WO2021057728A1 - 移动产品的控制方法、装置、系统、存储介质和处理器 - Google Patents

移动产品的控制方法、装置、系统、存储介质和处理器 Download PDF

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Publication number
WO2021057728A1
WO2021057728A1 PCT/CN2020/116878 CN2020116878W WO2021057728A1 WO 2021057728 A1 WO2021057728 A1 WO 2021057728A1 CN 2020116878 W CN2020116878 W CN 2020116878W WO 2021057728 A1 WO2021057728 A1 WO 2021057728A1
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Prior art keywords
speed
maximum
mobile product
value
movement
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PCT/CN2020/116878
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English (en)
French (fr)
Inventor
袁玉斌
张强
伊布拉辛
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纳恩博（北京）科技有限公司
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Publication of WO2021057728A1 publication Critical patent/WO2021057728A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement

Definitions

  • This application relates to the field of control of mobile products, and specifically to a method, device, system, storage medium, and processor for controlling mobile products.
  • this type of mobile products are mainly divided into three types, the first is a powered mobile product, the second is an unpowered mobile product, and the third is a mobile product between powered and unpowered mobile products.
  • the first mobile product mentioned above often uses the throttle handle or throttle button to control the power output.
  • This mobile product can save the user's effort.
  • the second type of mobile products are unpowered mobile products. Compared with powered mobile products, unpowered mobile products can satisfy users with more sense of operation, are more natural, more energy-saving, and have a simpler structure.
  • the third type of mobile product is temporarily called the power-assisted mobile product. It can move without power or with power, and it covers the advantages of powered mobile products and unpowered mobile products at the same time.
  • the user experience of mobile products related to the third mobile product on the market is not very good. Take skateboards as an example.
  • the power output is controlled by the speed trigger or the power output is controlled by the button. From the end of the skateboard to the power output, the user can feel an obvious sense of acceleration or deceleration, which will appear abrupt to the user, and in this way, if the speed fluctuates during the power output process, If the speed is too large, the mobile product will be updated. If the speed is constantly updated, the speed of the mobile product will become faster and faster, which may cause safety hazards and affect the user experience.
  • the main purpose of this application is to provide a control method, device, system, storage medium, and processor for mobile products to solve the problem of increasing speed due to difficulty in controlling the speed of mobile products in the assist mode in the prior art.
  • a method for controlling a mobile product includes: detecting the movement of the mobile product in the current motion stage when the mobile product is in accelerated motion. Speed; when it is confirmed that the movement speed reaches the maximum speed value and the current movement phase meets the first preset condition, the mobile product is controlled to enter the stable movement phase, and the first preset condition includes at least one of the following One: The maximum speed value is greater than a speed threshold, and the maximum acceleration of the current motion phase is greater than a predetermined acceleration, wherein the speed threshold is the sum of a predetermined value and the initial speed of the current motion phase, and the predetermined value is greater than Or equal to 0.
  • the acceleration in the stable motion stage is less than an acceleration threshold, and the acceleration threshold is the absolute value of the maximum acceleration of the user pedaling the mobile product.
  • control method includes: confirming that the movement speed reaches the maximum speed value, and confirming that the movement speed reaches the maximum speed value, including: comparing the phase of the mobile product in the current movement stage.
  • control method includes: confirming that the movement speed reaches the maximum speed value, and confirming that the movement speed reaches the maximum speed value, including: acquiring the acceleration of the mobile product in the current movement stage ; Determine the maximum value of the speed according to the acceleration.
  • the mobile product includes a motor
  • acquiring the acceleration of the mobile product in the current motion stage includes: acquiring the speed acceleration data of the motor of the mobile product in the current motion stage; and determining the acceleration data according to the acceleration
  • the maximum speed value includes: removing the high-frequency noise data of the speed acceleration data to obtain the speed acceleration data after denoising; the speed acceleration in the speed acceleration data after denoising reaches the maximum Value, it is determined that the movement speed reaches the maximum speed value.
  • the mobile product includes a motor
  • controlling the mobile product to enter a stable motion stage includes one of the following: controlling the rotation speed of the motor to a first predetermined rotation speed, the first predetermined rotation speed being a maximum rotation speed, so The maximum value of the rotation speed is the rotation speed corresponding to the maximum value of the speed; the rotation speed of the motor is controlled to be a second predetermined rotation speed, and the second predetermined rotation speed is less than the maximum rotation speed; The maximum value of the speed begins to decrease.
  • the current motion stage is the first motion stage in which the mobile product starts to move from a standstill without being driven by a driving device
  • the maximum speed of the first motion stage is the first maximum speed Value
  • controlling the mobile product to enter the stable movement stage includes: confirming that the movement speed reaches the In the case where the first maximum speed value is greater than the speed threshold value, the mobile product is controlled to enter the stable motion phase, and the stable motion phase is the second motion phase.
  • controlling the mobile product to enter a stable motion phase includes: confirming that the motion speed reaches the second maximum speed value and the When the acceleration corresponding to the second maximum speed value is greater than the predetermined acceleration, the mobile product is controlled to enter the stable motion phase.
  • the stable motion phase is the fourth motion phase, and the predetermined acceleration is greater than that of the mobile product. State the maximum acceleration of the second movement stage.
  • the control method further includes: detecting whether a second preset condition is satisfied, and the second preset condition includes one of the following: at least part of the user's body A braking operation acting on the mobile product is separated from the mobile product; when it is detected that the second preset condition is met, the mobile product is controlled to enter a decelerating motion stage.
  • the control method further includes: in the case that the motion speed of the mobile product is greater than a predetermined speed, detecting whether a third preset condition is satisfied, the third preset The set condition includes one of the following: the user's body returns to the mobile product without the braking operation; in the case of detecting that the third preset condition is met, controlling the mobile product Entering the steady motion phase, wherein the predetermined speed is greater than or equal to 0 and less than or equal to the maximum speed value.
  • the mobile product includes a motor
  • the control method further includes: controlling the drive current to be a positive drive current; using the drive current to drive the motor to rotate in the forward direction, and the mobile product is driven by the motor to rotate in the forward direction.
  • the direction of the speed is a predetermined direction, and the predetermined direction is the direction from the initial position of the mobile product to the target position.
  • a control device for a mobile product includes: a first detection unit configured to detect the movement when the mobile product is in accelerated motion. The movement speed of the product in the current movement stage; the first control unit is used to control the mobile product to enter a stable state when it is confirmed that the movement speed reaches the maximum speed value and the current movement stage satisfies the first preset condition
  • the first preset condition includes at least one of the following: the maximum speed value is greater than a speed threshold value, and the maximum acceleration of the current movement phase is greater than a predetermined acceleration, wherein the speed threshold value is the same as the predetermined value.
  • the predetermined value is greater than or equal to zero as the sum of the initial velocity of the current movement phase.
  • a system which includes software and a mobile product, and the software is used to execute any of the control methods.
  • a storage medium includes a stored program, wherein the program executes any of the control methods.
  • a processor configured to run a program, wherein any one of the control methods is executed when the program is running.
  • the first preset condition is the speed update condition, which specifically includes "the maximum speed value is greater than the speed threshold" and/or "the maximum acceleration of the current motion stage is greater than Predetermined acceleration".
  • the mobile product when it is detected that the movement speed of the current stage reaches the maximum speed value, and the current movement stage meets at least one of the above-mentioned first preset conditions, the mobile product will be controlled to enter the stable movement stage, that is, Will control the speed of mobile products to update.
  • the problem that the speed is constantly updated due to the fluctuation of the speed, and the speed of the mobile product is getting faster and faster is avoided, and the safety of the use of the mobile product is ensured.
  • Figure 1 shows a flowchart of a mobile product control method according to an embodiment of the present application
  • Figure 2 shows a schematic diagram of a mobile product according to an embodiment of the present application
  • FIG. 3 shows a schematic diagram of a state when stepping on a skateboard according to an embodiment of the present application
  • Figure 4 shows a schematic diagram of speed changes of a mobile product according to an embodiment of the present application
  • Fig. 5 shows a schematic diagram of speed changes of a mobile product according to another embodiment of the present application.
  • Fig. 6 shows a schematic diagram of speed changes of a mobile product according to another embodiment of the present application.
  • Fig. 7 shows a schematic diagram of speed changes of a slowly moving product according to another embodiment of the present application.
  • Figure 8 shows a schematic diagram of the speed change of the brake of the mobile product after the speed is maintained
  • Figure 9 shows a schematic diagram of a speed change of a mobile product according to an embodiment
  • FIG. 10 shows a schematic diagram of a speed change of a mobile product according to another embodiment
  • FIG. 11 shows a schematic diagram of a speed change of a mobile product according to another embodiment
  • Figure 12 shows an acceleration curve of the wheel speed of a mobile product according to an embodiment of the present application
  • Fig. 13 shows a comparison diagram between the acceleration curve of Fig. 12 and the curve after low-pass filtering
  • Figure 14 shows the acceleration curve of the wheel speed of the mobile product, the filtered curve and the speed curve of the mobile product
  • Fig. 15 shows a logical block diagram of speed control of an embodiment of the present application.
  • Fig. 16 shows a schematic diagram of a mobile product control device according to an embodiment of the present application.
  • the power-assisted mode in the prior art is in the transition process from unpowered to powered. If the speed of the mobile product fluctuates greatly during the powered process, the mobile product will continuously The update speed, in this way, the speed of moving products will become faster and faster, and potential safety hazards may arise.
  • a typical implementation of the present application provides a method for controlling mobile products.
  • Fig. 1 is a flowchart of a method for controlling a mobile product according to an embodiment of the present application. As shown in Figure 1, the method includes the following steps:
  • Step S101 when the above-mentioned mobile product is in an accelerated motion, detecting the moving speed of the above-mentioned mobile product in the current stage of motion;
  • Step S102 When it is confirmed that the above-mentioned movement speed reaches the maximum speed value and the above-mentioned current movement stage meets a first preset condition, control the above-mentioned mobile product to enter a stable movement stage, and the above-mentioned first preset condition includes at least one of the following: The maximum speed value is greater than the speed threshold, and the maximum acceleration of the current motion stage is greater than the predetermined acceleration, wherein the speed threshold is the sum of the predetermined value and the initial velocity of the current motion stage, and the predetermined value is greater than or equal to zero.
  • the first preset condition is the speed update condition, which specifically includes "the above-mentioned maximum speed value is greater than the speed threshold" and/or "the above-mentioned maximum acceleration in the current motion stage is greater than the predetermined acceleration".
  • the mobile product when it is detected that the movement speed of the current stage reaches the maximum speed value, and the current movement stage meets at least one of the above-mentioned first preset conditions, the mobile product will be controlled to enter the stable movement stage, that is, Will control the speed of mobile products to update.
  • the problem that the speed is constantly updated due to the fluctuation of the speed, and the speed of the mobile product is getting faster and faster is avoided, and the safety of the use of the mobile product is ensured.
  • the above control method does not need to rely on sensors such as IMU or other sensors used for human acceleration detection, and the software and hardware structure is simpler and more reliable.
  • the above-mentioned mobile product can be a scooter as shown in Figure 2, or other vehicles such as electric bicycles, power-assisted bicycles, electric skateboards, electric-assisted skateboards, or other electric toys and similar mobile mobiles. product.
  • the stage in which the above-mentioned mobile product starts to move from a standstill in a predetermined mode can be represented by the state when stepping on the skateboard as shown in FIG. 3.
  • the acceleration in the steady motion stage is less than an acceleration threshold
  • the acceleration threshold is the absolute value of the maximum acceleration of the user pedaling the moving product.
  • the acceleration in the stable motion stage is less than the acceleration threshold, that is, the acceleration in the stable motion stage is small, so that the user will not feel obvious acceleration and deceleration during the transition from the current motion stage to the stable motion stage.
  • the acceleration threshold is generally between 3 and 4 m/s2.
  • the aforementioned control method includes: confirming that the aforementioned movement speed reaches the aforementioned maximum speed value.
  • the method of confirming that the aforementioned movement speed reaches the aforementioned maximum speed value in this application can be any method that can determine the maximum speed value. Those skilled in the art can choose a suitable method to determine the maximum speed value according to the actual situation.
  • confirming that the above-mentioned movement speed reaches the above-mentioned maximum speed value includes: comparing the movement speed of the mobile product at two adjacent moments of the above-mentioned current movement stage; In the case where the difference in the movement speed at a time is less than or equal to 0, it is determined that the movement speed at the previous time is the maximum speed value. In this method, it can be determined whether the movement speed has reached the maximum speed value by comparing the difference between the movement speed at the last moment and the previous moment. This method is relatively simple and efficient.
  • Another method for confirming that the above-mentioned moving speed reaches the above-mentioned maximum value of speed includes: obtaining the acceleration of the above-mentioned mobile product in the above-mentioned current moving stage; and determining the above-mentioned maximum value of speed according to the above-mentioned acceleration. This method needs to obtain the acceleration of the current stage first, and then confirm the maximum value of the speed according to the acceleration.
  • the speed of the mobile product can be determined by the rotation speed of the motor
  • the acceleration of the mobile product can be determined by the acceleration of the motor
  • the mobile product includes a motor
  • acquiring the acceleration of the mobile product in the current motion stage includes: acquiring the motor of the mobile product in the current motion stage Speed acceleration data.
  • the curve corresponding to the speed acceleration data of the motor is shown in Figure 12.
  • determining the maximum speed value according to the acceleration includes: removing the high frequency in the speed acceleration data.
  • the noise data is used to obtain the denoised speed acceleration data; when the speed acceleration in the denoised speed acceleration data reaches a maximum value, it is determined that the movement speed reaches the speed maximum value.
  • the denoised speed and acceleration data filter out high-frequency noise data, as shown in the corresponding curve in Figure 13. Specifically, it can be filtered by a low-pass filter, which can filter out the high-frequency noise of the original acceleration data.
  • the interference of noise can more accurately confirm the maximum speed of the current movement stage.
  • the speed acceleration data in the speed acceleration data after the denoising is too late.
  • the acceleration reaches a maximum value it is determined that the above-mentioned movement speed reaches the above-mentioned maximum value, that is, the movement speed at this time is approximately the maximum value of the speed.
  • Figure 13 it can be seen from Figure 13 that after the acceleration of the actual motor speed reaches the maximum, it drops to 0 and it takes a short time to enter the negative zone. This time is almost the same as the acceleration of the real motor speed when the acceleration crosses zero, as shown in Figure 14. It is the actual situation of the maximum speed detected during the actual operation of the mobile product. In the actual application process, when the acceleration change rate in the filtered speed acceleration data is detected from positive to negative, the current motor speed is recorded as the maximum value of the speed.
  • controlling the above-mentioned mobile product to enter a stable movement stage includes one of the following: controlling the rotation speed of the above-mentioned motor to a first predetermined rotation speed, and the above-mentioned first predetermined rotation speed It is the maximum value of the speed, and the above-mentioned maximum value of the speed is the speed corresponding to the above-mentioned maximum value.
  • This kind of control method actually controls the mobile product to move at a constant speed during this stable motion stage, as shown in Figure 4, Figure 6, Figure 8, Figure 9 and the speed holding stage shown in Figure 10, in the actual situation, although the speed of the motor controlling this stage is constant, the speed will definitely fluctuate in the actual process, as shown in Figure 10; controlling the speed of the above-mentioned motor is the second The predetermined rotation speed, the second predetermined rotation speed is less than the maximum rotation speed, as shown in Figure 11, in this stage, the rotation speed of the motor is controlled to be less than the maximum rotation speed, so that in the stable motion stage, the movement speed after the initial speed is all Less than the initial speed; control the speed of the above-mentioned motor to decrease from the maximum value of the above-mentioned speed, as shown in Fig. 5 and Fig. 7 in the slow deceleration stage.
  • the first preset condition setting can be "the maximum acceleration in the current motion stage is greater than the predetermined acceleration", or it can be "the above speed is extremely large.”
  • the value is greater than the speed threshold, and the predetermined value is greater than 0";
  • the first preset condition setting can be "the maximum acceleration of the above-mentioned current motion stage is greater than the predetermined acceleration” ", it can also be “the above-mentioned maximum speed value is greater than the speed threshold, and the predetermined value is equal to 0";
  • this program controls the mobile product Perform decelerating movement in the steady movement phase, and the first preset condition setting can be "the above-mentioned maximum acceleration in the current movement stage is greater than
  • the current stage in this application can be any movement stage, it can be a non-powered human pedaling movement stage, or a human pedaling and power coexisting movement stage.
  • the foregoing current motion stage is the first motion stage in which the mobile product starts to move from a standstill without driving by a driving device, and the maximum value of the speed in the first motion stage is the first motion stage.
  • a maximum speed value when it is confirmed that the movement speed reaches the maximum speed value and the current movement stage meets the first preset condition, controlling the mobile product to enter the stable movement stage includes: confirming that the movement speed reaches the first In the case of a maximum speed value and the first maximum speed value is greater than the speed threshold, the mobile product is controlled to enter the stable motion phase, and the stable motion phase is the second motion phase.
  • the specific process of this embodiment is shown in Figs. 4 and 5. In this embodiment, the corresponding predetermined value may be greater than zero.
  • the update of the first preset condition from the aforementioned first movement stage to the second movement stage in the present application is not limited to the aforementioned specific conditions, and may also be that the maximum acceleration in the first movement stage is greater than the predetermined acceleration.
  • Those skilled in the art can select the appropriate first preset condition according to the actual situation.
  • the above-mentioned current movement stage is a third movement stage after the above-mentioned second movement stage, and the above-mentioned speed maximum value of the above-mentioned third movement stage is the second maximum speed value.
  • controlling the mobile product to enter the stable motion phase includes: confirming that the motion speed reaches the second maximum speed value and the third motion phase
  • the maximum acceleration of the mobile product is greater than the predetermined acceleration
  • the mobile product is controlled to enter the stable motion stage.
  • the stable motion stage is the fourth motion stage.
  • the predetermined acceleration is greater than the maximum acceleration of the mobile product in the second motion stage.
  • the movement speed of the second movement stage fluctuates because the acceleration during the fluctuation is relatively small. For example, when pedaling a scooter, the skateboard will generally produce a relatively large acceleration. Therefore, in this solution, the speed will not be updated due to speed fluctuations, making the speed larger and larger.
  • the specific process of this embodiment is shown in Figure 6, Figure 7, Figure 10 and Figure 11.
  • the second motion stage can be a deceleration motion stage (shown in Figure 7), or a uniform motion stage (shown in Figures 6, 10, and 11). Of course, the actual motion process is not strictly uniform. movement).
  • the first preset condition updated by the speed after the second motion stage is not limited to the above-mentioned specific conditions, and it can also be the condition that the second maximum speed value is greater than the speed threshold value.
  • the predetermined value is greater than zero.
  • a predetermined value greater than 0 can be preset, which can also be referred to as a dead zone.
  • the speed update must satisfy that the maximum speed of the current movement stage is greater than the predetermined value and the aforementioned current The sum of the initial velocities of the movement phase. For the embodiment shown in FIG.
  • the predetermined value in the first preset condition of the speed update after the second movement stage can be 0, that is, after confirming that the above-mentioned motion speed reaches the maximum speed value and the current speed is greater than the first maximum speed value, the speed can be updated, that is, the control enters the stable motion stage.
  • the control method further includes: detecting whether a second preset condition is satisfied, and the second preset The conditions include one of the following: at least part of the user's body is separated from the above-mentioned mobile product, and there is a braking operation acting on the above-mentioned mobile product; when it is detected that the above-mentioned second preset condition is met, the above-mentioned mobile product is controlled to enter a decelerating motion stage.
  • the mobile product can be equipped with a brake detection device, which can be a brake handle or a mudguard brake device, or an IMU.
  • a brake detection device which can be a brake handle or a mudguard brake device, or an IMU. The purpose is to detect when the user performs a brake operation or a jump operation. This action can then be done to cut off the power output or brake.
  • the control method further includes: in the case where the moving speed of the mobile product is greater than a predetermined speed, detecting whether a third preset condition is satisfied, and the third preset condition includes one of the following: The body of the mobile product returns to the above-mentioned mobile product without the above-mentioned braking operation; when it is detected that the above-mentioned third preset condition is satisfied, the above-mentioned mobile product is controlled to enter the above-mentioned stable motion stage, wherein the above-mentioned predetermined speed is greater than or equal to 0 And it is less than or equal to the above maximum speed value.
  • the predetermined speed may be 4km/h or 5km/h
  • the above second predetermined condition needs to be always met, that is, always under the condition that at least part of the body is separated from the mobile product, or under the condition that there is always a brake operation, so the speed movement The stage decelerates to 0.
  • the above-mentioned mobile product includes a motor.
  • the control method further includes: controlling the driving current to be a positive driving current; using the driving current to drive the above-mentioned motor to rotate in the forward direction, and the above-mentioned motor rotates in the forward direction.
  • the direction of the speed of the moving product is a predetermined direction, and the predetermined direction is a direction toward the target position of the moving product.
  • the driving current is controlled to be a positive driving current, so that the user accelerates but does not feel other discomforts such as resistance.
  • the user will move the product as natural as a normal unpowered mobile product at any time. To the sense of resistance or other strange feelings.
  • you can Removing this limiter allows mobile products to achieve electric brakes or energy recovery.
  • the specific control block diagram is shown in Figure 15.
  • Figure 4 shows that the skateboard can keep the speed of the user after pedaling
  • Figure 5 shows that the user has finished pedaling. , It can make the skateboard slowly decelerate from the user's pedaling speed. This deceleration is relatively slow. Compared with ordinary unpowered skateboards, this method is more labor-saving and slides farther
  • Figure 6 shows that the user can do more After each stepping, the speed can be maintained if the first predetermined condition is met after each stepping, that is, the speed can be maintained as much as the pedaling speed, which is relatively labor-saving.
  • Figure 7 shows The skateboard works in slow deceleration mode.
  • the user pedals, and continues to decelerate after pedaling, and then can pedal again.
  • the user can pedal as many times as he wants, but after pedaling, the skateboard will be on you.
  • Figure 8 shows that if the skateboard is working in the speed holding mode, if the brake is kept pressed, the motor will not maintain the speed. On the contrary, there will be a braking effect, and the speed will slow down to ensure safety.
  • Figure 9 shows that if the skateboard works in the speed holding mode, the user wants to slow down slightly, after pressing the brake but not waiting for the speed to drop to 0, the user releases the hand At this time, the motor will maintain the current speed of the skateboard. This mode is also labor-saving. It will not directly change the speed to 0, and it can also maintain the decelerated speed.
  • the embodiment of the application also provides a control device for a mobile product. It should be noted that the control device for a mobile product in the embodiment of the application can be used to execute the control method for a mobile product provided by the embodiment of the application. The following describes the mobile product control device provided in the embodiment of the present application.
  • Fig. 16 is a schematic diagram of a control device for a mobile product according to an embodiment of the present application. As shown in Figure 16, the device includes:
  • the first detection unit 10 is configured to detect the movement speed of the mobile product in the current movement stage when the mobile product is in accelerated motion;
  • the first control unit 20 is configured to control the mobile product to enter a stable motion stage when it is confirmed that the motion speed reaches the maximum speed value and the current motion stage meets the first preset condition, and the first preset condition includes the following At least one: the maximum value of the speed is greater than a speed threshold, the maximum acceleration of the current motion stage is greater than a predetermined acceleration, wherein the speed threshold is the sum of the predetermined value and the initial velocity of the current motion stage, and the predetermined value is greater than or equal to 0 .
  • the first preset condition in the first control unit includes "the aforementioned maximum speed value is greater than the velocity threshold" and/or "the aforementioned maximum acceleration in the current motion stage is greater than a predetermined acceleration".
  • the first control unit will control the mobile product to enter a stable motion only when it detects that the motion speed of the current stage reaches the maximum speed value, and the current motion stage meets at least one of the above-mentioned first preset conditions Stage, that is, the mobile product will be controlled to update the speed.
  • the problem that the speed is constantly updated due to the fluctuation of the speed, and the speed of the mobile product is getting faster and faster is avoided, and the safety of the use of the mobile product is ensured.
  • first detection units of the above-mentioned control device may be a traditional sensor. It is not limited to laser speed measurement, radar speed measurement or magnetic induction speed measurement, and a sensorless observer may also be used.
  • the above-mentioned mobile product can be a scooter as shown in Figure 2, or other vehicles such as electric bicycles, power-assisted bicycles, electric skateboards, electric-assisted skateboards, or other electric toys and similar mobile mobiles. product.
  • the above-mentioned moving product in the predetermined mode starts to move from the stationary stage of the movement can be represented by the state when stepping on the skateboard as shown in FIG. 3.
  • the acceleration in the steady motion stage is less than an acceleration threshold, and the acceleration threshold is the absolute value of the maximum acceleration of the user pedaling the moving product.
  • the acceleration in the stable motion stage is less than the acceleration threshold, that is, the acceleration in the stable motion stage is small, so that the user will not feel obvious acceleration and deceleration during the transition from the current motion stage to the stable motion stage. , To further ensure that the user experience is better.
  • the above-mentioned control device includes a confirmation unit.
  • the confirmation unit of this application can be any unit that can determine the maximum speed value. Those skilled in the art can select a suitable unit to determine the maximum speed value according to the actual situation. Great value.
  • the confirming unit includes a comparing module and a first determining module, wherein the comparing module is used to compare the moving speed of the mobile product at two adjacent moments in the current moving phase; the first determining module is used to In the case where the difference between the movement speed at the latter moment and the movement speed at the previous moment is less than or equal to 0, the movement speed at the previous moment is determined to be the maximum speed value. In this device, it can be determined whether the movement speed has reached the maximum speed value by comparing the module and the first determining module.
  • the determining unit is relatively simple and has high efficiency.
  • the confirmation unit includes an acquisition module and a second determination module.
  • the acquisition module is used to acquire the acceleration of the mobile product in the current movement stage; the second determination module is used to determine the maximum speed value according to the acceleration. .
  • the determining unit needs to obtain the acceleration of the current stage first, and then confirm the maximum value of the velocity according to the acceleration.
  • the speed of the mobile product can generally be determined by the rotation speed of the motor, and the acceleration of the mobile product can be determined by the acceleration of the motor.
  • the above-mentioned mobile product includes a motor
  • the acquisition module is also used to acquire the speed acceleration data of the motor of the above-mentioned mobile product in the above-mentioned current motion stage.
  • the curve corresponding to the speed acceleration data of the motor is shown in Figure 12.
  • the second determining module is also used to remove the high frequency noise data in the speed acceleration data to obtain denoising
  • the second determination module is further configured to determine that the movement speed reaches the maximum speed when the speed acceleration in the denoised speed acceleration data reaches the maximum value.
  • the denoised speed and acceleration data filter out high-frequency noise data, as shown in the corresponding curve in Figure 13. Specifically, it can be filtered by a low-pass filter, which can filter out the high-frequency noise of the original acceleration data.
  • the interference of noise can more accurately confirm the maximum speed of the current movement stage.
  • the speed acceleration data in the speed acceleration data after the denoising is too late.
  • the acceleration reaches a maximum value it is determined that the above-mentioned movement speed reaches the above-mentioned maximum value, that is, the movement speed at this time is approximately the maximum value of the speed.
  • Figure 13 it can be seen from Figure 13 that after the acceleration of the actual motor speed reaches the maximum, it drops to 0 and it takes a short time to enter the negative zone. This time is almost the same as the acceleration of the real motor speed when the acceleration crosses zero, as shown in Figure 14. It is the actual situation of the maximum speed detected during the actual operation of the mobile product. In the actual application process, when the acceleration change rate in the filtered speed acceleration data is detected from positive to negative, the current motor speed is recorded as the maximum value of the speed.
  • the movement speed of the mobile product can be controlled by controlling the rotation speed of the motor.
  • the first control unit is used to control the rotation speed of the motor to a first predetermined rotation speed
  • the first predetermined rotation speed is the maximum value of the rotation speed.
  • the maximum value is the rotation speed corresponding to the above-mentioned maximum value of speed.
  • the speed maintaining phase in actual situations, although the speed of the motor controlling this phase is constant, the speed will definitely fluctuate in the actual process, as shown in Figure 10; or the first control unit is used to control the speed of the above-mentioned motor to the second predetermined Rotation speed, the second predetermined speed is less than the maximum speed, as shown in Fig. 11.
  • the speed of the motor is controlled to be less than the maximum speed, so that in the steady motion phase, the speed after the initial speed is less than The initial speed; or the first control unit is also used to control the speed of the motor to decrease from the maximum value of the speed, as shown in the slow deceleration stage in Figures 5 and 7.
  • the first preset condition setting can be "the maximum acceleration in the current motion stage is greater than the predetermined acceleration", or it can be "the above speed is extremely large.”
  • the value is greater than the speed threshold, and the predetermined value is greater than 0";
  • the first preset condition setting can be "the maximum acceleration of the above-mentioned current motion stage is greater than the predetermined acceleration” ", it can also be “the above-mentioned maximum speed value is greater than the speed threshold, and the predetermined value is equal to 0";
  • this program controls the mobile product Perform decelerating movement in the steady movement phase, and the first preset condition setting can be "the above-mentioned maximum acceleration in the current movement stage is greater than
  • the current stage in this application can be any movement stage, it can be a non-powered human pedaling movement stage, or a human pedaling and power coexisting movement stage.
  • the foregoing current motion stage is the first motion stage in which the mobile product starts to move from a standstill without driving by a driving device, and the maximum value of the speed in the first motion stage is the first motion stage.
  • a maximum speed value, and the first control unit is used to control the mobile product to enter the stable motion stage when it is confirmed that the movement speed reaches the first maximum speed value and the first maximum speed value is greater than the speed threshold,
  • the above-mentioned stable movement stage is the second movement stage.
  • the specific process of this embodiment is shown in Figs. 4 and 5. In this embodiment, the corresponding predetermined value may be greater than zero.
  • the update of the first preset condition from the aforementioned first movement stage to the second movement stage in the present application is not limited to the aforementioned specific conditions, and may also be that the maximum acceleration in the first movement stage is greater than the predetermined acceleration.
  • Those skilled in the art can select the appropriate first preset condition according to the actual situation.
  • the current motion phase is a third motion phase after the second motion phase
  • the maximum speed of the third motion phase is the second maximum speed value
  • the first control unit It is used to control the mobile product to enter the stable motion stage when it is confirmed that the motion speed reaches the maximum value of the second speed and the maximum acceleration of the third motion stage is greater than the predetermined acceleration
  • the stable motion stage is the fourth motion stage
  • the predetermined acceleration is greater than the maximum acceleration of the mobile product in the second motion stage, so that even if the motion speed of the second motion stage fluctuates, the acceleration during the fluctuation is relatively small. For example, when riding a scooter, it will generally cause The skateboard produces a relatively large acceleration.
  • the speed will not be updated due to speed fluctuations, making the speed larger and larger.
  • the specific process of this embodiment is shown in Figure 6, Figure 7, Figure 10 and Figure 11.
  • the second motion stage can be a deceleration motion stage (shown in Figure 7), or a uniform motion stage (shown in Figures 6, 10, and 11).
  • the actual motion process is not strictly uniform. movement).
  • the first preset condition updated by the speed after the second motion stage is not limited to the above-mentioned specific conditions, and it can also be the condition that the second maximum speed value is greater than the speed threshold value.
  • the predetermined value is greater than zero.
  • a predetermined value greater than 0 can be preset, which can also be referred to as a dead zone.
  • the speed update must satisfy that the maximum speed of the current movement stage is greater than the predetermined value and the aforementioned current The sum of the initial velocities of the movement phase. For the embodiment shown in FIG.
  • the predetermined condition in the first preset condition of the speed update after the second movement stage is The value can be 0, that is, after confirming that the above-mentioned motion speed reaches the maximum speed value and the current speed is greater than the first maximum speed value, the speed can be updated, that is, the control enters the stable motion stage.
  • the control device further includes a second detection unit and a second control unit, wherein the second detection unit is used for when the mobile product enters the stable motion stage Afterwards, it is detected whether the second preset condition is satisfied, and the second preset condition includes one of the following: at least part of the user's body is separated from the mobile product, and there is a brake operation acting on the mobile product; the second control unit uses When it is detected that the second preset condition is satisfied, the mobile product is controlled to enter the decelerating motion stage.
  • the second detection unit detects whether at least part of the user's body is separated from the mobile product, it means that the user wants to leave the mobile product. Specifically, it can be a jumping behavior, which means that the mobile product needs to slow down.
  • the second control unit controls the moving product to enter the decelerating motion stage, as shown in the third part of the curve as shown in FIG. 9.
  • it can be a braking operation. As shown in the third part of the curve shown in Fig. 8, the mobile product enters the decelerating motion stage after the braking operation.
  • the second detection unit and the second control unit of the mobile product can be brake detection devices, which can be brake handles or mudguard brake devices, or IMUs, with the purpose of acting as users Braking operation or jumping operation can detect this action and then cut off the power output or brake.
  • brake detection devices can be brake handles or mudguard brake devices, or IMUs, with the purpose of acting as users Braking operation or jumping operation can detect this action and then cut off the power output or brake.
  • the above-mentioned control device is also It includes a third detection unit and a third control unit, wherein the third detection unit is used to detect whether the third predetermined speed is met when the moving speed of the moving product is greater than a predetermined speed after controlling the moving product to enter the decelerating motion stage.
  • the third preset condition includes one of the following: the body of the user returns to the mobile product, and there is no braking operation; the third control unit is used to detect that the third preset condition is satisfied In the case of controlling the mobile product to enter the stable motion stage, wherein the predetermined speed is greater than or equal to 0 and less than or equal to the maximum speed value.
  • the above second predetermined condition needs to be always met, that is, always under the condition that at least part of the body is separated from the mobile product, or under the condition that there is always a brake operation, so the speed movement The stage decelerates to 0.
  • the above-mentioned mobile product includes a motor.
  • the control unit further includes a fourth control unit and a driving unit, wherein the fourth control unit is used to control the driving current to be a positive driving current; the driving unit It is used to drive the motor to rotate in the forward direction by using a driving current.
  • the direction of the speed of the moving product is a predetermined direction, and the predetermined direction is a direction toward the target position of the moving product.
  • the fourth control unit controls the driving current to be a positive driving current, so that the user accelerates but does not feel other discomforts such as resistance.
  • the user will move the product as a normal unpowered product at any time. Naturally, there is no sense of resistance or other strange feelings.
  • the motor of the mobile product has a software speed controller.
  • the output of the speed controller is limited to ensure that the output of the speed controller is always the current that makes the skateboard motor rotate in the normal state.
  • the speed controller is mainly PID control. The specific control process is shown in the control block diagram as shown in Figure 15.
  • a system is included.
  • the system includes software and a mobile product, and the above-mentioned software is used to execute any of the above-mentioned control devices.
  • the above-mentioned system includes the above-mentioned software
  • its speed update conditions specifically include "the above-mentioned maximum value of speed is greater than the speed threshold" and/or "the above-mentioned maximum acceleration of the current motion stage is greater than the predetermined acceleration".
  • the mobile product when it is detected that the movement speed of the current stage reaches the maximum speed value, and the current movement stage meets at least one of the above-mentioned first preset conditions, the mobile product will be controlled to enter the stable movement stage, that is, Will control the speed of mobile products to update.
  • the problem that the speed is constantly updated due to the fluctuation of the speed, and the speed of the mobile product is getting faster and faster is avoided, and the safety of the use of the mobile product is ensured.
  • the control device of the mobile product includes a processor and a memory.
  • the first detection unit and the first control unit are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
  • the processor contains the kernel, and the kernel calls the corresponding program unit from the memory.
  • the kernel can be set to one or more, by adjusting the kernel parameters to solve the problem that the speed is constantly updated due to the fluctuation of the speed, and the speed of mobile products is getting faster and faster.
  • the memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one Memory chip.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash random access memory
  • the embodiment of the present invention provides a storage medium on which a program is stored, and when the program is executed by a processor, the control method of the above-mentioned mobile product is realized.
  • the embodiment of the present invention provides a processor, and the above-mentioned processor is used to run a program, wherein the above-mentioned mobile product control method is executed when the above-mentioned program is running.
  • the embodiment of the present invention provides a device.
  • the device includes a processor, a memory, and a program stored on the memory and running on the processor.
  • the processor implements at least the following steps when the program is executed:
  • Step S101 when the above-mentioned mobile product is in an accelerated motion, detecting the moving speed of the above-mentioned mobile product in the current stage of motion;
  • Step S102 When it is confirmed that the above-mentioned movement speed reaches the maximum speed value and the above-mentioned current movement stage meets a first preset condition, control the above-mentioned mobile product to enter a stable movement stage, and the above-mentioned first preset condition includes at least one of the following: The maximum speed value is greater than the speed threshold, and the maximum acceleration of the current motion stage is greater than the predetermined acceleration, wherein the speed threshold is the sum of the predetermined value and the initial velocity of the current motion stage, and the predetermined value is greater than or equal to zero.
  • the devices in this article can be servers, PCs, PADs, mobile phones, etc.
  • This application also provides a computer program mobile product, which when executed on a data processing device, is suitable for executing a program initialized with at least the following method steps:
  • Step S101 when the above-mentioned mobile product is in an accelerated motion, detecting the moving speed of the above-mentioned mobile product in the current stage of motion;
  • Step S102 When it is confirmed that the above-mentioned movement speed reaches the maximum speed value and the above-mentioned current movement stage meets a first preset condition, control the above-mentioned mobile product to enter a stable movement stage, and the above-mentioned first preset condition includes at least one of the following: The maximum speed value is greater than the speed threshold, and the maximum acceleration of the current motion stage is greater than the predetermined acceleration, wherein the speed threshold is the sum of the predetermined value and the initial velocity of the current motion stage, and the predetermined value is greater than or equal to zero.
  • this application can be provided as a method, a system, or a mobile product of a computer program. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program mobile product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM).
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
  • computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • the first preset condition is the speed update condition, which specifically includes "the above-mentioned maximum value of speed is greater than the speed threshold" and/or "the above-mentioned maximum acceleration in the current motion stage" Greater than the predetermined acceleration".
  • the mobile product when it is detected that the movement speed of the current stage reaches the maximum speed value, and the current movement stage meets at least one of the above-mentioned first preset conditions, the mobile product will be controlled to enter the stable movement stage, that is, Will control the speed of mobile products to update.
  • the problem that the speed is constantly updated due to the fluctuation of the speed, and the speed of the mobile product is getting faster and faster is avoided, and the safety of the use of the mobile product is ensured.
  • the first preset condition in the first control unit includes "the above-mentioned maximum speed value is greater than the speed threshold" and/or "the above-mentioned maximum acceleration in the current motion stage is greater than the predetermined acceleration".
  • the first control unit will control the mobile product to enter a stable motion only when it detects that the motion speed of the current stage reaches the maximum speed value, and the current motion stage meets at least one of the above-mentioned first preset conditions Stage, that is, the mobile product will be controlled to update the speed.
  • the problem that the speed is constantly updated due to the fluctuation of the speed, and the speed of the mobile product is getting faster and faster is avoided, and the safety of the use of the mobile product is ensured.
  • the system of the present application includes the above software, its speed update conditions specifically include "the above maximum speed value is greater than the speed threshold" and/or "the above maximum acceleration in the current motion stage is greater than the predetermined acceleration".
  • the mobile product when it is detected that the movement speed of the current stage reaches the maximum speed value, and the current movement stage meets at least one of the above-mentioned first preset conditions, the mobile product will be controlled to enter the stable movement stage, that is, Will control the speed of mobile products to update.
  • the problem that the speed is constantly updated due to the fluctuation of the speed, and the speed of the mobile product is getting faster and faster is avoided, and the safety of the use of the mobile product is ensured.

Abstract

本申请提供了一种移动产品的控制方法、装置、系统、存储介质和处理器，该控制方法包括：在移动产品处于加速运动的情况下，检测移动产品在当前运动阶段的运动速度；在确认运动速度达到速度极大值且当前运动阶段满足第一预设条件的情况下，控制移动产品进入稳定运动阶段，第一预设条件包括以下至少之一：速度极大值大于速度阈值、当前运动阶段的最大加速度大于预定加速度，其中，速度阈值为预定值与当前运动阶段的初速度的和，预定值大于或者等于0。该控制方法中，避免了由于速度的波动导致的速度不断被更新，移动产品的速度越来越快的问题，保证了移动产品的使用安全。

Description

移动产品的控制方法、装置、系统、存储介质和处理器
相关申请的交叉引用
本申请基于申请号为201910900850.X，申请日为2019年09月23日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及移动产品的控制领域，具体而言，涉及一种移动产品的控制方法、装置、系统、存储介质和处理器。
背景技术
当今像电动滑板车、电动自行车这样的电动交通工具或者电动玩具越来越普及。目前，这类移动产品主要分为三种，第一种为动力型移动产品，第二种为无动力移动产品，第三种为介于有动力和无动力移动产品之间的移动产品。
上述的第一种移动产品往往通过油门把手或者油门按钮来控制动力的输出，油门控制装置按压的越深，动力输出越强或者速度越快，这种移动产品能够让使用者更省力。第二种移动产品为无动力移动产品，相对于有动力移动产品，无动力移动产品能够满足使用者更多的操作感，更自然、更节能且结构上也更简单。第三种移动产品暂且称这种移动产品为助力模式移动产品，其可以在无动力下运动，也可以在有动力下运动，其同时覆盖了有动力移动产品和无动力移动产品的优势。
但是，现在市面上的第三种移动产品的相关移动产品的使用者体验不是很好。拿滑板来说，现在市面上出现的省去了油门控制装置的滑板移动产品，其动力输出靠速度触发来控制或者靠按键来控制动力输出。蹬行完滑板到动力输出这个过程中，使用者能感觉到明显的加速感或者减速感，这对使用者来说会显得很突兀，并且这种方式，在动力输出过程中，如果速度波动较大，移动产品就会更新速度，这样速度不断地更新，移动产品的速度就会越来越快，可能出现安全隐患，影响使用者的体验。
在背景技术部分中公开的以上信息只是用来加强对本文所描述技术的背景技术的理解，因此，背景技术中可能包含某些信息，这些信息对于本领域技术人员来说并未形成在本国已知的现有技术。
发明内容
本申请的主要目的在于提供一种移动产品的控制方法、装置、系统、存储介质和处理器，以解决现有技术中的助力模式的移动产品难以控制速度会导致速度越来越大的问题。
为了实现上述目的，根据本申请的一个方面，提供了一种移动产品的控制方法，该控制方法包括：在所述移动产品处于加速运动的情况下，检测所述移动产品在当前运动阶段的运动速度；在确认所述运动速度达到速度极大值且所述当前运动阶段满足第一预设条件的情况下，控制所述移动产品进入稳定运动阶段，所述第一预设条件包括以下至少之一：所述速度极大值大于速度阈值、所述当前运动阶段的最大加速度大于预定加速度，其中，所述速度阈值为预定值与所述当前运动阶段的初速度的和，所述预定值大于或者等于0。
进一步地，所述稳定运动阶段的加速度小于加速度阈值，所述加速度阈值为所述使用者蹬行所述移动产品的最大加速度的绝对值。
进一步地，所述控制方法包括：确认所述运动速度达到所述速度极大值，确认所述运动速度达到所述速度极大值，包括：比较所述移动产品在所述当前运动阶段的相邻两个时刻的运动速度；在后一时刻的所述运动速度与前一时刻的所述运动速度的差值小于或者等于0的情况下，确定所述前一时刻的运动速度为所述速度极大值。
进一步地，所述控制方法包括：确认所述运动速度达到所述速度极大值，确认所述运动速度达到所述速度极大值，包括：获取所述移动产品在所述当前运动阶段的加速度；根据所述加速度确定所述速度极大值。
进一步地，所述移动产品包括电机，获取所述移动产品在所述当前运动阶段的加速度，包括：获取所述移动产品的电机在所述当前运动阶段的转速加速度数据；根据所述加速度确定所述速度极大值，包括：去除所述转速加速度数据的高频噪声数据，得到去噪后的所述转速加速度数据；在去噪后的所述转速加速度数据中的所述转速加速度达到极大值的情况下，确定所述运动速度达到所述速度极大值。
进一步地，所述移动产品包括电机，控制所述移动产品进入稳定运动阶段，包括以下之一：控制所述电机的转速为第一预定转速，所述第一预定转速为转速极大值，所述转速极大值为所述速度极大值对应的转速；控制所述电机的转速为第二预定转速，所述第二预定转速小于所述转速极大值；控制所述电机的转速从所述转速极大值开始减小。
进一步地，所述当前运动阶段为所述移动产品在无驱动装置驱动的情况下从静止开始运动的第一运动阶段，所述第一运动阶段的所述速度极大值为第一速度极大值，在确认所述运动速度达到速度极大值且所述当前运动阶段满足第一预设条件的情况下，控制所述移动产品进入稳定运动阶段，包括：在确认所述运动速度达到所述第一速度极大值且所述第一速度极大值大于速度阈值的情况下，控制所述移动产品进入所述稳定运动阶段，所述稳定运动阶段为第二运动阶段。
进一步地，所述当前运动阶段为所述第二运动阶段后的第三运动阶段，所述第三运动阶段的所述速度极大值为第二速度极大值，在确认所述运动速度达到速度极大值且所述当前运动阶段满足第一预设条件的情况下，控制所述移动产品进入稳定运动阶段，包括：在确认所述运动速度达到所述第二速度极大值且所述第二速度极大值对应的加速度大于预定加速度的情况下，控制所述移动产品进入所述稳定运动阶段，所述稳定运动阶段为第四运动阶段，所述预定加速度大于所述移动产品在所述第二运动阶段的最大加速度。
进一步地，在所述移动产品进入所述稳定运动阶段后，所述控制方法还包括：检测是否满足第二预设条件，所述第二预设条件包括以下之一：使用者的至少部分身体脱离所述移动产品、存在作用于所述移动产品上的制动操作；在检测到满足所述第二预设条件的情况下，控制所述移动产品进入减速运动阶段。
进一步地在控制所述移动产品进入减速运动阶段之后，所述控制方法还包括：在所述移动产品的运动速度大于预定速度的情况下，检测是否满足第三预设条件，所述第三预设条件包括以下之一：所述使用者的身体重新回到所述移动产品上、不存在所述制动操作；在检测到满足所述第三预设条件的情况下，控制所述移动产品进入所述稳定运动阶段，其中，所述预定速度大于或者等于0且小于或等于所述速度极大值。
进一步地，所述移动产品包括电机，所述控制方法还包括：控制驱动电流为正驱动电流；采用驱动电流驱动所述电机正向旋转，在所述电机正向旋转驱动下，所述移动产品的速度的方向为预定方向，所述预定方向为所述移动产品的初始位置朝向目标位置的方向。
为了实现上述目的，根据本申请的一个方面，提供了一种移动产品的控制装置，该控制装置包括：第一检测单元，用于在所述移动产品处于加速运动的情况下，检测所述移动产品在当前运动阶段的运动速度；第一控制单元，用于在确认所述运动速度达到速度极大值且所述当前运动阶段满足第一预设条件的情况下，控制所述移动产品进入稳定运动阶段，所述第一预设条件包括以下至少之一：所述速度极大值大于速度阈值、所述当前运动阶段的最大加速度大于预定加速度，其中，所述速度阈值为预定值与所述当前运动阶段的初速度的和，所述预定值大于或者等于0。
为了实现上述目的，根据本申请的另一个方面，提供了一种系统，包括软件和移动产品，所述软件用于执行任一种所述的控制方法。
为了实现上述目的，根据本申请的在一个方面，提供了一种存储介质，所述存储介质包括存储的程序，其中，所述程序执行任一种所述的控制方法。
根据本申请的又一方面，提供了一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行任一种所述的控制方法。
应用本申请的技术方案，上述的控制方法中，第一预设条件就是速度更新条件，其具 体包括“所述速度极大值大于速度阈值”和/或“所述当前运动阶段的最大加速度大于预定加速度”。该控制方法中，在检测到当前阶段的运动速度达到速度极大值，且当前的运动阶段满足上述的至少一个第一预设条件的情况下，才会控制移动产品进入稳定运动阶段，即才会控制移动产品进行速度更新。该方法中，避免了由于速度的波动导致的速度不断被更新，移动产品的速度越来越快的问题，保证了移动产品的使用安全。
附图说明
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1示出了本申请的一种实施例的移动产品的控制方法的流程图；
图2示出了本申请的一种实施例的移动产品示意图；
图3示出了本申请的一种实施例的踏行滑板时的状态示意图；
图4示出了本申请的一种实施例的移动产品的速度变化示意图；
图5示出了本申请的另一种实施例的移动产品的速度变化示意图；
图6示出了本申请再一种实施例的移动产品的速度变化示意图；
图7示出了本申请的又一种实施例的缓移动产品的速度变化示意图；
图8示出了移动产品在速度保持后的刹车的速度变化示意图；
图9示出了一种实施例的移动产品的速度变化示意图；
图10示出了另一种实施例的移动产品的速度变化示意图；
图11示出了再一种实施例的移动产品的速度变化示意图；
图12示出了本申请的一种实施例的移动产品的轮子转速的加速度曲线；
图13示出了图12的加速度曲线与经过低通滤波后的曲线的对比图；
图14示出了移动产品的轮子转速的加速度曲线、滤波后的曲线以及移动产品的速度曲线；
图15示出了本申请的一种实施例的速度控制的逻辑框图；以及
图16示出了本申请的一种实施例的移动产品的控制装置的示意图。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员 在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、移动设备或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、移动设备或设备固有的其它步骤或单元。
应该理解的是，当元件(诸如层、膜、区域、或衬底)描述为在另一元件“上”时，该元件可直接在该另一元件上，或者也可存在中间元件。而且，在说明书以及权利要求书中，当描述有元件“连接”至另一元件时，该元件可“直接连接”至该另一元件，或者通过第三元件“连接”至该另一元件。
正如背景技术中所描述的，现有技术中的助力模式移动产品在无动力到有动力的过渡过程中，如果在有动力的过程中，移动产品的速度波动较大，移动产品就会不断地更新速度，这样移动产品的速度就会越来越快，可能出现安全隐患，为了解决解决这一问题，本申请的一种典型的实施方式中，提供了一种移动产品的控制方法。
图1是根据本申请实施例的移动产品的控制方法的流程图。如图1所示，该方法包括以下步骤：
步骤S101，在上述移动产品处于加速运动的情况下，检测上述移动产品在当前运动阶段的运动速度；
步骤S102，在确认上述运动速度达到速度极大值且上述当前运动阶段满足第一预设条件的情况下，控制上述移动产品进入稳定运动阶段，上述第一预设条件包括以下至少之一：上述速度极大值大于速度阈值、上述当前运动阶段的最大加速度大于预定加速度，其中，上述速度阈值为预定值与上述当前运动阶段的初速度的和，上述预定值大于或者等于0。
上述的控制方法中，第一预设条件就是速度更新条件，其具体包括“上述速度极大值大于速度阈值”和/或“上述当前运动阶段的最大加速度大于预定加速度”。该控制方法中，在检测到当前阶段的运动速度达到速度极大值，且当前的运动阶段满足上述的至少一个第一预设条件的情况下，才会控制移动产品进入稳定运动阶段，即才会控制移动产品进行速度更新。该方法中，避免了由于速度的波动导致的速度不断被更新，移动产品的速度越来越快的问题，保证了移动产品的使用安全。
上述的控制方法可以不用依赖诸如IMU或者其他用于人加速检测的传感器，软硬件结构上更简单可靠。
需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算 机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
还需要说明的是，上述控制方法的检测移动产品的运动速度的具体检测方式有很多，可以采用传统的有传感器的方式包括但不限于激光测速、雷达测速、磁感应测速、磁编码器测速或光编码器测速等方式，也可以采用无感观测器的方式。
另外，需要说明的是，上述移动产品可以为如图2所示的滑板车，也可以为电动自行车、助力自行车、电动滑板、电动助力滑板等其他交通工具或者其他电动玩具以及类似可以移动的移动产品。上述移动产品在预定模式下从静止开始运动的这一阶段，可以用如图3所示的踏行滑板时候的状态表示。
本申请的一种实施例中，上述稳定运动阶段的加速度小于加速度阈值，上述加速度阈值为上述使用者蹬行上述移动产品的最大加速度的绝对值。该方案中，稳定运动阶段的加速度小于加速度阈值，即稳定运动阶段的加速度较小，从而使得使用者在从当前运动阶段过渡到稳定运动阶段的过程中，不会感到明显的加速感和减速感，进一步保证了使用者的体验效果较好。实际的应用过程中，加速度阈值一般在3～4m/s2之间。
本申请的另一种实施例中，上述控制方法包括：确认上述运动速度达到上述速度极大值，本申请的确认运动速度达到速度极大值的方法可以为任何可以确定速度极大值的方法，本领域技术人员可以根据实际情况选择合适的方法来确定速度极大值。具体的一种方法中，确认上述运动速度达到上述速度极大值，包括：比较上述移动产品在上述当前运动阶段的相邻两个时刻的运动速度；在后一时刻的上述运动速度与前一时刻的上述运动速度的差值小于或者等于0的情况下，确定上述前一时刻的运动速度为上述速度极大值。该方法中，通过比较后一时刻和前一时刻运动速度的差值就可以确定运动速度是否达到了速度极大值，该方法比较简单，且效率较高。
另一种确认上述运动速度达到上述速度极大值的方法，包括：获取上述移动产品在上述当前运动阶段的加速度；根据上述加速度确定上述速度极大值。该方法需要先获取当前阶段的加速度，进而根据加速度确认速度极大值。
需要说明的是，在实际的应用过程中，在移动产品包括电机的情况下，可以通过电机的转速度来确定移动产品的运动速度，通过电机的加速度来确定移动产品的加速度。
为了更加准确地确定速度极大值，一种具体的实施例中，上述移动产品包括电机，获取上述移动产品在上述当前运动阶段的加速度，包括：获取上述移动产品的电机在上述当前运动阶段的转速加速度数据。电机的转速加速度数据对应的曲线如图12所示。
电机的转速加速度数据中存在高频噪声，为了更准确地获取电机的加速度，本申请的一种实施例中，根据上述加速度确定上述速度极大值，包括：去除上述转速加速度数据中 的高频噪声数据，得到去噪后的上述转速加速度数据；在上述去噪后的上述转速加速度数据中的上述转速加速度达到极大值的情况下，确定上述运动速度达到上述速度极大值。
上述方案中，去噪后的上述转速加速度数据滤除了高频噪声数据，如图13所示的对应曲线，具体地，可以通过低通滤波器进行滤波，这样能够滤除原始加速度数据的高频噪声的干扰，从而能够更加准确地确认当前运动阶段的速度极大值。
上述方案中，由于经过滤波后的转速加速度有相位延迟，该电机转速的加速度过零时再去确定速度极大值可能已晚，所以，在上述去噪后的上述转速加速度数据中的上述转速加速度达到极大值的情况下，确定上述运动速度达到上述速度极大值，即将此时的运动速度近似为速度极大值。且从图13可以看出，在实际电机转速的加速度达到最高后下降到0且进入负向区花了很短的时间，这个时间几乎和真实电机转速的加速度过零差不多，如图14所示为移动产品实际运行时检测到的速度极大值的实际情况。实际的应用过程中，在检测到滤波后的转速加速度数据中的加速度的变化率由正变负时，记录下当前的电机速度作为速度的极大值。
本申请中可以通过控制电机的转速来控制移动产品的运动速度，具体地，控制上述移动产品进入稳定运动阶段，包括以下之一：控制上述电机的转速为第一预定转速，上述第一预定转速为转速极大值，上述转速极大值为上述速度极大值对应的转速，该种控制方法实际上控制移动产品在该稳定运动阶段中匀速运动，如图4、图6、图8、图9以及图10中所示的速度保持阶段，实际情况中，虽然控制该阶段的电机的转速恒定，但是实际过程中，速度肯定会波动，如图10所示；控制上述电机的转速为第二预定转速，上述第二预定转速小于上述转速极大值，具体如图11所示，该阶段通过控制电机的转速小于转速极大值，使得在稳定运动阶段中，在初速度后的运动速度都小于初速度；控制上述电机的转速从上述转速极大值开始减小，如图5和图7的缓慢减速阶段。
在实际的应用过程中，设定移动产品在稳定运动阶段保持匀速状态还是减速状态，使用者可以根据自己的需求通过app进行设置。
对于上述的“控制上述电机的转速为第一预定转速”的方案来说，且第一预设条件设置可以为“上述当前运动阶段的最大加速度大于预定加速度”，也可以为“上述速度极大值大于速度阈值，且预定值大于0”；对于“控制上述电机的转速为第二预定转速”的方案来说，且第一预设条件设置可以为“上述当前运动阶段的最大加速度大于预定加速度”，也可以为“上述速度极大值大于速度阈值，且预定值等于0”；对于“控制上述电机的转速从上述转速极大值开始减小”这个方案来说，该方案中控制移动产品在稳定运动阶段做减速运动，且第一预设条件设置可以为“上述当前运动阶段的最大加速度大于预定加速度”，也可以为“上述速度极大值大于速度阈值，且预定值等于0”。
本申请中的当前阶段可以为任何的运动阶段，可以为无动力的人蹬行运动阶段，也可以为人蹬行和动力共存的运动阶段。本申请的一种具体的实施例中，上述当前运动阶段为上述移动产品在无驱动装置驱动的情况下从静止开始运动的第一运动阶段，上述第一运动阶段的上述速度极大值为第一速度极大值，在确认上述运动速度达到速度极大值且上述当前运动阶段满足第一预设条件的情况下，控制上述移动产品进入稳定运动阶段，包括：在确认上述运动速度达到上述第一速度极大值且上述第一速度极大值大于速度阈值的情况下，控制上述移动产品进入上述稳定运动阶段，上述稳定运动阶段为第二运动阶段。该实施例的具体过程见图4与图5所示。该实施例中，对应的预定值可以大于0。
当然，本申请的从上述第一运动阶段更新到第二运动阶段的第一预设条件，并不限于上述的具体的条件，还可以为第一运动阶段的最大加速度大于预定加速度。本领域技术人员可以根据实际情况选择合适的第一预设条件。
本申请的另一种实施例中，上述当前运动阶段为上述第二运动阶段后的第三运动阶段，上述第三运动阶段的上述速度极大值为第二速度极大值，在确认上述运动速度达到速度极大值且上述当前运动阶段满足第一预设条件的情况下，控制上述移动产品进入稳定运动阶段，包括：在确认上述运动速度达到上述第二速度极大值且第三运动阶段的最大加速度大于预定加速度的情况下，控制上述移动产品进入上述稳定运动阶段，上述稳定运动阶段为第四运动阶段，上述预定加速度大于上述移动产品在上述第二运动阶段的最大加速度，这样即使第二运动阶段的运动速度出现波动，由于其波动时的加速度比较小，而例如，在蹬行滑板车时一般会使滑板产生一个比较大的加速度。所以，该方案中不会因为速度的波动而更新速度，使得速度越来越大。该实施例的具体过程见图6、图7、图10以及图11所示。具体地，该第二运动阶段可以为减速运动阶段(图7所示)，还可以为匀速运动阶段(图6、图10以及图11所示，当然，实际的运动过程中并不是严格的匀速运动)。
当然，在实际的操作中，由第二运动阶段之后的速度更新的第一预设条件并不限于上述的具体条件，其还可以为上述第二速度极大值大于速度阈值这一条件，对于图10的实施例中，预定值大于0。该实施例中，可以预先设定大于0的预定值，也可以称为一个死区，移动产品在运动过程中，速度更新都要满足当前运动阶段的速度极大值大于该预定值与上述当前运动阶段的初速度的和。对于图11所示的实施例中，由于其第二运动阶段中的运动速度的最大值为第一速度极大值，所以在第二运动阶段后的速度更新的第一预设条件中的预定值可以为0，即在确认上述运动速度达到速度极大值且当前的速度大于第一速度极大值，就可以更新速度，即控制进入稳定运动阶段。
为了进一步提升使用者体验和安全性，本申请的一种实施例中，在上述移动产品进入上述稳定运动阶段后，上述控制方法还包括：检测是否满足第二预设条件，上述第二预设 条件包括以下之一：使用者的至少部分身体脱离上述移动产品、存在作用于上述移动产品上的制动操作；在检测到满足上述第二预设条件的情况下，控制上述移动产品进入减速运动阶段。
上述方案中，在检测到上述使用者的至少部分身体是否脱离上述移动产品的情况下，即表示使用者要脱离移动产品，具体可以为跳车行为，表示为需要移动产品减速，这种情况下，控制移动产品进入减速运动阶段，如图9所示的曲线的第三部分。检测到存在作用于上述移动产品上的制动操作的情况下，可以为刹车操作，如图8所示的曲线的第三部分，刹车操作后上述移动产品进入减速运动阶段。
为了使得移动产品能够停下来或者减速，移动产品上可以设置刹车检测装置，可以是刹车把手或挡泥板刹车装置，也可以是IMU，目的在于当使用者做刹车操作或者跳车操作能够检测出来这个动作然后可以做切断动力输出或刹车。
在实际的应用过程中，有时候使用者只是感觉移动产品的运动速度较快，想让移动产品暂时减速，为了满足使用者的这一需求，本申请的一种实施例中，在控制上述移动产品进入减速运动阶段之后，上述控制方法还包括：在上述移动产品的运动速度大于预定速度的情况下，检测是否满足第三预设条件，上述第三预设条件包括以下之一：上述使用者的身体重新回到上述移动产品上、不存在上述制动操作；在检测到满足上述第三预设条件的情况下，控制上述移动产品进入上述稳定运动阶段，其中，上述预定速度大于或者等于0且小于或等于上述速度极大值，当然实际的应用过程中，该预定速度可以为4km/h或者5km/h等。
当然，如果使用者就是想让移动产品停下来，那么，需要一直满足上述第二预定条件，即一直处于至少部分身体脱离移动产品的情况下，或者一直存在制动操作的情况下，这样速度运动阶段减速到0。
本申请的一种实施例中，上述移动产品包括电机，如图15所示，控制方法还包括：控制驱动电流为正驱动电流；采用驱动电流驱动上述电机正向旋转，在上述电机正向旋转驱动下，上述移动产品的速度的方向为预定方向，上述预定方向为朝向上述移动产品的目标位置的方向。
上述方案中，控制驱动电流为正驱动电流，从而使得使用者加速但感觉不到阻力等其他不适感觉，使用者无论在任何时候蹬行移动产品会和普通无动力移动产品一样非常自然，感觉不到阻力感或者其他异样感觉。实际的应用过程中，可以对图15的速度控制器的输出做限幅，保证速度控制器的输出在正常状态下始终是让移动产品电机正转的电流，当使用者使能刹车功能，可以移除这个限幅让移动产品能够实现电刹或者能量回收，具体控制框图见图15
以下以滑板车作为移动产品对图4至图9的工作过程进行进一步的说明：图4表示使用者蹬行以后滑板可以一直保持使用者蹬行后的速度；图5表示使用者蹬行完以后，可以让滑板缓慢从使用者蹬行到的速度慢慢减速，这个减速比较慢，相对于普通无动力滑板，这种方式更省力，且滑得更远；图6表示使用者还可以进行多次蹬行，每次蹬行后满足第一预定条件，均可以对速度进行保持，即蹬到多少速度就可以保持多少速度，比较省力，当然为了安全，也可以是有限速的；图7表示滑板工作在缓慢减速模式下，使用者(用户)蹬行，且在蹬完以后继续减速，之后还可以再蹬行，使用者想蹬几次就几次，但是蹬行后，滑板会在你蹬完的速度的基础上慢慢减速；图8表示滑板工作在速度保持模式下假如一直按着刹车，电机就不进行保持速度保持了，相反会有刹车效果，快速减速，确保安全，这种逻辑在速度缓慢减小的模式里也是一样的；)图9表示假如滑板工作在速度保持模式下，使用者想要稍微减速，按了刹车以后但是没等到速度降到0，使用者松开手了，这个时候电机会保持滑板当前的速度，这种模式也比较省力，不会直接将速度将为0，且还能对减速后的速度进行保持。
本申请实施例还提供了一种移动产品的控制装置，需要说明的是，本申请实施例的移动产品的控制装置可以用于执行本申请实施例所提供的用于移动产品的控制方法。以下对本申请实施例提供的移动产品的控制装置进行介绍。
图16是根据本申请实施例的移动产品的控制装置的示意图。如图16所示，该装置包括：
第一检测单元10，用于在上述移动产品处于加速运动的情况下，检测上述移动产品在当前运动阶段的运动速度；
第一控制单元20，用于在确认上述运动速度达到速度极大值且上述当前运动阶段满足第一预设条件的情况下，控制上述移动产品进入稳定运动阶段，上述第一预设条件包括以下至少之一：上述速度极大值大于速度阈值、上述当前运动阶段的最大加速度大于预定加速度，其中，上述速度阈值为预定值与上述当前运动阶段的初速度的和，上述预定值大于或者等于0。
上述的控制装置中，第一控制单元中的第一预设条件包括“上述速度极大值大于速度阈值”和/或“上述当前运动阶段的最大加速度大于预定加速度”。该控制装置中，第一控制单元在检测到当前阶段的运动速度达到速度极大值，且当前的运动阶段满足上述的至少一个第一预设条件的情况下，才会控制移动产品进入稳定运动阶段，即才会控制移动产品进行速度更新。该装置中，避免了由于速度的波动导致的速度不断被更新，移动产品的速度越来越快的问题，保证了移动产品的使用安全。
还需要说明的是，上述控制装置的第一检测单元可以有很多，具体可以为传统的有传 感器，不限于激光测速、雷达测速或磁感应测速等方式，也可以采用无感观测器。
另外，需要说明的是，上述移动产品可以为如图2所示的滑板车，也可以为电动自行车、助力自行车、电动滑板、电动助力滑板等其他交通工具或者其他电动玩具以及类似可以移动的移动产品。上述移动产品在预定模式下从静止开始运动的这一阶运动段，可以用如图3所示的踏行滑板时候的状态表示。
本申请的一种实施例中，上述稳定运动阶段的加速度小于加速度阈值，上述加速度阈值为上述使用者蹬行上述移动产品的最大加速度的绝对值。该方案中，稳定运动阶段的加速度小于加速度阈值，即稳定运动阶段的加速度较小，从而使得使用者在从当前运动阶段过渡到稳定运动阶段的过程中，不会感到明显的加速感和减速感，进一步保证了使用者的体验效果较好。
本申请的另一种实施例中，上述控制装置包括确认单元，本申请的确认单元可以为任何可以确定速度极大值的单元，本领域技术人员可以根据实际情况选择合适的单元来确定速度极大值。具体的一种装置中，该确认单元包括比较模块和第一确定模块，其中，比较模块用于比较上述移动产品在上述当前运动阶段的相邻两个时刻的运动速度；第一确定模块用于在后一时刻的上述运动速度与前一时刻的上述运动速度的差值小于或者等于0的情况下，确定上述前一时刻的运动速度为上述速度极大值。该装置中，通过比较模块和第一确定模块就可以确定运动速度是否达到了速度极大值，该确定单元比较简单，且效率较高。
另一种实施例中，上述确认单元包括获取模块和第二确定模块，获取模块用于获取上述移动产品在上述当前运动阶段的加速度；第二确定模块用于根据上述加速度确定上述速度极大值。该确定单元需要先获取当前阶段的加速度，进而根据加速度确认速度极大值。
需要说明的是，在实际的应用过程中，在移动产品包括电机的情况下，一般可以通过电机的转速度来确定移动产品的运动速度，通过电机的加速度来确定移动产品的加速度。
为了更加准确地确定速度极大值，一种具体的实施例中，上述移动产品包括电机，获取模块还用于获取上述移动产品的电机在上述当前运动阶段的转速加速度数据。电机的转速加速度数据对应的曲线如图12所示。
电机的转速加速度数据存在高频噪声，为了更准确地获取电机的加速度，本申请的一种实施例中，第二确定模块还用于去除上述转速加速度数据中的高频噪声数据，得到去噪后的上述转速加速度数据，第二确定模块还用于在上述在去噪后的上述转速加速度数据中的上述转速加速度达到极大值的情况下，确定上述运动速度达到上述速度极大值。
上述方案中，去噪后的上述转速加速度数据滤除了高频噪声数据，如图13所示的对应曲线，具体地，可以通过低通滤波器进行滤波，这样能够滤除原始加速度数据的高频噪声的干扰，从而能够更加准确地确认当前运动阶段的速度极大值。
上述方案中，由于经过滤波后的转速加速度有相位延迟，该电机转速的加速度过零时再去确定速度极大值可能已晚，所以，在上述去噪后的上述转速加速度数据中的上述转速加速度达到极大值的情况下，确定上述运动速度达到上述速度极大值，即将此时的运动速度近似为速度极大值。且从图13可以看出，在实际电机转速的加速度达到最高后下降到0且进入负向区花了很短的时间，这个时间几乎和真实电机转速的加速度过零差不多，如图14所示为移动产品实际运行时检测到的速度极大值的实际情况。实际的应用过程中，在检测到滤波后的转速加速度数据中的加速度的变化率由正变负时，记录下当前的电机速度作为速度的极大值。
本申请中可以通过控制电机的转速来控制移动产品的运动速度，具体地，第一控制单元用于控制上述电机的转速为第一预定转速，上述第一预定转速为转速极大值，上述转速极大值为上述速度极大值对应的转速，该种控制装置实际上控制移动产品在该稳定运动阶段中匀速运动，如图4、图6、图8、图9以及图10中所示的速度保持阶段，实际情况中，虽然控制该阶段的电机的转速恒定，但是实际过程中，速度肯定会波动，如图10所示；或者第一控制单元用于控制上述电机的转速为第二预定转速，上述第二预定转速小于上述转速极大值，具体如图11所示，该阶段通过控制电机的转速小于转速极大值，使得在稳定运动阶段中，在初速度后的运动速度都小于初速度；或者第一控制单元还用于控制上述电机的转速从上述转速极大值开始减小，如图5和图7的缓慢减速阶段。
在实际的应用过程中，设定移动产品在稳定运动阶段保持匀速状态还是减速状态，使用者可以根据自己的需求通过app进行设置。
对于上述的“控制上述电机的转速为第一预定转速”的方案来说，且第一预设条件设置可以为“上述当前运动阶段的最大加速度大于预定加速度”，也可以为“上述速度极大值大于速度阈值，且预定值大于0”；对于“控制上述电机的转速为第二预定转速”的方案来说，且第一预设条件设置可以为“上述当前运动阶段的最大加速度大于预定加速度”，也可以为“上述速度极大值大于速度阈值，且预定值等于0”；对于“控制上述电机的转速从上述转速极大值开始减小”这个方案来说，该方案中控制移动产品在稳定运动阶段做减速运动，且第一预设条件设置可以为“上述当前运动阶段的最大加速度大于预定加速度”，也可以为“上述速度极大值大于速度阈值，且预定值等于0”。
本申请中的当前阶段可以为任何的运动阶段，可以为无动力的人蹬行运动阶段，也可以为人蹬行和动力共存的运动阶段。本申请的一种具体的实施例中，上述当前运动阶段为上述移动产品在无驱动装置驱动的情况下从静止开始运动的第一运动阶段，上述第一运动阶段的上述速度极大值为第一速度极大值，第一控制单元用于在确认上述运动速度达到上述第一速度极大值且上述第一速度极大值大于速度阈值的情况下，控制上述移动产品进入 上述稳定运动阶段，上述稳定运动阶段为第二运动阶段。该实施例的具体过程见图4与图5所示。该实施例中，对应的预定值可以大于0。
当然，本申请的从上述第一运动阶段更新到第二运动阶段的第一预设条件，并不限于上述的具体的条件，还可以为第一运动阶段的最大加速度大于预定加速度。本领域技术人员可以根据实际情况选择合适的第一预设条件。
本申请的另一种实施例中，上述当前运动阶段为上述第二运动阶段后的第三运动阶段，上述第三运动阶段的上述速度极大值为第二速度极大值，第一控制单元用于在确认上述运动速度达到上述第二速度极大值且第三运动阶段的最大加速度大于预定加速度的情况下，控制上述移动产品进入上述稳定运动阶段，上述稳定运动阶段为第四运动阶段，上述预定加速度大于上述移动产品在上述第二运动阶段的最大加速度，这样即使第二运动阶段的运动速度出现波动，由于其波动时的加速度比较小，而例如，在蹬行滑板车时一般会使滑板产生一个比较大的加速度。所以，该方案中不会因为速度的波动而更新速度，使得速度越来越大。该实施例的具体过程见图6、图7、图10以及图11所示。具体地，该第二运动阶段可以为减速运动阶段(图7所示)，还可以为匀速运动阶段(图6、图10以及图11所示，当然，实际的运动过程中并不是严格的匀速运动)。
当然，在实际的操作中，由第二运动阶段之后的速度更新的第一预设条件并不限于上述的具体条件，其还可以为上述第二速度极大值大于速度阈值这一条件，对于图10的实施例中，预定值大于0。该实施例中，可以预先设定大于0的预定值，也可以称为一个死区，移动产品在运动过程中，速度更新都要满足当前运动阶段的速度极大值大于该预定值与上述当前运动阶段的初速度的和。对于图11所示的实施例中，由于其第二运动阶段中的运动速度的最大值为第一速度极大值，所以在第二运动阶段后的速度更新的第一预设条件中的预定值可以为0，即在确认上述运动速度达到速度极大值且当前的速度大于第一速度极大值，就可以更新速度，即控制进入稳定运动阶段。
为了进一步提升使用者体验和安全性，本申请的一种实施例中上述控制装置还包括第二检测单元和第二控制单元，其中，第二检测单元用于在上述移动产品进入上述稳定运动阶段后，检测是否满足第二预设条件，上述第二预设条件包括以下之一：使用者的至少部分身体脱离上述移动产品、存在作用于上述移动产品上的制动操作；第二控制单元用于在检测到满足上述第二预设条件的情况下，控制上述移动产品进入减速运动阶段。
上述方案中，在第二检测单元检测到上述使用者的至少部分身体是否脱离上述移动产品的情况下，即表示使用者要脱离移动产品，具体可以为跳车行为，表示为需要移动产品减速，这种情况下，第二控制单元控制移动产品进入减速运动阶段，如图9所示的曲线的第三部分。检测到存在作用于上述移动产品上的制动操作的情况下，可以为刹车操作，如 图8所示的曲线的第三部分，刹车操作后上述移动产品进入减速运动阶段。
为了使得移动产品能够停下来或者减速，移动产品的第二检测单元和第二控制单元可以为刹车检测装置，可以是刹车把手或挡泥板刹车装置，也可以是IMU，目的在于当使用者做刹车操作或者跳车操作能够检测出来这个动作然后可以做切断动力输出或刹车。
在实际的应用过程中，有时候使用者只是感觉移动产品的运动速度较快，想让移动产品暂时减速，为了满足使用者的这一需求，本申请的一种实施例中，上述控制装置还包括第三检测单元和第三控制单元，其中，第三检测单元用于在控制上述移动产品进入减速运动阶段之后，在上述移动产品的运动速度大于预定速度的情况下，检测是否满足第三预设条件，上述第三预设条件包括以下之一：上述使用者的身体重新回到上述移动产品上、不存在上述制动操作；第三控制单元用于在检测到满足上述第三预设条件的情况下，控制上述移动产品进入上述稳定运动阶段，其中，上述预定速度大于或者等于0且小于或等于上述速度极大值。
当然，如果使用者就是想让移动产品停下来，那么，需要一直满足上述第二预定条件，即一直处于至少部分身体脱离移动产品的情况下，或者一直存在制动操作的情况下，这样速度运动阶段减速到0。
本申请的一种实施例中，上述移动产品包括电机，如图15所示，控制单元还包括第四控制单元和驱动单元，其中第四控制单元用于控制驱动电流为正驱动电流；驱动单元用于采用驱动电流驱动上述电机正向旋转，在上述电机正向旋转驱动下，上述移动产品的速度的方向为预定方向，上述预定方向为朝向上述移动产品的目标位置的方向。
上述方案中，第四控制单元控制驱动电流为正驱动电流，从而使得使用者加速但感觉不到阻力等其他不适感觉，使用者无论在任何时候蹬行移动产品会和普通无动力移动产品一样非常自然，感觉不到阻力感或者其他异样感觉。
实际的操作过程中，移动产品的电机做了软件速度控制器，该方案中在速度控制器的输出做了限幅，保证速度控制器的输出在正常状态下始终是让滑板电机正转的电流，当使用者使能刹车功能，我们可以移除这个限幅让滑板能够实现电刹或者能量回收，该速度控制器主要为PID控制，具体控制过程见控制框图见图15。
本申请的一种实施例中，包括了一种系统该系统包括软件和移动产品，上述软件用于执行任一种上述的控制装置。
上述的系统中由于包括上述软件，其速度更新条件具体包括“上述速度极大值大于速度阈值”和/或“上述当前运动阶段的最大加速度大于预定加速度”。该控制方法中，在检测到当前阶段的运动速度达到速度极大值，且当前的运动阶段满足上述的至少一个第一预设条件的情况下，才会控制移动产品进入稳定运动阶段，即才会控制移动产品进行速度更 新。该方法中，避免了由于速度的波动导致的速度不断被更新，移动产品的速度越来越快的问题，保证了移动产品的使用安全。
上述移动产品的控制装置包括处理器和存储器，上述第一检测单元和第一控制单元等均作为程序单元存储在存储器中，由处理器执行存储在存储器中的上述程序单元来实现相应的功能。
处理器中包含内核，由内核去存储器中调取相应的程序单元。内核可以设置一个或以上，通过调整内核参数来解决由于速度的波动导致的速度不断被更新，移动产品的速度越来越快的问题。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)，存储器包括至少一个存储芯片。
本发明实施例提供了一种存储介质，其上存储有程序，该程序被处理器执行时实现上述移动产品的控制方法。
本发明实施例提供了一种处理器，上述处理器用于运行程序，其中，上述程序运行时执行上述移动产品的控制方法。
本发明实施例提供了一种设备，设备包括处理器、存储器及存储在存储器上并可在处理器上运行的程序，处理器执行程序时实现至少以下步骤：
步骤S101，在上述移动产品处于加速运动的情况下，检测上述移动产品在当前运动阶段的运动速度；
步骤S102，在确认上述运动速度达到速度极大值且上述当前运动阶段满足第一预设条件的情况下，控制上述移动产品进入稳定运动阶段，上述第一预设条件包括以下至少之一：上述速度极大值大于速度阈值、上述当前运动阶段的最大加速度大于预定加速度，其中，上述速度阈值为预定值与上述当前运动阶段的初速度的和，上述预定值大于或者等于0。
本文中的设备可以是服务器、PC、PAD、手机等。
本申请还提供了一种计算机程序移动产品，当在数据处理设备上执行时，适于执行初始化有至少如下方法步骤的程序：
步骤S101，在上述移动产品处于加速运动的情况下，检测上述移动产品在当前运动阶段的运动速度；
步骤S102，在确认上述运动速度达到速度极大值且上述当前运动阶段满足第一预设条件的情况下，控制上述移动产品进入稳定运动阶段，上述第一预设条件包括以下至少之一：上述速度极大值大于速度阈值、上述当前运动阶段的最大加速度大于预定加速度，其中，上述速度阈值为预定值与上述当前运动阶段的初速度的和，上述预定值大于或者等于0。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序移动产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序移动产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序移动产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。存储器是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按 照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。
从以上的描述中，可以看出，本申请上述的实施例实现了如下技术效果：
1)、本申请的控制方法中，上述的控制方法中，第一预设条件就是速度更新条件，其具体包括“上述速度极大值大于速度阈值”和/或“上述当前运动阶段的最大加速度大于预定加速度”。该控制方法中，在检测到当前阶段的运动速度达到速度极大值，且当前的运动阶段满足上述的至少一个第一预设条件的情况下，才会控制移动产品进入稳定运动阶段，即才会控制移动产品进行速度更新。该方法中，避免了由于速度的波动导致的速度不断被更新，移动产品的速度越来越快的问题，保证了移动产品的使用安全。
2)、本申请的控制装置，第一控制单元中的第一预设条件包括“上述速度极大值大于速度阈值”和/或“上述当前运动阶段的最大加速度大于预定加速度”。该控制装置中，第一控制单元在检测到当前阶段的运动速度达到速度极大值，且当前的运动阶段满足上述的至少一个第一预设条件的情况下，才会控制移动产品进入稳定运动阶段，即才会控制移动产品进行速度更新。该装置中，避免了由于速度的波动导致的速度不断被更新，移动产品的速度越来越快的问题，保证了移动产品的使用安全。
3)、本申请的系统中由于包括上述软件，其速度更新条件具体包括“上述速度极大值大于速度阈值”和/或“上述当前运动阶段的最大加速度大于预定加速度”。该控制方法中，在检测到当前阶段的运动速度达到速度极大值，且当前的运动阶段满足上述的至少一个第一预设条件的情况下，才会控制移动产品进入稳定运动阶段，即才会控制移动产品进行速度更新。该方法中，避免了由于速度的波动导致的速度不断被更新，移动产品的速度越来越快的问题，保证了移动产品的使用安全。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (19)

  1. 一种移动产品的控制方法，其特征在于，所述控制方法包括：
    在所述移动产品处于加速运动的情况下，检测所述移动产品在当前运动阶段的运动速度；
    在确认所述运动速度达到速度极大值且所述当前运动阶段满足第一预设条件的情况下，控制所述移动产品进入稳定运动阶段，所述第一预设条件包括以下至少之一：所述速度极大值大于速度阈值、所述当前运动阶段的最大加速度大于预定加速度，其中，所述速度阈值为预定值与所述当前运动阶段的初速度的和，所述预定值大于或者等于0。
  2. 根据权利要求1所述的控制方法，其特征在于，所述稳定运动阶段的加速度小于加速度阈值，所述加速度阈值为使用者蹬行所述移动产品的最大加速度的绝对值。
  3. 根据权利要求1所述的控制方法，其特征在于，所述控制方法还包括：确认所述运动速度达到所述速度极大值；
    所述确认所述运动速度达到所述速度极大值，包括：
    比较所述移动产品在所述当前运动阶段的相邻两个时刻的运动速度；
    在后一时刻的所述运动速度与前一时刻的所述运动速度的差值小于或者等于0的情况下，确定所述前一时刻的运动速度为所述速度极大值。
  4. 根据权利要求1所述的控制方法，其特征在于，所述控制方法还包括：确认所述运动速度达到所述速度极大值；
    所述确认所述运动速度达到所述速度极大值，包括：
    获取所述移动产品在所述当前运动阶段的加速度；
    根据所述加速度确定所述速度极大值。
  5. 根据权利要求4所述的控制方法，其特征在于，所述移动产品包括电机，
    所述获取所述移动产品在所述当前运动阶段的加速度，包括：获取所述移动产品的电机在所述当前运动阶段的转速加速度数据；
    所述根据所述加速度确定所述速度极大值，包括：
    去除所述转速加速度数据中的高频噪声数据，得到去噪后的所述转速加速度数据；
    在去噪后的所述转速加速度数据中的所述转速加速度达到极大值的情况下，确定所述运动速度达到所述速度极大值。
  6. 根据权利要求1至5任一项所述的控制方法，其特征在于，所述移动产品包括电机，所述控制所述移动产品进入稳定运动阶段，包括以下之一：
    控制所述电机的转速为第一预定转速，所述第一预定转速为转速极大值，所述转速极 大值为所述速度极大值对应的转速；
    控制所述电机的转速为第二预定转速，所述第二预定转速小于所述转速极大值；
    控制所述电机的转速从所述转速极大值开始减小。
  7. 根据权利要求1至6中任一项所述的控制方法，其特征在于，所述当前运动阶段为所述移动产品在无驱动装置驱动的情况下从静止开始运动的第一运动阶段，所述第一运动阶段的所述速度极大值为第一速度极大值，
    在确认所述运动速度达到速度极大值且所述当前运动阶段满足第一预设条件的情况下，所述控制所述移动产品进入稳定运动阶段，还包括：
    在确认所述运动速度达到所述第一速度极大值且所述第一速度极大值大于速度阈值的情况下，控制所述移动产品进入所述稳定运动阶段，所述稳定运动阶段为第二运动阶段。
  8. 根据权利要求1至6中任一项所述的控制方法，其特征在于，所述当前运动阶段为第二运动阶段后的第三运动阶段，所述第三运动阶段的所述速度极大值为第二速度极大值，
    在确认所述运动速度达到速度极大值且所述当前运动阶段满足第一预设条件的情况下，所述控制所述移动产品进入稳定运动阶段，还包括：
    在确认所述运动速度达到所述第二速度极大值且所述第二速度极大值对应的加速度大于预定加速度的情况下，控制所述移动产品进入所述稳定运动阶段，所述稳定运动阶段为第四运动阶段，所述预定加速度大于所述移动产品在所述第二运动阶段的最大加速度。
  9. 根据权利要求1至8中任一项所述的控制方法，其特征在于，在所述移动产品进入所述稳定运动阶段后，所述控制方法还包括：
    检测是否满足第二预设条件，所述第二预设条件包括以下之一：使用者的至少部分身体脱离所述移动产品、存在作用于所述移动产品上的制动操作；
    在检测到满足所述第二预设条件的情况下，控制所述移动产品进入减速运动阶段。
  10. 根据权利要求9所述的控制方法，其特征在于，在控制所述移动产品进入减速运动阶段之后，所述控制方法还包括：
    在所述移动产品的运动速度大于预定速度的情况下，检测是否满足第三预设条件，所述第三预设条件包括以下之一：所述使用者的身体重新回到所述移动产品上、不存在所述制动操作，其中，所述预定速度大于或者等于0且小于或等于所述速度极大值；
    在检测到满足所述第三预设条件的情况下，控制所述移动产品进入所述稳定运动阶段。
  11. 根据权利要求1至10中任一项所述的控制方法，其特征在于，所述移动产品包括电机，所述控制方法还包括：
    控制驱动电流为正驱动电流；
    采用驱动电流驱动所述电机正向旋转，在所述电机正向旋转驱动下，所述移动产品的 速度的方向为预定方向，所述预定方向为所述移动产品的初始位置朝向目标位置的方向。
  12. 一种移动产品的控制装置，其特征在于，所述控制装置包括：
    第一检测单元，用于在所述移动产品处于加速运动的情况下，检测所述移动产品在当前运动阶段的运动速度；
    第一控制单元，用于在确认所述运动速度达到速度极大值且所述当前运动阶段满足第一预设条件的情况下，控制所述移动产品进入稳定运动阶段，所述第一预设条件包括以下至少之一：所述速度极大值大于速度阈值、所述当前运动阶段的最大加速度大于预定加速度，其中，所述速度阈值为预定值与所述当前运动阶段的初速度的和，所述预定值大于或者等于0。
  13. 根据权利要求12所述的控制装置，其特征在于，所述控制装置还包括：确认单元，用于确认所述运动速度达到所述速度极大值；
    所述确认单元，包括：
    比较模块，用于比较所述移动产品在所述当前运动阶段的相邻两个时刻的运动速度；
    第一确定模块，用于在后一时刻的所述运动速度与前一时刻的所述运动速度的差值小于或者等于0的情况下，确定所述前一时刻的运动速度为所述速度极大值。
  14. 根据权利要求12所述的控制装置，其特征在于，所述控制装置还包括：确认单元，用于确认所述运动速度达到所述速度极大值；
    所述确认单元，包括：
    获取模块，用于获取所述移动产品在所述当前运动阶段的加速度；
    第二确定模块，用于根据所述加速度确定上述速度极大值。
  15. 根据权利要求14所述的控制装置，其特征在于，所述移动产品包括电机，
    所述获取模块，还用于获取所述移动产品的电机在所述当前运动阶段的转速加速度数据；
    所述第二确定模块，还用于去除所述转速加速度数据中的高频噪声数据，得到去噪后的所述转速加速度数据，并且在去噪后的所述转速加速度数据中的所述转速加速度达到极大值的情况下，确定所述运动速度达到所述速度极大值。
  16. 根据权利要求11至15中任一项所述的控制装置，其特征在于，所述移动产品包括电机，所述第一控制单元，还用于：
    控制所述电机的转速为第一预定转速，所述第一预定转速为转速极大值，所述转速极大值为所述速度极大值对应的转速；
    控制所述电机的转速为第二预定转速，所述第二预定转速小于所述转速极大值；
    控制所述电机的转速从所述转速极大值开始减小。
  17. 一种系统，包括软件和移动产品，其特征在于，所述软件用于执行权利要求1至11中任一项所述的控制方法。
  18. 一种存储介质，其特征在于，所述存储介质包括存储的程序，其中，所述程序执行权利要求1至11中任意一项所述的控制方法。
  19. 一种处理器，其特征在于，所述处理器用于运行程序，其中，所述程序运行时执行权利要求1至11中任意一项所述的控制方法。
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