WO2021057729A1 - Procédé et dispositif de commande pour produit mobile, système, support de stockage et processeur - Google Patents

Procédé et dispositif de commande pour produit mobile, système, support de stockage et processeur Download PDF

Info

Publication number
WO2021057729A1
WO2021057729A1 PCT/CN2020/116879 CN2020116879W WO2021057729A1 WO 2021057729 A1 WO2021057729 A1 WO 2021057729A1 CN 2020116879 W CN2020116879 W CN 2020116879W WO 2021057729 A1 WO2021057729 A1 WO 2021057729A1
Authority
WO
WIPO (PCT)
Prior art keywords
acceleration
predetermined
speed
mobile product
user
Prior art date
Application number
PCT/CN2020/116879
Other languages
English (en)
Chinese (zh)
Inventor
袁玉斌
张强
Original Assignee
纳恩博（北京）科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 纳恩博（北京）科技有限公司 filed Critical 纳恩博（北京）科技有限公司
Publication of WO2021057729A1 publication Critical patent/WO2021057729A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—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 without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • 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
    • B60L2200/12—Bikes
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • 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

  • 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.
  • Scooters have the characteristics of small wheels, general handles and foldable bodies, and are very convenient to carry.
  • the main purpose of this application is to provide a control method, device, system, storage medium, and processor for a mobile product to solve the problem that it is difficult to accurately control the speed of the mobile product according to the intention of the mobile product in the assist mode in the prior art. problem.
  • a method for controlling a mobile product includes: detecting the acceleration of the mobile product in at least two predetermined directions, the at least two predetermined directions including mutually perpendicular A first predetermined direction and a second predetermined direction, wherein the first predetermined direction is the moving direction of the mobile product, and the second predetermined direction is a direction perpendicular to the pedal surface of the mobile product and away from the ground; according to The accelerations in at least two of the predetermined directions control the speed of the moving product.
  • controlling the speed of the mobile product according to the accelerations in at least two of the predetermined directions includes: performing predetermined processing on the accelerations in the at least two predetermined directions; and performing predetermined processing on the accelerations in the at least two predetermined directions; The magnitude and sign of the acceleration in the predetermined direction control the speed of the moving product.
  • performing predetermined processing on accelerations in at least two of the predetermined directions includes at least one of the following: performing high-pass filtering processing on accelerations in at least two of the predetermined directions; The acceleration is processed by low-pass filtering.
  • controlling the speed of the moving product according to the magnitude and the sign of the acceleration in the at least two predetermined directions after the predetermined processing includes: according to the at least two predetermined directions after the predetermined processing
  • the magnitude and sign of the acceleration on the upper side determine the state of the user; the speed of the mobile product is controlled according to the state of the user.
  • the acceleration in the first predetermined direction is a first acceleration
  • the acceleration in the second predetermined direction is a second acceleration, according to the magnitude of the acceleration in the at least two predetermined directions after the predetermined processing
  • positive and negative to determine the state of the user including: when the detected first acceleration is a negative value and the absolute value is greater than a first threshold, and the second acceleration is a positive value and the absolute value is greater than a second threshold
  • Determining that the user is in the state of pedaling the mobile product, and controlling the speed of the mobile product according to the state of the user includes: detecting the motion speed of the mobile product during the step of the user's pedaling; When the movement speed reaches the maximum speed, the mobile product is controlled to enter the stable movement stage, the acceleration of the steady movement stage is less than the acceleration threshold, and the acceleration threshold is the maximum acceleration during the pedaling stage of the user The absolute value of.
  • controlling the mobile product to enter a stable motion stage includes one of the following: controlling the rotation speed of the motor to be less than or equal to a predetermined rotation speed, the predetermined rotation speed being corresponding to the maximum speed value Rotating speed.
  • controlling the rotation speed of the motor to be less than or equal to a predetermined rotation speed includes: determining the maximum first rotation speed of the motor; determining the maximum voltage duty ratio of the motor according to the maximum first rotation speed; The voltage duty cycle is less than or equal to the maximum voltage duty cycle, and the voltage duty cycle is the duty cycle of the voltage.
  • the mobile product includes a motor
  • the control method further includes: detecting the current of the motor; when the current is reduced to 0, controlling The current is a predetermined current, and the predetermined current is greater than zero.
  • the acceleration in the first predetermined direction is a first acceleration
  • the acceleration in the second predetermined direction is a second acceleration
  • the acceleration in the second predetermined direction is a second acceleration
  • the acceleration in the second predetermined direction is a second acceleration
  • the magnitude of the acceleration in the at least two predetermined directions after the predetermined processing And positive and negative to determine the state of the user, including: when the detected first acceleration is a positive value and the absolute value is greater than a third threshold, and the second acceleration is a negative value and the absolute value is greater than a fourth threshold
  • Determining that the user is in a state where at least part of the body is separated from the mobile product, and controlling the speed of the mobile product according to the user's state includes: controlling the mobile product to make a decelerating motion.
  • a control device for a mobile product including: a first detection unit for detecting acceleration of the mobile product in at least two predetermined directions, at least two of the The predetermined direction includes a first predetermined direction and a second predetermined direction that are perpendicular to each other, wherein the first predetermined direction is the moving direction of the mobile product, and the second predetermined direction is perpendicular to the tread surface of the mobile product and A direction away from the ground; a first control unit for controlling the speed of the moving product according to the acceleration in at least two of the predetermined directions.
  • a system which includes a mobile product and a control device, and the control device has any of the methods described above.
  • control device includes a detection unit, and the detection unit is an inertial measurement unit.
  • the mobile product is a scooter
  • the scooter includes a pedal
  • the detection unit is installed on or in the pedal.
  • a storage medium includes a stored program, wherein the program executes any one 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.
  • this method can be The user’s intention is determined by detecting the acceleration of the mobile product in the first predetermined direction and the second predetermined direction, so as to accurately control the speed of the mobile product according to the user’s intention, which solves the problem of detecting wheels in the prior art.
  • the acceleration method is difficult to determine the user's intention, so it is difficult to accurately control the speed according to the user's intention.
  • Figure 1 shows a flowchart of a mobile product control method according to an embodiment of the present application
  • Figure 2 shows a schematic structural 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
  • FIG. 4 shows a curve of the acceleration of the skateboard over time when the user is pedaling the skateboard according to an embodiment of the present application
  • Figure 5 shows a schematic diagram of speed changes of a mobile product according to an 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 a speed change of a mobile product according to another embodiment of the present application.
  • FIG. 8 shows a schematic diagram of a speed change of a mobile product according to another embodiment of the present application.
  • Fig. 9 shows a schematic diagram of speed changes of a mobile product according to an embodiment of the present application.
  • FIG. 10 shows a curve of the acceleration of the skateboard over time when the user suddenly gets off the car according to an embodiment of the present application
  • Figure 11 shows a schematic diagram of the speed change of the brake of the mobile product after the speed is maintained
  • Fig. 12 shows a schematic diagram of a mobile product control device according to an embodiment of the present application.
  • the power-assisted mobile product in the prior art controls the motion state of the product according to the acceleration of the wheel, but it is difficult to accurately control the speed of the mobile product according to human intentions.
  • a method for controlling mobile products is provided.
  • 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 Detect the acceleration of the mobile product in at least two predetermined directions in the current stage of motion.
  • the at least two predetermined directions include a first predetermined direction and a second predetermined direction that are perpendicular to each other, wherein the first predetermined direction is the movement.
  • the moving direction of the product, the second predetermined direction is a direction perpendicular to the tread surface of the moving product and away from the ground;
  • Step S102 controlling the speed of the moving product according to the acceleration in at least two of the predetermined directions.
  • the acceleration of the mobile product in at least a first predetermined direction and a second predetermined direction is detected, and then the speed of the mobile product is controlled according to the acceleration in at least two predetermined directions. Since the user is pedaling or jumping to move the product, the acceleration in the first predetermined direction and the second predetermined direction will become larger, and in the case of motor control or road vibration, the first predetermined direction and the second predetermined direction At least one of the accelerations in the two predetermined directions is smaller. In this way, based on the magnitude of the acceleration in the first predetermined direction and the second predetermined direction, it can be determined that the state of the mobile product is caused by the user's action, motor control, or road vibration.
  • this method can be The user’s intention is determined by detecting the acceleration of the mobile product in the first predetermined direction and the second predetermined direction, so as to accurately control the speed of the mobile product according to the user’s intention, which solves the problem of detecting wheels in the prior art.
  • the acceleration method is difficult to determine the user's intention, so it is difficult to accurately control the speed according to the user's intention.
  • the mobile product when the mobile product is a skateboard, it can be judged whether it is the acceleration caused by the user's pedaling based on the acceleration in at least two predetermined directions, that is, if the acceleration in at least two predetermined directions has changed within a certain range It is determined that the acceleration caused by the user's pedaling, so that the speed of the moving product can be accurately controlled according to the user's intention, and the application does not need to determine the magnitude of the pedaling force, thereby simplifying the operation.
  • 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, and electric power-assisted skateboards, or other electric toys and similar mobile products that can be moved.
  • the state when the user is pedaling the skateboard is shown in Figure 3.
  • the scooter of the present application is not limited to the scooter shown in FIG. 2, and can also be a scooter with other structures, for example, a scooter with the inertial measurement unit 3 located on the connecting rod 5, for example, Motor 4 is located on the scooter on the rear wheel.
  • the detection of acceleration in at least two predetermined directions in the present application can be implemented by any feasible device, for example, it can be detected by an inertial measurement unit, or the acceleration in the second predetermined direction can be acquired by a pressure sensor, and the acceleration in the second predetermined direction can be acquired by a wheel.
  • the speed sensor acquires the acceleration of the wheel speed, thereby acquiring the acceleration in the first predetermined direction.
  • the mobile product is at least The acceleration in two directions includes: detecting the acceleration of the moving product in at least two preparation directions; and determining the acceleration in the at least two predetermined directions according to the acceleration in the at least two preparation directions.
  • the acceleration in at least two predetermined directions can be obtained by performing coordinate transformation and other operations on the acceleration in the at least two preliminary directions.
  • the mobile product is a scooter
  • an inertial measurement unit (IMU) installed on the connecting rod 5 as shown in FIG. 2 can first obtain the acceleration in the two preliminary directions. Then, the acceleration coordinates in the two preliminary directions are changed to the Y axis (first predetermined direction) and the Z axis (second predetermined direction) to obtain acceleration in the two predetermined directions.
  • IMU inertial measurement unit
  • detecting the acceleration of the mobile product in at least two directions includes: detecting the acceleration of the mobile product in the three predetermined directions, except for the first predetermined direction and the second predetermined direction.
  • the three predetermined directions further include a third predetermined direction, and the third predetermined direction is perpendicular to the first predetermined direction and perpendicular to the second predetermined direction, respectively.
  • the third predetermined direction may be perpendicular to the direction in which the mobile product advances, and perpendicular to the pedal surface of the mobile product and perpendicular to the direction away from the ground.
  • the first predetermined direction, the second predetermined direction, and the third predetermined direction conform to the right-handed coordinate system. .
  • the acceleration of the mobile product in the three above-mentioned predetermined directions By detecting the acceleration of the mobile product in the three above-mentioned predetermined directions, it is further accurately determined whether it is the acceleration caused by the user's pedaling and the user's state is further determined, so that the mobile product can be accurately controlled according to the user's intention. speed. Specifically, the acceleration of the above-mentioned mobile product in the above-mentioned three predetermined directions can be detected through the IMU.
  • controlling the speed of the mobile product according to the accelerations in at least two predetermined directions includes: performing predetermined processing on the accelerations in the at least two predetermined directions; The magnitude and sign of the acceleration in the two aforementioned predetermined directions control the speed of the aforementioned moving product. In this way, the state of the user can be judged more accurately, or the acceleration in a predetermined direction can be obtained more efficiently.
  • the predetermined processing of this application can be any suitable processing method in the prior art, and those skilled in the art can select a suitable method according to the actual situation.
  • performing predetermined processing on accelerations in at least two predetermined directions includes at least one of the following: performing high-pass filtering processing on accelerations in at least two predetermined directions;
  • the acceleration in the direction is low-pass filtered.
  • High-pass filtering is performed on accelerations in at least two predetermined directions to filter out low-frequency noise, so that only the abrupt part can be obtained (both pedaling and dismounting belong to this abrupt part), and the predetermined direction can be determined more quickly
  • the acceleration on at least two of the above-mentioned predetermined directions are subjected to low-pass filtering to filter out high-frequency noise, so that the obtained acceleration in the predetermined direction is more accurate, so that it can be more accurately judged whether it is a user's action
  • the speed of moving products can be controlled more accurately.
  • the frequency band of acceleration obtained by high-pass filtering and the frequency band of high-frequency noise filtered by low-pass filtering are different, and can be adjusted according to actual conditions.
  • controlling the speed of the moving product according to the magnitude and the sign of the acceleration in the at least two predetermined directions after the predetermined processing includes: After the predetermined processing, the magnitude and sign of the acceleration in the at least two predetermined directions determine the state of the user; the speed of the mobile product is controlled according to the state of the user, and the state of the user includes the state of pedaling or partial body movement The state in which the mobile product is detached.
  • the acceleration in the first predetermined direction is the first acceleration
  • the acceleration in the second predetermined direction is the second acceleration
  • the acceleration in the at least two predetermined directions after the predetermined processing The magnitude and sign of the acceleration determine the state of the user, including: when the detected first acceleration is negative and the absolute value is greater than the first threshold, and the second acceleration is positive and the absolute value is greater than the second threshold , It is determined that the user is in the state of pedaling the above-mentioned mobile product (specifically, the acceleration change curve of the mobile product is shown in Figure 4, wherein, when the user is in the pedaling state, the first acceleration is negative and the absolute value is larger, (2) The acceleration is positive and the absolute value is relatively large), and controlling the speed of the mobile product according to the state of the user includes: detecting the motion speed of the mobile product during the pedaling stage of the user; In the case of a maximum value, the mobile product is controlled to enter a stable motion stage, the acceleration in the stable motion stage is less than an acceleration threshold, and the acceleration threshold is
  • the acceleration in the stable motion phase is less than the acceleration threshold, that is, the acceleration in the stable motion phase is small.
  • the initial speed of the above-mentioned mobile product in the above-mentioned stable motion stage is the maximum speed value, and the above-mentioned maximum speed value is the maximum above-mentioned moving speed.
  • the above-mentioned mobile product includes a motor
  • controlling the above-mentioned mobile product to enter a stable motion phase includes one of the following: controlling the rotation speed of the above-mentioned motor to be less than or equal to a predetermined rotation speed, and the predetermined rotation speed corresponds to the maximum speed value. ⁇ rpm ⁇ The rotation speed of the motor is controlled to be less than or equal to a predetermined rotation speed, wherein when the rotation speed of the motor is the predetermined rotation speed, the speed of the moving product is the maximum value of the speed.
  • the speed of the moving product is less than or equal to the maximum speed value, that is, the motor speed is in a constant speed state or a decelerating state, and the above-mentioned stability can be controlled more simply and accurately by controlling the motor speed
  • the movement speed of the movement phase is less than or equal to the maximum speed value.
  • the speed maintaining phases shown in FIGS. 5, 6, 9, and 11 are the uniform motion phases
  • the slow deceleration phases shown in FIGS. 7 and 8 are the deceleration motion phases.
  • the current motion stage of the mobile product can be any motion stage, it can be a non-powered human pedaling motion stage, or a human pedaling and power coexisting motion stage.
  • the above-mentioned current motion stage is the first motion stage when the mobile product starts to move from a standstill without driving by a driving device, and the above-mentioned stable motion stage is the second motion stage.
  • the specific process of this embodiment is shown in Fig. 5 and Fig. 7.
  • the current motion stage is a third motion stage after the second motion stage
  • the maximum velocity of the third motion stage is the second maximum velocity
  • the third The movement phase is a movement phase where human pedaling and power coexist
  • the above-mentioned stable movement phase is the fourth movement phase.
  • the specific process of this embodiment is shown in Fig. 6 and Fig. 8.
  • the second movement stage may be a deceleration movement stage (shown in FIG. 8), or a uniform movement stage (shown in FIG. 6, of course, the actual movement process may not be strictly uniform movement).
  • controlling the rotation speed of the motor to be less than or equal to a predetermined rotation speed includes: determining the maximum first rotation speed of the motor; determining the maximum voltage duty ratio of the motor according to the maximum first rotation speed; and controlling the motor
  • the voltage duty cycle of is less than or equal to the above-mentioned maximum voltage duty cycle, and the above-mentioned voltage duty cycle is the duty cycle of the voltage.
  • the above-mentioned motor speed control is realized by controlling the voltage duty ratio of the above-mentioned motor.
  • the above-mentioned maximum speed corresponds to the above-mentioned maximum voltage duty ratio.
  • the above-mentioned mobile product includes a motor.
  • the above-mentioned control method further includes: detecting the current of the above-mentioned motor; when the above-mentioned current is reduced to 0, That is, when it is detected that the current is in the process of decreasing and decreases to 0, the above-mentioned current is controlled to be a predetermined current, and the above-mentioned predetermined current is greater than 0. This can prevent the user from feeling obvious resistance during the process of pedaling and moving the product, and avoiding the difficult pedaling.
  • the control mode can be switched to the duty cycle control mode (voltage control mode). ), that is, the same control mode as the steady motion phase in the above embodiment.
  • the predetermined current can be a small value or zero, which can be adjusted according to actual conditions.
  • the acceleration in the first predetermined direction is the first acceleration
  • the acceleration in the second predetermined direction is the second acceleration
  • the acceleration in the at least two predetermined directions after the predetermined processing The magnitude and sign of the user determine the state of the user, including: the detected first acceleration is a positive value and the absolute value is greater than a third threshold, that is, the acceleration in the moving direction of the mobile product is a positive value; the second acceleration When it is a negative value and the absolute value is greater than the fourth threshold (specifically, the acceleration change curve of the mobile product is shown in Figure 10, where, when the user is in the state of getting off the car, the first acceleration is a positive value and the absolute value is large, The second acceleration is a negative value and a relatively large absolute value), it is determined that the user is in a state where at least part of the body is separated from the mobile product, that is, jumping off the car.
  • Controlling the speed of the mobile product according to the state of the user includes: controlling the mobile product to perform a deceleration movement, such as the slow deceleration stage or the deceleration stage as shown in FIGS. 7 to 9. Of course, it can also be the braking stage, as shown in Figure 11.
  • a deceleration movement such as the slow deceleration stage or the deceleration stage as shown in FIGS. 7 to 9.
  • the braking stage as shown in Figure 11.
  • the mobile product is controlled to make a decelerating motion.
  • the speed threshold is used to judge, that is, when the speed of the mobile product exceeds a threshold, the mobile product accelerates forward.
  • the control method judges the state of the user by using the positive, negative and threshold value of the acceleration, and then controls the braking or deceleration, so that the user's experience is better.
  • the acceleration in the predetermined direction in the present application may not include the component of gravity in the predetermined direction, that is, the effect of the acceleration of gravity is excluded from the actual code program.
  • the specific process includes: First, the IMU will detect the preliminary acceleration in three predetermined directions, and then obtain the components of gravity on the three axes of the accelerometer through projection, and then add the three components of the accelerometer. Subtract the component of gravity from the preliminary acceleration in the predetermined direction to obtain the acceleration in the predetermined direction.
  • the IMU can detect the posture of the mobile product while detecting the pre-acceleration in the three predetermined directions.
  • the control method also includes: when the IMU detects some dangerous postures, control the mobile product to decelerate until the Slow down to the second predetermined 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. 12 is a schematic diagram of a control device for a mobile product according to an embodiment of the present application. As shown in Figure 12, the device includes:
  • the first detection unit 10 is used to detect the acceleration of the mobile product in at least two predetermined directions, the at least two predetermined directions include a first predetermined direction and a second predetermined direction that are perpendicular to each other, wherein the first predetermined direction is the above The moving direction of the mobile product, where the second predetermined direction is a direction perpendicular to the pedal surface of the mobile product and away from the ground;
  • the first control unit 20 is configured to control the speed of the moving product according to the acceleration in at least two predetermined directions.
  • the first detection unit detects the acceleration of the mobile product in at least a first predetermined direction and a second predetermined direction
  • the first control unit controls the mobile product according to the acceleration in at least two predetermined directions. speed. Since the user is pedaling or jumping to move the product, the acceleration in the first predetermined direction and the second predetermined direction will become larger, and in the case of motor control or ground vibration, the first predetermined direction and the second predetermined direction At least one of the accelerations in the two predetermined directions is smaller. In this way, according to the magnitude of the acceleration in the first predetermined direction and the second predetermined direction, it can be determined that the state of the mobile product is caused by the user's action, or caused by the motor control or ground vibration.
  • the device can detect the movement
  • the acceleration of the product in the first predetermined direction and the second predetermined direction determines the user's intention, so as to accurately control the speed of the moving product according to the user's intention, which solves the control of detecting the acceleration of the wheel in the prior art It is difficult for the device to determine the user's intention, so that it is difficult to accurately control the speed according to the user's intention.
  • the mobile product when the mobile product is a skateboard, it can be judged whether it is the acceleration caused by the user's pedaling based on the acceleration in at least two predetermined directions, that is, if the acceleration in at least two predetermined directions has changed within a certain range It is determined that the acceleration caused by the user's pedaling, so that the speed of the moving product can be accurately controlled according to the user's intention, and the application does not need to determine the magnitude of the pedaling force, thereby simplifying the operation.
  • 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, and electric power-assisted skateboards, or other electric toys and similar mobile products that can be moved.
  • the state when the user is pedaling the skateboard is shown in Figure 3.
  • the scooter of the present application is not limited to the scooter shown in FIG. 2, and can also be a scooter with other structures, for example, a scooter with the inertial measurement unit 3 located on the connecting rod 5, for example, Motor 4 is located on the scooter on the rear wheel.
  • the first detection unit of the present application can be any device that can detect accelerations in at least two predetermined directions.
  • the first detection unit can be an inertial measurement unit, or it can include a pressure sensor, a wheel speed sensor, etc.
  • the acceleration in the second predetermined direction is acquired by the pressure sensor, the acceleration of the wheel speed is acquired by the wheel speed sensor, and then the acceleration in the first predetermined direction is acquired.
  • the first detection unit includes a detection module and a determination module, and the detection module uses To detect the acceleration of the mobile product in at least two preliminary directions; the determining module is configured to determine the acceleration in the at least two predetermined directions according to the acceleration in the at least two preliminary directions.
  • the accelerations in at least two predetermined directions can be obtained by performing coordinate changes on the accelerations in at least two preliminary directions.
  • the mobile product is a scooter.
  • the IMU that is, the detection module installed on the connecting rod 5 as shown in FIG. 2 can first obtain the acceleration in the two preliminary directions, and then use the determining module to The acceleration coordinates in the two preliminary directions are changed to the Y axis (first predetermined direction) and the Z axis (second predetermined direction) to obtain accelerations in the two predetermined directions.
  • the first detection unit is further configured to detect the acceleration of the mobile product in the three predetermined directions.
  • the three predetermined directions It also includes a third predetermined direction, and the third predetermined direction is perpendicular to the first predetermined direction and the second predetermined direction, respectively.
  • the third predetermined direction may be perpendicular to the direction in which the mobile product advances, and perpendicular to the pedal surface of the mobile product and perpendicular to the direction away from the ground.
  • the first predetermined direction, the second predetermined direction, and the third predetermined direction conform to the right-handed coordinate system. .
  • the acceleration of the mobile product in the three above-mentioned predetermined directions By detecting the acceleration of the mobile product in the three above-mentioned predetermined directions, it is further accurately determined whether it is the acceleration caused by the user's pedaling and the user's state is further determined, so that the movement can be accurately controlled according to the user's intention The speed of the product. Specifically, the acceleration of the above-mentioned mobile product in the above-mentioned three predetermined directions can be detected through the IMU.
  • the first control unit includes a processing module and a control module.
  • the processing module is configured to perform predetermined processing on the accelerations in at least two predetermined directions
  • the control module is configured to perform predetermined processing on at least two of the predetermined processed accelerations.
  • the magnitude and sign of the acceleration in the predetermined direction control the speed of the moving product. In this way, the state of the user can be judged more accurately, or the acceleration in a predetermined direction can be obtained more efficiently.
  • the predetermined processing of this application can be any suitable processing method in the prior art, and those skilled in the art can select a suitable method according to the actual situation.
  • the processing module includes at least one of a first processing sub-module and a second processing sub-module, and the first processing sub-module is configured to perform high-pass filtering processing on accelerations in at least two predetermined directions;
  • the second processing sub-module is configured to perform low-pass filtering processing on the accelerations in at least two of the foregoing predetermined directions.
  • High-pass filtering is performed on accelerations in at least two predetermined directions to filter out low-frequency noise, so that only the abrupt part can be obtained (both pedaling and dismounting belong to this abrupt part), and the predetermined direction can be determined more quickly
  • the acceleration on at least two of the above-mentioned predetermined directions are subjected to low-pass filtering to filter out high-frequency noise, so that the obtained acceleration in the predetermined direction is more accurate, so that it can be more accurately judged whether it is a user's action
  • the speed of moving products can be controlled more accurately.
  • the frequency band of acceleration obtained by high-pass filtering and the frequency band of high-frequency noise filtered by low-pass filtering are different, and can be adjusted according to actual conditions.
  • the control module includes a first determining sub-module and a first control sub-module, and the first determining sub-module is used to process at least two of the above-mentioned predetermined sub-modules.
  • the magnitude and sign of the acceleration in the predetermined direction determine the state of the user;
  • the first control sub-module is used to control the speed of the mobile product according to the state of the user, and the state of the user includes the pedaling state or part of the body from moving The state of the product being separated.
  • the acceleration in the first predetermined direction is the first acceleration
  • the acceleration in the second predetermined direction is the second acceleration
  • the first determining submodule is further configured to detect the first acceleration
  • the first control sub-module includes a detector Module and a second control sub-module.
  • the detection sub-module is used to detect the movement speed of the mobile product during the pedaling stage of the user; the second control sub-module is used to detect that the movement speed reaches the maximum speed value.
  • the mobile product is controlled to enter a stable motion stage, 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 in the pedaling stage of the user.
  • the initial speed of the above-mentioned mobile product in the above-mentioned stable motion stage is the maximum value of the speed, and the above-mentioned maximum value of the speed is the maximum above-mentioned moving speed. In this way, it can be ensured that the user will not feel a sudden sense of acceleration and deceleration at the moment when the user transitions from the pedaling state to the stable motion stage, which further ensures that the user has a better user experience.
  • controlling the speed of the mobile product according to the state of the user further includes: controlling the motion speed of the mobile product in the stable motion phase to be less than or Equal to the first predetermined speed, and the first predetermined speed is greater than or equal to the maximum movement speed. That is, the maximum speed of the stable motion phase is set to the first predetermined speed. In this way, by controlling the maximum speed of the stable motion phase, the speed of the stable motion phase will not be too large, thereby further ensuring that the user will not be in the stable motion phase. The feeling of sudden acceleration and deceleration further ensures a better user experience.
  • the above-mentioned maximum movement speed is a first predetermined speed, that is, the two are equal, and the movement speed in the first stage is less than or equal to the first predetermined speed, and some of the movement speed in the first stage is less than the first predetermined speed.
  • the predetermined speed is sometimes equal to the first predetermined speed
  • the moving product is in a decelerating state
  • the moving speed in the first stage is equal to the first predetermined speed
  • the moving product is in a constant speed state.
  • whether the mobile device is in a decelerating state or a constant speed state can be set by the user through the APP.
  • the control device provided in this application does not require the user to repeatedly apply force to the mobile product, which simplifies the user’s
  • the above-mentioned mobile product includes a motor
  • the second control sub-module is further configured to control the speed of the above-mentioned motor to be less than or equal to a predetermined speed
  • the above-mentioned predetermined speed is the speed corresponding to the above-mentioned maximum speed value.
  • the rotation speed of the motor is controlled to be less than or equal to a predetermined rotation speed, wherein when the rotation speed of the motor is the predetermined rotation speed, the speed of the moving product is the maximum value of the speed.
  • the speed of the moving product is less than or equal to the maximum speed, that is, the motor speed is in a constant speed state or a decelerating state.
  • the motor speed By controlling the motor speed, the above stability can be controlled more simply and accurately
  • the movement speed of the movement phase is less than or equal to the maximum speed.
  • the second control sub-module includes a second determination sub-module, a third determination sub-module, and a third control sub-module.
  • the second determination sub-module is used to determine the maximum first rotational speed of the above-mentioned motor.
  • the third determining sub-module is used to determine the maximum voltage duty cycle of the motor according to the maximum first rotational speed, and the third control sub-module is used to control the voltage duty cycle of the motor to be less than or equal to the maximum voltage duty cycle, and the voltage duty cycle is The empty ratio is the duty ratio of the voltage.
  • the above-mentioned motor speed control is realized by controlling the voltage duty ratio of the above-mentioned motor.
  • the above-mentioned maximum speed corresponds to the above-mentioned maximum voltage duty ratio. By controlling the voltage duty ratio, it is possible to more accurately control the speed of the mobile product to be less than or equal to Maximum speed.
  • the above-mentioned mobile product includes a motor
  • the above-mentioned control device further includes: a second detection unit and a second control unit, and the second detection unit is configured to detect the above-mentioned mobile product after controlling the above-mentioned mobile product to enter a stable motion stage.
  • the current of the motor, the second control unit is used to control the above-mentioned mobile product to enter the stable motion stage, when the above-mentioned current is reduced to 0, that is, it is detected that the current is in the process of reducing and is reduced to 0
  • the above-mentioned current is controlled to be a predetermined current, and the above-mentioned predetermined current is greater than zero.
  • the control mode can be switched to the duty cycle control mode (voltage control mode). ), that is, the same control mode as the steady motion phase in the above embodiment.
  • the predetermined current can be a small value or zero, which can be adjusted according to actual conditions.
  • the first determining sub-module is further configured to detect that the first acceleration is a positive value and the absolute value is greater than a third threshold, that is, the acceleration in the moving direction of the mobile product is a positive value;
  • a third threshold that is, the acceleration in the moving direction of the mobile product is a positive value
  • the fourth threshold specifically, the acceleration curve of the mobile product is shown in Figure 5, where the first acceleration is positive and absolute when the user gets off the car. If the value is greater, the second acceleration is a negative value and the absolute value is greater), it is determined that the user is in a state where at least part of the body is separated from the mobile product, that is, jumping.
  • the first control sub-module is also used to control the above-mentioned mobile product to make a decelerating movement.
  • control the mobile product when the user is getting off the vehicle, in order to better determine the user's intention, control the mobile product to make a decelerating motion.
  • the speed threshold is used to judge, that is, when the speed of the mobile product exceeds a threshold, the mobile product accelerates forward.
  • the control device judges the state of the user by using the positive, negative and threshold of the acceleration, and then controls the braking or deceleration, so that the user's experience is better.
  • the acceleration in the predetermined direction in the present application may not include the component of gravity in the predetermined direction, that is, the effect of the acceleration of gravity is excluded from the actual code program.
  • the specific process includes: First, the IMU will detect the preliminary acceleration in three predetermined directions, and then obtain the components of gravity on the three axes of the accelerometer through projection, and then add the three components of the accelerometer. Subtract the component of gravity from the preliminary acceleration in the predetermined direction to obtain the acceleration in the predetermined direction.
  • the IMU can detect the posture of the mobile product while detecting the pre-acceleration in the three predetermined directions.
  • the control device also includes: when the IMU detects some dangerous postures, control the mobile product to decelerate until the Slow down to the second predetermined speed.
  • a system including a mobile product and a control device, and the control device executes any of the above methods.
  • the above-mentioned mobile product is a scooter
  • the above-mentioned scooter includes a pedal
  • the above-mentioned detection unit is installed on or in the above-mentioned pedal.
  • the above-mentioned scooter is shown in FIG. 2, and the scooter includes an unpowered rear wheel 1, a pedal 2, an inertial measurement unit 3, a motor 4, a connecting rod 5, and a control device 6.
  • the control equipment includes a controller and a battery compartment.
  • the control device of the above mobile product includes a processor and a memory.
  • the detection unit and the control unit are all stored in the memory as a program unit, and the processor executes the program unit stored in the memory to realize the corresponding function.
  • the processor contains the kernel, and the kernel calls the corresponding program unit from the memory.
  • One or more kernels can be set, and the kernel parameters are adjusted to solve the problem that the mobile product in the assist mode in the prior art is difficult to accurately control the speed of the mobile product according to the intention of the person.
  • 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 Detect the acceleration of the mobile product in at least two predetermined directions.
  • the at least two predetermined directions include a first predetermined direction and a second predetermined direction that are perpendicular to each other, wherein the first predetermined direction is the moving direction of the mobile product.
  • the second predetermined direction is a direction perpendicular to the tread surface of the mobile product and away from the ground;
  • Step S102 controlling the speed of the moving product according to the acceleration in at least two of the predetermined directions.
  • the devices in this article can be servers, PCs, PADs, mobile phones, etc.
  • This application also provides a computer program product, which when executed on a data processing device, is suitable for executing a program that initializes at least the following method steps:
  • Step S101 Detect the acceleration of the mobile product in at least two predetermined directions.
  • the at least two predetermined directions include a first predetermined direction and a second predetermined direction that are perpendicular to each other, wherein the first predetermined direction is the moving direction of the mobile product.
  • the second predetermined direction is a direction perpendicular to the tread surface of the mobile product and away from the ground;
  • Step S102 controlling the speed of the moving product according to the acceleration in at least two of the predetermined directions.
  • this application can be provided as methods, systems, or computer program products. 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 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.
  • 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. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • this application can be provided as a method, a system, or a computer program product. 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 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.
  • the control method of the present application firstly detects the acceleration of the mobile product in at least a first predetermined direction and a second predetermined direction, and then controls the speed of the mobile product according to the acceleration in at least two predetermined directions. Since the user is pedaling or jumping to move the product, the acceleration in the first predetermined direction and the second predetermined direction will become larger, and in the case of motor control or ground vibration, the first predetermined direction and the second predetermined direction At least one of the accelerations in the two predetermined directions is smaller. In this way, according to the magnitude of the acceleration in the first predetermined direction and the second predetermined direction, it can be determined that the state of the mobile product is caused by the user's action, or caused by motor control or ground vibration.
  • this method can detect the movement
  • the acceleration of the product in the first predetermined direction and the second predetermined direction is used to determine the user's intention, so as to accurately control the speed of the moving product according to the user's intention, which solves the method of detecting the acceleration of wheels in the prior art It is difficult to determine the user's intention, so that it is difficult to accurately control the speed according to the user's intention.
  • the detection unit detects the acceleration of the mobile product in at least a first predetermined direction and a second predetermined direction, and the control unit controls the speed of the mobile product according to the acceleration in at least two predetermined directions. Since the user is pedaling or jumping to move the product, the acceleration in the first predetermined direction and the second predetermined direction will both become larger, and in the case of motor control or ground vibration, the first predetermined direction and the second predetermined direction At least one of the accelerations in the two predetermined directions is smaller. In this way, according to the magnitude of the acceleration in the first predetermined direction and the second predetermined direction, it can be determined that the state of the mobile product is caused by the user's action, or caused by the motor control or ground vibration.
  • the device can detect the movement
  • the acceleration of the product in the first predetermined direction and the second predetermined direction determines the user's intention, so as to accurately control the speed of the moving product according to the user's intention, which solves the control of detecting the acceleration of the wheel in the prior art It is difficult for the device to determine the user's intention, so that it is difficult to accurately control the speed according to the user's intention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention concerne un procédé de commande pour un produit mobile, consistant à : mesurer l'accélération d'un produit mobile dans au moins deux directions prédéfinies, les au moins deux directions prédéfinies comprenant une première direction prédéfinie et une seconde direction prédéfinie perpendiculaires l'une par rapport à l'autre, la première direction prédéfinie étant la direction de déplacement du produit mobile et la seconde direction prédéfinie étant une direction perpendiculaire à une surface de marchepied du produit mobile et distante du sol (S101) ; et commander la vitesse du produit mobile en fonction de l'accélération dans les au moins deux directions prédéfinies (S102). En mesurant l'accélération d'un produit mobile dans une première direction prédéfinie et dans une seconde direction prédéfinie pour déterminer l'intention de l'utilisateur et en commandant avec précision la vitesse du produit mobile en fonction de l'intention de l'utilisateur, le procédé résout le problème de l'état de la technique selon lequel la vitesse est difficile à commander avec précision en fonction de l'intention de l'utilisateur car il est difficile de déterminer l'intention de l'utilisateur par un procédé de mesure de l'accélération des roues. L'invention concerne également un dispositif de commande pour un produit mobile, un système, un support de stockage et un processeur.
PCT/CN2020/116879 2019-09-23 2020-09-22 Procédé et dispositif de commande pour produit mobile, système, support de stockage et processeur WO2021057729A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910901627.7 2019-09-23
CN201910901627.7A CN110641293B (zh) 2019-09-23 2019-09-23 移动产品的控制方法、装置、系统、存储介质和处理器

Publications (1)

Publication Number Publication Date
WO2021057729A1 true WO2021057729A1 (fr) 2021-04-01

Family

ID=68992505

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/116879 WO2021057729A1 (fr) 2019-09-23 2020-09-22 Procédé et dispositif de commande pour produit mobile, système, support de stockage et processeur

Country Status (2)

Country Link
CN (1) CN110641293B (fr)
WO (1) WO2021057729A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110641293B (zh) * 2019-09-23 2021-07-30 纳恩博（常州）科技有限公司 移动产品的控制方法、装置、系统、存储介质和处理器
CN113858964B (zh) * 2020-06-29 2024-02-27 纳恩博（常州）科技有限公司 一种车辆的控制方法及装置、车辆、计算机存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001015967A1 (fr) * 1999-08-27 2001-03-08 Patmont Motor Werks Trottinette electrique
JP2016150684A (ja) * 2015-02-18 2016-08-22 日本電産コパル株式会社 車両の電動アシスト制御システム及び車両
CN108398964A (zh) * 2018-02-08 2018-08-14 西北工业大学 一种滑板车启动和速度控制方法
EP3388319A1 (fr) * 2017-03-30 2018-10-17 Brake Force One GmbH Procédé et appareil de commande d'un entraînement moteur
CN109703686A (zh) * 2018-12-21 2019-05-03 纳恩博（北京）科技有限公司 一种电动助力的移动设备及其控制方法
CN110641293A (zh) * 2019-09-23 2020-01-03 北京致行慕远科技有限公司 移动产品的控制方法、装置、系统、存储介质和处理器

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013225481B4 (de) * 2013-12-10 2020-07-09 Brake Force One Gmbh Verfahren zum Betreiben eines Fortbewegungsmittels
DE102015203641A1 (de) * 2015-03-02 2016-09-08 Bayerische Motoren Werke Aktiengesellschaft Tretroller, Steuerungseinrichtung und Verfahren zur Steuerung
CN107161257A (zh) * 2017-05-02 2017-09-15 纳恩博（北京）科技有限公司 动力控制方法、装置及车辆
CN106379478B (zh) * 2016-09-05 2021-07-30 深圳市周武科技有限公司 基于陀螺仪的滑板车速度控制系统和实现方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001015967A1 (fr) * 1999-08-27 2001-03-08 Patmont Motor Werks Trottinette electrique
JP2016150684A (ja) * 2015-02-18 2016-08-22 日本電産コパル株式会社 車両の電動アシスト制御システム及び車両
EP3388319A1 (fr) * 2017-03-30 2018-10-17 Brake Force One GmbH Procédé et appareil de commande d'un entraînement moteur
CN108398964A (zh) * 2018-02-08 2018-08-14 西北工业大学 一种滑板车启动和速度控制方法
CN109703686A (zh) * 2018-12-21 2019-05-03 纳恩博（北京）科技有限公司 一种电动助力的移动设备及其控制方法
CN110641293A (zh) * 2019-09-23 2020-01-03 北京致行慕远科技有限公司 移动产品的控制方法、装置、系统、存储介质和处理器

Also Published As

Publication number Publication date
CN110641293B (zh) 2021-07-30
CN110641293A (zh) 2020-01-03

Similar Documents

Publication Publication Date Title
WO2021057729A1 (fr) Procédé et dispositif de commande pour produit mobile, système, support de stockage et processeur
US10974708B2 (en) Bicycle control device and brake system
JP2011140262A (ja) 訓練システム、その訓練方法及び訓練プログラム
WO2021057728A1 (fr) Procédé et dispositif de commande de produit mobile, système, support de stockage, et processeur
CN110395259A (zh) 一种路面情况的估计方法、装置、设备以及介质
CN205345206U (zh) 一种以检测压力差值来实现转弯的两轮电动平衡车
KR20240065182A (ko) 개인 이동성 시스템의 ar 기반 성능 변조
CN111791892B (zh) 智能车辆控制方法、装置、车辆以及存储介质
CN110949596B (zh) 一种电动车控制系统及电动车
TW202126526A (zh) 傾斜車輛資料輸出裝置
CN105857471A (zh) 一种四轮电动滑板代步车
CN111731259B (zh) 智能车辆停车控制方法、装置以及存储介质
JP6913770B2 (ja) 二輪車のための運転者アシストシステムを作動させる方法および装置
WO2023183314A1 (fr) Affichage de réalité augmentée (ra) basé sur un risque situationnel
WO2023076506A1 (fr) Jouabilité améliorée en réalité augmentée avec un système de mobilité personnelle
CN108657343A (zh) 自平衡电动漂移鞋
JP2009083820A (ja) 車両制御装置
WO2017120984A1 (fr) Véhicule somatosensoriel électrique pouvant être monté miniature
CN116052504B (zh) 汽车模拟驾驶器制动数据处理方法、装置、电子设备
CN105947075A (zh) 一种基于app控制的电动独轮滑板平衡车
CN109603089A (zh) 虚拟骑行系统的骑行数据的获取方法及装置
JP6652867B2 (ja) 自動二輪車及びその制御方法、並びに半導体装置
KR102483572B1 (ko) 차량의 자세 제어 방법
WO2023201834A1 (fr) Procédé de commande de planche à roulettes électrique, appareil de commande associé, et planche à roulettes électrique
CN115848370B (zh) 无人驾驶车辆的控制方法、装置、电子设备及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20867901

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20867901

Country of ref document: EP

Kind code of ref document: A1