and/or elastic force of the spring
  • the processor is configured to: analyze whether the state parameter of the damper spring meets a second preset condition
  • the processor When analyzing that the state parameter of the damper spring conforms to the second preset condition, the processor sends a signal to the control device to control the motor of the electric vehicle to stop running by the control device.
  • the first component is a wheel of the electric vehicle
  • the state parameter of the electric vehicle is a state parameter of the wheel
  • the state parameter of the wheel refers to the wheel relative to the frame Displacement and/or pressure parameters of the wheel
  • the processor is configured to: analyze whether the state parameter of the wheel meets a third preset condition;
  • the processor When analyzing that the state parameter of the wheel conforms to the third preset condition, the processor sends a signal to the control device to control the motor of the electric vehicle to stop running by the control device.
  • an electric vehicle in still another embodiment, includes: a motor; a sensor configured to detect a state parameter of the electric vehicle; a main control board, the main control board is respectively connected to the sensor and the motor, and the sensor will The detection parameters are transmitted to the main control board, and the main control board controls the motor to stop running according to the detection parameters.
  • the electric vehicle further includes a housing and a handle, the handle is movably disposed on the housing, and the sensor is configured to detect a state parameter of the handle.
  • the senor is a displacement sensor configured to detect a moving distance of the handle relative to the housing.
  • the electric vehicle further includes a wheel and a damper spring
  • the damper spring is disposed on the axle of the wheel
  • the sensor is configured to detect a state parameter of the damper spring
  • the electric vehicle further includes a wheel, and the sensor is configured to detect a state parameter of the wheel.
  • a computer storage medium stores computer executable instructions configured to execute the electric vehicle according to the embodiment of the present invention. Motor control method.
  • FIG. 1 is a schematic flow chart of a motor control method according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view showing a handle of an electric unicycle provided without being lifted according to an embodiment of the present invention
  • FIG. 3 is a schematic view showing the structure of a handle of an electric unicycle provided according to an embodiment of the present invention. Figure.
  • a motor control method As shown in FIG. 1, in the embodiment of the present invention, a motor control method is provided.
  • the control method comprises:
  • Step 1 detecting a state parameter of the electric vehicle, wherein the state parameter is used to reflect whether the electric vehicle is in a raised state;
  • Step 2 Analyze whether the status parameter meets the preset condition
  • Step 3 When the state parameter meets the preset condition, it is determined that the electric vehicle is in the raised state, and the motor of the electric vehicle is controlled to stop running.
  • the condition may be preset first, or may be detected first.
  • the preset parameter setting is performed first, and then the motor is stopped in the manner of real-time detection during use.
  • There are various ways to determine whether an electric unicycle is lifted for example, detecting a force change, a position change, and the like of a certain component.
  • the motor is automatically controlled to stop running; or when the pressure at the handle is greater than a certain At the preset value, it is judged that the user is carrying the wheelbarrow at this time to automatically control the motor to stop running.
  • the detection parameter data of the component is obtained by detecting a component on the wheelbarrow.
  • the component can be a handle, a shock absorbing spring or a wheel.
  • the detected handle state parameter may include the handle being lifted when being lifted.
  • the movement distance of the handle relative to the frame of the unicycle is used as a judgment basis, so that the distance detection of the handle can be conveniently performed while ensuring the safety of the user.
  • the maximum moving distance of the handle relative to the frame is a preset handle state parameter, and then the actual detected moving distance and the preset maximum moving distance are compared by the main control board, when the actual moving distance is greater than or equal to the pre-predetermined When the maximum moving distance is set, it is considered that the user raises the unicycle through the handle at this time, and the main control board issues a command to the motor through the judgment result to stop the motor.
  • the pressure parameter received when the handle is lifted is used as the preset pressure parameter, and the actual pressure parameter received by the handle is retrieved by the detecting unit.
  • the actual pressure parameter is greater than or equal to the preset pressure parameter, the user is considered as
  • the main control board issues a command to the motor through the judgment result, so that the motor stops running.
  • the unicycle is lifted by the pressure parameter received by the handle at the time of lifting and the handle position parameter of the handle relative to the movement of the unicycle. For example, if the maximum moving distance of the handle relative to the frame is the preset moving distance, and the pressure parameter received by the handle is used as the preset pressure parameter, the actual pressure parameter and the handle of the handle are retrieved by the detecting unit relative to the vehicle.
  • the actual moving distance of the rack when the actual pressure parameter is greater than or equal to the preset pressure parameter, and the actual moving distance is greater than or equal to the preset moving distance, then the user is considered to be lifting the unicycle through the handle at this time, the main The control board issues a command to the motor through the judgment result to stop the motor.
  • the shape variable and/or the elastic force of the damper spring can be detected.
  • the damper spring is deformed and has an elastic force.
  • the range of the shape variable and/or the range of the elastic force is measured in advance.
  • the shape variable and/or the elastic force of the shock absorbing spring is detected, when the detected shape variable and/or the elastic force is within a preset range, the unicycle is judged to be in the lifted state, and the main control board is The motor is commanded by the judgment result to stop the motor.
  • the displacement and/or pressure parameters of the wheel axle relative to the frame can be detected.
  • the distance between the wheel and the frame is the smallest, and the wheel is subjected to the vehicle.
  • the displacement and/or pull value of the wheel relative to the frame when the wheelbarrow is lifted from the ground is measured in advance.
  • the main control board is provided with a switch capable of separately controlling the motor, but whether the switch is turned on or not, the motor may be stopped as long as the detection parameter of the unicycle exceeds the preset parameter range. This ensures the safe use of the electric unicycle by the user.
  • an electric unicycle includes: a main control board 10, a housing 20, a handle 30, a motor, and a sensor.
  • the handle 30 is disposed on the housing 20, and the sensor is configured to detect a handle state parameter of the electric unicycle.
  • the main control board 10 is respectively connected to the sensor and the motor, and the sensor transmits the detected handle state parameter to the main control board 10, The main control board 10 controls the motor to be turned off based on the detected handle state parameters.
  • the handle state parameter includes a pressure parameter that the handle 30 receives when lifting and/or a handle position parameter of the handle 30 relative to the movement of the wheelbarrow.
  • the pressure parameter can be detected by a pressure sensor disposed on the handle 30, and the positional parameter can be detected by the displacement sensor.
  • the movement distance of the handle relative to the wheelbarrow is used as a basis for judgment.
  • the sensor is set as a displacement sensor, and the moving distance of the handle 30 with respect to the housing 20 is detected by the displacement sensor.
  • the senor is disposed between the handle 30 and the housing 20 to facilitate real-time detection of the handle 30 and to improve the accuracy of the detected data.
  • the electric unicycle provided by the embodiment of the invention can perform real-time detection on the unicycle.
  • the motor is automatically turned off to ensure the safety of the user.
  • a motor control device for an electric vehicle
  • the motor control device comprising: a detecting device, a processor, and a control device.
  • the detecting device is configured to detect a state parameter of the electric vehicle
  • the processor is configured to analyze whether the state parameter meets a preset condition
  • the control device is configured to control the motor of the electric vehicle to stop running.
  • the detecting device sends the detected state parameter to the processor.
  • the processor sends a signal to the control device to control the motor to stop running by the control device.
  • the detecting device is configured to detect a state parameter of the first component of the electric vehicle to control the motor to stop running when the state parameter of the first component satisfies the preset condition.
  • the first component may be a handle of the electric vehicle
  • the state parameter of the electric vehicle is a state parameter of the handle
  • the state parameter of the handle refers to whether the user passes the handle a handle position parameter and/or a handle pressure parameter lifted by the electric vehicle
  • the processor is configured to: analyze whether the state parameter of the handle meets a first preset condition
  • the processor When analyzing that the state parameter of the handle conforms to the first preset condition, the processor sends a signal to the control device to control the motor to stop running by the control device.
  • the first component may be a shock absorbing spring of the electric vehicle
  • the state parameter of the electric vehicle is a state parameter of the damper spring
  • the state parameter of the damper spring refers to a shape of the damper spring Variables and / or elastic forces
  • the processor is configured to: analyze whether the state parameter of the damper spring meets a second preset condition
  • the processor When analyzing that the state parameter of the damper spring meets the second preset condition, the processor The control device transmits a signal to control the motor of the electric vehicle to stop operating by the control device.
  • the first component may be a wheel of the electric vehicle
  • a state parameter of the electric vehicle is a state parameter of the wheel
  • a state parameter of the wheel refers to a displacement amount of the wheel relative to the frame / or the pressure parameters of the wheel
  • the processor is configured to: analyze whether the state parameter of the wheel meets a third preset condition;
  • the processor When analyzing that the state parameter of the wheel conforms to the third preset condition, the processor sends a signal to the control device to control the motor of the electric vehicle to stop running by the control device.
  • the detecting device of the embodiment of the present invention may include a handle detecting unit or a damper spring detecting unit or a wheel detecting unit, and the position detecting parameter of the electric vehicle handle is detected by the handle detecting unit, and the electric motor is detected by the damper spring detecting unit.
  • the state parameter of the shock absorber spring of the vehicle detects the state parameter of the wheel of the electric vehicle through the wheel detecting unit. Comparing the detected parameter value with a preset condition to determine whether the electric vehicle is in a raised state. When the electric vehicle is in the raised state, the processor sends a signal to the control device to control the motor through the control device. Stop running.
  • an electric vehicle including an electric motor, a sensor, and a main control board 10 is provided.
  • the sensor is used for detecting the state parameter of the electric vehicle
  • the main control board 10 is respectively connected with the sensor and the motor, and the sensor transmits the detection parameter to the main control board 10, and the main control board 10 determines whether the electric vehicle is being lifted according to the detection parameter.
  • the control motor is stopped.
  • the electric vehicle can be separately controlled.
  • the main control board 10 determines that the electric vehicle is lifted, the main control board 10 controls the motor to stop running to ensure the safety of the user.
  • the electric vehicle includes a housing 20 and a handle 30 disposed on the housing 20.
  • the handle 30 is movably disposed on the housing 20, the handle 30 having a first position adjacent to the wheel of the electric vehicle and a second position remote from the wheel, wherein the first position is a seating position and the second position is a handle 30 The position when it was lifted.
  • the sensor detects that the handle 30 is in the second position, or detects that the displacement distance of the handle 30 reaches the preset distance, the sensor sends a signal to the main control board 10, and the main control board 10 controls the motor to stop according to the signal.
  • the senor may also be a pressure sensor, and the pressure received by the handle 30 is detected by the pressure sensor.
  • the detected pressure reaches a preset pressure value, the electric vehicle is judged to be in a raised state.
  • the control board 10 controls the motor to stop operating according to the judgment.
  • the motor of the unicycle is closed by the handle, and the structure is simple and convenient for the user to operate.
  • the disclosed motor control method, motor control device, and electric vehicle of the electric vehicle may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner such as: multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored or not executed.
  • the coupling, or direct coupling, or communication connection of the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms. of.
  • the units described above as separate components may or may not be physically separated, and the components displayed as the unit may or may not be physical units, that is, may be located in one place or distributed to multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one second processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit;
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed.
  • the foregoing storage device includes the following steps: the foregoing storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
  • ROM read-only memory
  • RAM random access memory
  • magnetic disk or an optical disk.
  • optical disk A medium that can store program code.
  • the above-described integrated unit of the embodiment of the present invention may be stored in a computer readable storage medium if it is implemented in the form of a software function module and sold or used as a stand-alone product.
  • the technical solution of the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium, including a plurality of instructions.
  • a computer device (which may be a personal computer, server, or network device, etc.) is caused to perform all or part of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a removable storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.
  • an embodiment of the present invention further provides a computer readable storage medium, the storage medium comprising a set of computer executable instructions for executing the mobile electronic device according to the embodiment of the present invention. The method of control of the device.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

一种电动车的电机控制方法、以及执行该电机控制方法的电机控制装置、电动车和计算机存储介质。其中，该电机控制方法包括：检测电动车的状态参数，其中，状态参数用于反映电动车是否处于被抬起的状态；分析状态参数是否符合预设条件；当状态参数符合预设条件时，确定电动车处于被抬起的状态，并控制电动车的电机停止运行。通过上述电机控制方法，能够解决现有技术中的安全性较低的问题。

Description

电动车的电机控制方法、电机控制装置以及电动车、计算机存储介质 技术领域
本发明涉及电动车技术领域，具体而言，涉及一种电动车的电机控制方法、电机控制装置以及电动车、计算机存储介质。
背景技术
目前，电动车作为一种新的代步工具由于具有节能、环保、便捷的功能，已被越来越多的人使用。现有技术中的电动车主要包括电机车轮、脚踏板、主控板以及设置在电机车轮上的提手，脚踏板设置在电机车轮的两侧，主控板与电机车轮连接，通过主控板控制电机车轮的运行。在不使用该电动车时，通过主控板关闭电机车轮运行，并可利用提手携带该物品。
现有技术中的电动车，使用者在使用完电动车后有时会忘记关闭电机，或在携带电动车时，有可能触碰主控板并打开电机。上述情况发生时易使电机车轮继续运行并对使用者造成伤害，因此，现有技术中的电动车安全性较低，无法保证使用者的安全。
发明内容
本发明提供一种电动车的电机控制方法、电机控制装置以及电动车、计算机存储介质，以解决现有技术中的电动车安全性较低的问题。
在本发明的一实施例中，提供了一种电动车的电机控制方法，电机控制方法包括：检测电动车的状态参数，其中，状态参数用于反映电动车是否处于被抬起的状态；分析状态参数是否符合预设条件；当状态参数符合预设条件时，确定电动车处于被抬起的状态，并控制电动车的电机停止运行。
在一可实施方式中，检测电动车的状态参数，具体包括：检测电动车的第一部件的状态参数，以在第一部件的状态参数满足预设条件时，控制电机停止运行。
在一可实施方式中，第一部件为电动车的提手，电动车的状态参数为提手的状态参数，提手的状态参数是指反映使用者是否通过提手将电动车提起的提手位置参数和/或提手压力参数，分析状态参数是否符合预设条件包括：分析提手的状态参数是否符合第一预设条件；当状态参数符合预设条件时，确定电动车处于被抬起的状态，并控制电动车的电机停止运行包括：分析提手的状态参数符合第一预设条件时，确定电动车处于被抬起的状态，并控制电动车的电机停止运行。
在一可实施方式中，第一部件为电动车的减震弹簧，电动车的状态参数为减震弹簧的状态参数，减震弹簧的状态参数是指减震弹簧的形变量和/或弹性力，分析状态参数是否符合预设条件包括：分析减震弹簧的状态参数是否符合第二预设条件；当状态参数符合预设条件时，确定电动车处于被抬起的状态，并控制电动车的电机停止运行包括：分析减震弹簧的状态参数符合第二预设条件时，确定电动车处于被抬起的状态，并控制电动车的电机停止运行。
在一可实施方式中，第一部件为电动车的车轮，电动车的状态参数为车轮的状态参数，车轮的状态参数是指车轮相对于车架的位移量和/或车轮的压力参数，分析状态参数是否符合预设条件包括：分析车轮的位状态参数是否符合第三预设条件；当状态参数符合预设条件时，确定电动车处于被抬起的状态，并控制电动车的电机停止运行包括：分析车轮的状态参数符合第三预设条件时，确定电动车处于被抬起的状态，并控制电动车的电机停止运行。
在本发明的另一实施例中，提供了一种电动车的电机控制装置，电机控制装置包括：检测装置，配置为检测电动车的状态参数；处理器，配置为分析状态参数是否符合预设条件；控制装置，配置为控制电动车的电机停止运行；其中，检测装置将检测的状态参数发送至处理器，当状态参数符合预设条件时，处理器向控制装置发送信号，以通过控制装置控制电机停止运行。
在一可实施方式中，所述检测装置配置为：
检测所述电动车的第一部件的状态参数，以在所述第一部件的状态参数满足所述预设条件时，控制所述电机停止运行。
在一可实施方式中，所述第一部件为所述电动车的提手，所述电动车的状态参数为提手的状态参数，所述提手的状态参数是指反映使用者是否通过所述提手将所述电动车提起的提手位置参数和/或提手压力参数，
所述处理器配置为：分析所述提手的状态参数是否符合第一预设条件；
在分析所述提手的状态参数符合所述第一预设条件时，所述处理器向所述控制装置发送信号，以通过所述控制装置控制所述电机停止运行。
在一可实施方式中，所述第一部件为所述电动车的减震弹簧，所述电动车的状态参数为减震弹簧的状态参数，所述减震弹簧的状态参数是指所述减震弹簧的形变量和/或弹性力，
所述处理器配置为：分析所述减震弹簧的状态参数是否符合第二预设条件；
在分析所述减震弹簧的状态参数符合所述第二预设条件时，所述处理器向所述控制装置发送信号，以通过所述控制装置控制所述电动车的电机停止运行。
在一可实施方式中，所述第一部件为所述电动车的车轮，所述电动车的状态参数为所述车轮的状态参数，所述车轮的状态参数是指所述车轮相对于车架的位移量和/或车轮的压力参数，
所述处理器配置为：分析所述车轮的状态参数是否符合第三预设条件；
分析所述车轮的状态参数符合第三预设条件时，所述处理器向所述控制装置发送信号，以通过所述控制装置控制所述电动车的电机停止运行。
在本发明的再一实施例中，提供了一种电动车，电动车包括：电机；传感器，配置为检测电动车的状态参数；主控板，主控板分别与传感器和电机连接，传感器将检测参数传送至主控板，主控板根据检测参数控制电机停止运行。
在一可实施方式中，电动车还包括壳体和提手，提手可活动地设置在壳体上，传感器配置为检测提手的状态参数。
在一可实施方式中，传感器为位移传感器，位移传感器配置为检测提手相对于壳体的移动距离。
在一可实施方式中，电动车还包括车轮和减震弹簧，减震弹簧设置在车轮的轮轴上，传感器用于检测减震弹簧的状态参数。
在一可实施方式中，电动车还包括车轮，传感器配置为检测车轮的状态参数。
在本发明的另一实施例中，还提供了一种计算机存储介质，所述计算机存储介质中存储有计算机可执行指令，所述计算机可执行指令配置为执行本发明实施例所述的电动车的电机控制方法。
应用本发明的技术方案，通过检测电动车状态参数，并通过检测到的参数数据与预设参数数据进行比较，来判断此时用户是否正在提起电动车，并根据判断结果控制电机停止运行。如此可避免用户在忘记关闭电机或在携带中不小心触碰电机时，电机继续运行对用户造成伤害，提高用户在产品使用过程中的安全性。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。本实施例的附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。在附图中：
图1示出了根据本发明实施例提供的电机控制方法的流程示意图；
图2示出了根据本发明实施例提供的电动独轮车的提手未被提起的结构示意图；
图3示出了根据本发明实施例提供的电动独轮车的提手被提起的结构示意 图。
其中，上述附图包括以下附图标记：
10、主控板；20、壳体；30、提手。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
下面结合附图和具体实施例对本发明的技术方案进一步详细阐述。
如图1所示，在本发明实施例中，提供了一种电机控制方法。其中，该控制方法包括：
步骤1：检测电动车的状态参数，其中，状态参数用于反映电动车是否处于被抬起的状态；
步骤2：分析状态参数是否符合预设条件；
步骤3：当状态参数符合预设条件时，确定电动车处于被抬起的状态，并控制电动车的电机停止运行。
其中，电动车具有多种，本发明中以电动独轮车为例来进行阐述。具体地，可先预设条件，也可先进行检测。在本实施例中，采用先进行预设参数设定，再在使用过程中实时检测的方式控制电机停止运行。判断电动独轮车是否被抬起的方式有多种，例如，检测某一部件的受力变化、位置变化等。通过检测上述参数，并与预设参数进行比较，以判断电动车是否处于被抬起的状态，当确定电动车处于被抬起的状态时，控制电动车的电机停止运行。例如，当电动独轮车上的提手的移动距离大于某一预设值时，判断此时用户在携带独轮车，为了避免独轮车继续运行从而自动控制电机停止运行；或当提手处的压力大于某一预设值时，判断此时用户在携带独轮车，以自动控制电机停止运行。
应用本发明的技术方案，通过检测电动车状态参数，并通过检测到的参数数据与预设参数数据进行比较，来判断此时用户是否正在提起电动车，并根据判断结果控制电机停止运行。如此可避免用户在忘记关闭电机或在携带中不小心触碰电机时，电机继续运行对用户造成伤害，提高用户在产品使用过程中的安全性。
具体地，在该电机控制方法中，通过检测独轮车上的部件，以获取该部件的检测参数数据。其中，该部件可以为提手、减震弹簧或车轮等。
在以提手为例进行检测时，检测的提手状态参数可以包括提手在提起时受 到的压力参数和/或提手相对独轮车移动的提手位置参数等。在本实施例中，采用以提手相对独轮车车架的移动距离作为判断依据，如此可在保证用户使用安全的同时，方便对提手进行距离检测。
具体地，以提手相对于车架的最大移动距离为预设提手状态参数，然后通过主控板对实际检测的移动距离和预设的最大移动距离进行比较，当实际移动距离大于或等于预设的最大移动距离时，认为用户此时在通过提手抬起独轮车，则主控板通过判断结果对电机发出指令，使电机停止运行。
又，以提手提起时受到的压力参数作为预设压力参数，通过检测单元检索所述提手受到的实际压力参数，在所述实际压力参数大于等于预设压力参数时，则，认为用户此时在通过提手抬起独轮车，则主控板通过判断结果对电机发出指令，使电机停止运行。
当然，在其它实施方式中，也可以同时通过提手在提起时受到的压力参数和提手相对独轮车移动的提手位置参数，进行所述独轮车是否被提起的判断。如以提手相对于车架的最大移动距离为预设移动距离，以提手提起时受到的压力参数作为预设压力参数，通过检测单元检索所述提手受到的实际压力参数和提手相对于车架的实际移动距离，在所述实际压力参数大于等于所述预设压力参数，且所述实际移动距离大于等于预设移动距离时，则，认为用户此时在通过提手抬起独轮车，主控板通过判断结果对电机发出指令，使电机停止运行。
以减震弹簧为例进行检测时，可检测减震弹簧的形变量和/或弹性力，当独轮车从地上抬起的过程中，减震弹簧会发生形变并具有弹性力。预先测量出该形变量的范围和/或弹性力的范围。当在对减震弹簧的形变量和/或弹性力进行检测时，检测出的形变量和/或弹性力在预设的范围内时，则判断独轮车处于被抬起的状态，则主控板通过判断结果对电机发出指令，使电机停止运行。
在以车轮为例进行检测时，可检测车轮轴相对车架的位移量和/或压力参数，一般而言，独轮车在停放或使用时，车轮与车架的距离最小，且车轮受到的是车架对车轮的压力；当独轮车被抬起时，车轮受重力影响会相对于车架产生向下的位移，且此时车轮受到的是车架对其的拉力。预先测量出独轮车从地上抬起时，车轮相对于车架的位移量和/或拉力值。即可在对车轮进行检测时，当检测出车轮的位移量和/或压力参数处于预设范围内时，则判断独轮车此时处于被抬起的状态，则主控板通过判断结果对电机发出指令，使电机停止运行。
在本发明提供的电机控制方法中，主控板上设置有可单独对电机进行控制的开关，但无论此开关是否开启，只要对独轮车的检测参数超出预设参数范围时均会使电机停止运行，如此可保证用户对电动独轮车的安全使用。
如图2和图3所示，在本发明又一实施例中，提供了一种电动独轮车，该电 动独轮车包括：主控板10、壳体20、提手30、电机以及传感器。其中，提手30设置在壳体20上，传感器用于检测电动独轮车的提手状态参数，主控板10分别与传感器和电机连接，传感器将检测的提手状态参数传送至主控板10，主控板10根据检测的提手状态参数控制电机关闭。
其中，提手状态参数包括提手30在提起时受到的压力参数和/或提手30相对独轮车移动的提手位置参数。压力参数可通过设置在提手30上的压力传感器进行检测，位置参数可通过位移传感器进行检测。
在本实施例中，采用以提手相对独轮车的移动距离作为判断依据。将传感器设置为位移传感器，通过位移传感器检测提手30相对于壳体20的移动距离。
可选地，该传感器设置在提手30与壳体20之间，以便于对提手30进行实时检测，并提高检测数据的准确性。
通过本发明实施例提供的电动独轮车，能够对独轮车进行实时检测，当独轮车参数不符合预设参数时，自动关闭电机，以保证用户使用的安全性。
在本发明的又一实施例中，提供了一种电动车的电机控制装置，该电机控制装置包括：检测装置、处理器以及控制装置。其中，检测装置用于检测电动车的状态参数，处理器用于分析状态参数是否符合预设条件，控制装置用于控制电动车的电机停止运行。检测装置将检测的状态参数发送至处理器，当状态参数符合预设条件时，处理器向控制装置发送信号，以通过控制装置控制电机停止运行。
在一可实施方式中，检测装置配置为：检测所述电动车的第一部件的状态参数，以在所述第一部件的状态参数满足所述预设条件时，控制所述电机停止运行。
其中，所述第一部件可以为所述电动车的提手，所述电动车的状态参数为提手的状态参数，所述提手的状态参数是指反映使用者是否通过所述提手将所述电动车提起的提手位置参数和/或提手压力参数，
所述处理器配置为：分析所述提手的状态参数是否符合第一预设条件；
在分析所述提手的状态参数符合所述第一预设条件时，所述处理器向所述控制装置发送信号，以通过所述控制装置控制所述电机停止运行。
其中，所述第一部件可以为所述电动车的减震弹簧，所述电动车的状态参数为减震弹簧的状态参数，所述减震弹簧的状态参数是指所述减震弹簧的形变量和/或弹性力，
所述处理器配置为：分析所述减震弹簧的状态参数是否符合第二预设条件；
在分析所述减震弹簧的状态参数符合所述第二预设条件时，所述处理器向 所述控制装置发送信号，以通过所述控制装置控制所述电动车的电机停止运行。
其中，所述第一部件可以为所述电动车的车轮，所述电动车的状态参数为所述车轮的状态参数，所述车轮的状态参数是指所述车轮相对于车架的位移量和/或车轮的压力参数，
所述处理器配置为：分析所述车轮的状态参数是否符合第三预设条件；
分析所述车轮的状态参数符合第三预设条件时，所述处理器向所述控制装置发送信号，以通过所述控制装置控制所述电动车的电机停止运行。
也就是说，本发明实施例的检测装置可以包括提手检测单元或者减震弹簧检测单元或者车轮检测单元，通过提手检测单元检测电动车提手的位置参数，通过减震弹簧检测单元检测电动车的减震弹簧的状态参数，通过车轮检测单元检测电动车的车轮的状态参数。根据检测到的参数值与预设条件进行比较，以判断电动车是否处于被抬起的状态，当电动车处于被抬起的状态时，处理器向控制装置发送信号，以通过控制装置控制电机停止运行。
如图2和图3所示，在本发明又一实施例中，提供了一种电动车，该电动车包括电机、传感器以及主控板10。其中，传感器用于检测电动车的状态参数，主控板10分别与传感器和电机连接，传感器将检测参数传送至主控板10，主控板10根据检测参数判断电动车是否处于被抬起的状态，当主控板10判断电动车处于被抬起的状态时，控制电机停止运行。
通过本发明实施例提供的电动车，能够对电动车进行单独控制，当主控板10判断电动车被抬起时，通过主控板10控制电机停止运行，以保证用户使用的安全性。
其中，可通过检测某一部件的参数来判断电动车是否处于被抬起的状态。例如，可检测提手、减震弹簧或车轮的状态参数。具体地，该电动车包括壳体20和设置在壳体20上的提手30。提手30可移动地设置在壳体20上，提手30具有靠近电动车的车轮的第一位置和远离车轮的第二位置，其中，第一位置为安放位置，第二位置为提手30被提起时的位置。当传感器检测提手30处于第二位置时，或检测出提手30的位移距离达到预设距离时，传感器将信号发送至主控板10，主控板10根据该信号控制电机停止运行。
可选地，该传感器也可以为压力传感器，通过压力传感器检测提手30受到的压力，当检测到的压力达到预设压力值时，即可判断此时电动车处于被抬起的状态，主控板10根据该判断控制电机停止运行。
从以上的描述中，可以看出，本发明上述的实施例实现了如下技术效果：
1、提高了产品的安全性能，防止用户在携带过程中因为忘记关闭开关或 在携带过程中触碰到开关而使电机继续运行，保证了用户的使用安全。
2、通过提手对独轮车的电机进行关闭操作，其结构简单、便于用户操作。
在本发明所提供的几个实施例中，应该理解到，所揭露的电动车的电机控制方法、电机控制装置以及电动车，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本发明各实施例中的各功能单元可以全部集成在一个第二处理单元中，也可以是各单元分别单独作为一个单元，也可以两个或两个以上单元集成在一个单元中；上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
或者，本发明实施例上述集成的单元如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本发明各个实施例所述方法的全部或部分。而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
鉴于此，本发明实施例还提供了一种计算机可读存储介质，所述存储介质包括一组计算机可执行指令，所述指令用于执行本发明实施例所述的移动电子 设备的控制方法。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (16)

  1. 一种电动车的电机控制方法，所述电机控制方法包括：
    检测所述电动车的状态参数，其中，所述状态参数用于反映所述电动车是否处于被抬起的状态；
    分析所述状态参数是否符合预设条件；
    当所述状态参数符合预设条件时，确定所述电动车处于所述被抬起的状态，并控制所述电动车的电机停止运行。
  2. 根据权利要求1所述的电机控制方法，其中，检测所述电动车的状态参数，具体包括：
    检测所述电动车的第一部件的状态参数，以在所述第一部件的状态参数满足所述预设条件时，控制所述电机停止运行。
  3. 根据权利要求2所述的电机控制方法，其中，
    所述第一部件为所述电动车的提手，所述电动车的状态参数为提手的状态参数，所述提手的状态参数是指反映使用者是否通过所述提手将所述电动车提起的提手位置参数和/或提手压力参数，
    分析所述状态参数是否符合预设条件包括：分析所述提手的状态参数是否符合第一预设条件；
    当所述状态参数符合预设条件时，确定所述电动车处于所述被抬起的状态，并控制所述电动车的电机停止运行包括：分析所述提手的状态参数符合所述第一预设条件时，确定所述电动车处于所述被抬起的状态，并控制所述电动车的电机停止运行。
  4. 根据权利要求2所述的电机控制方法，其中，
    所述第一部件为所述电动车的减震弹簧，所述电动车的状态参数为减震弹簧的状态参数，所述减震弹簧的状态参数是指所述减震弹簧的形变量和/或弹性力，
    分析所述状态参数是否符合预设条件包括：分析所述减震弹簧的状态参数是否符合第二预设条件；
    当所述状态参数符合预设条件时，确定所述电动车处于所述被抬起的状态，并控制所述电动车的电机停止运行包括：分析所述减震弹簧的状态参数符合所述第二预设条件时，确定所述电动车处于所述被抬起的状态，并控制所述电动车的电机停止运行。
  5. 根据权利要求2所述的电机控制方法，其中，
    所述第一部件为所述电动车的车轮，所述电动车的状态参数为所述车轮的状态参数，所述车轮的状态参数是指所述车轮相对于车架的位移量和/或车轮 的压力参数，
    分析所述状态参数是否符合预设条件包括：分析所述车轮的状态参数是否符合第三预设条件；
    当所述状态参数符合预设条件时，确定所述电动车处于所述被抬起的状态，并控制所述电动车的电机停止运行包括：分析所述车轮的状态参数符合第三预设条件时，确定所述电动车处于所述被抬起的状态，并控制所述电动车的电机停止运行。
  6. 一种电动车的电机控制装置，所述电机控制装置包括：
    检测装置，配置为检测所述电动车的状态参数；
    处理器，配置为分析所述状态参数是否符合预设条件；
    控制装置，配置为控制所述电动车的电机停止运行；
    其中，所述检测装置将检测的所述状态参数发送至所述处理器，当所述状态参数符合所述预设条件时，所述处理器向所述控制装置发送信号，以通过所述控制装置控制所述电机停止运行。
  7. 根据权利要求6所述的电机控制装置，其中，所述检测装置配置为：
    检测所述电动车的第一部件的状态参数，以在所述第一部件的状态参数满足所述预设条件时，控制所述电机停止运行。
  8. 根据权利要求7所述的电机控制装置，其中，所述第一部件为所述电动车的提手，所述电动车的状态参数为提手的状态参数，所述提手的状态参数是指反映使用者是否通过所述提手将所述电动车提起的提手位置参数和/或提手压力参数，
    所述处理器配置为：分析所述提手的状态参数是否符合第一预设条件；
    在分析所述提手的状态参数符合所述第一预设条件时，所述处理器向所述控制装置发送信号，以通过所述控制装置控制所述电机停止运行。
  9. 根据权利要求7所述的电机控制装置，其中，所述第一部件为所述电动车的减震弹簧，所述电动车的状态参数为减震弹簧的状态参数，所述减震弹簧的状态参数是指所述减震弹簧的形变量和/或弹性力，
    所述处理器配置为：分析所述减震弹簧的状态参数是否符合第二预设条件；
    在分析所述减震弹簧的状态参数符合所述第二预设条件时，所述处理器向所述控制装置发送信号，以通过所述控制装置控制所述电动车的电机停止运行。
  10. 根据权利要求7所述的电机控制装置，其中，所述第一部件为所述电动车的车轮，所述电动车的状态参数为所述车轮的状态参数，所述车轮的状态 参数是指所述车轮相对于车架的位移量和/或车轮的压力参数，
    所述处理器配置为：分析所述车轮的状态参数是否符合第三预设条件；
    分析所述车轮的状态参数符合第三预设条件时，所述处理器向所述控制装置发送信号，以通过所述控制装置控制所述电动车的电机停止运行。
  11. 一种电动车，所述电动车包括：
    电机；
    传感器，用于检测所述电动车的状态参数；
    主控板(10)，所述主控板(10)分别与所述传感器和所述电机连接，所述传感器将检测参数传送至所述主控板(10)，所述主控板(10)根据所述检测参数判断所述电动车是否处于被抬起的状态，当所述主控板(10)判断所述电动车处于被抬起的状态时，控制所述电机停止运行。
  12. 根据权利要求11所述的电动车，其中，所述电动车还包括壳体(20)和提手(30)，所述提手(30)可活动地设置在所述壳体(20)上，所述传感器用于检测所述提手(30)的状态参数。
  13. 根据权利要求12所述的电动车，其中，所述传感器为位移传感器，所述位移传感器用于检测所述提手(30)相对于所述壳体(20)的移动距离。
  14. 根据权利要求11所述的电动车，其中，所述电动车还包括车轮和减震弹簧，所述减震弹簧设置在所述车轮的轮轴上，所述传感器用于检测所述减震弹簧的状态参数。
  15. 根据权利要求11所述的电动车，其中，所述电动车还包括车轮，所述传感器用于检测所述车轮的状态参数。
  16. 一种计算机存储介质，所述计算机存储介质中存储有计算机可执行指令，所述计算机可执行指令配置为执行权利要求1-5任一项所述的电动车的电机控制方法。
PCT/CN2016/106093 2015-11-25 2016-11-16 电动车的电机控制方法、电机控制装置以及电动车、计算机存储介质 WO2017088691A1 (zh)

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