WO2023201834A1 - 电动滑板的控制方法、其控制装置以及电动滑板 - Google Patents
电动滑板的控制方法、其控制装置以及电动滑板 Download PDFInfo
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- WO2023201834A1 WO2023201834A1 PCT/CN2022/094764 CN2022094764W WO2023201834A1 WO 2023201834 A1 WO2023201834 A1 WO 2023201834A1 CN 2022094764 W CN2022094764 W CN 2022094764W WO 2023201834 A1 WO2023201834 A1 WO 2023201834A1
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- pressure data
- electric skateboard
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- motor
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- 238000000034 method Methods 0.000 title claims abstract description 70
- 230000008859 change Effects 0.000 claims description 27
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 abstract description 20
- 230000007423 decrease Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/014—Wheel arrangements
- A63C17/015—Wheel arrangements with wheels arranged in two pairs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present disclosure relates to the field of skateboards, and specifically, to a control method for an electric skateboard, a control device thereof, a computer-readable storage medium, a processor, and an electric skateboard.
- the main purpose of the present disclosure is to provide a control method for an electric skateboard, its control device, a computer-readable storage medium, a processor, and an electric skateboard, so as to solve the problem of the target user experience caused by the overly complicated control process of the electric skateboard in the prior art. Poor sense of problem.
- a method for controlling an electric skateboard includes a motor and two strain gauge sensors.
- the two strain gauge sensors are respectively disposed at both ends of the electric skateboard.
- the method includes: acquiring pressure data of two strain gauge sensors in real time.
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is the first pressure data.
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is the first pressure data.
- the pressure data of the strain gauge sensor at the second end is the second pressure data, and the pressure data is the pressure data generated by the target object standing on the electric skateboard; calculate the first pressure data and the second pressure data.
- the absolute value of the difference in pressure data is used to obtain a first difference; at least according to the first difference, the motor is controlled to rotate in a predetermined direction and at a predetermined speed, so that the electric skateboard moves forward or backward, and the predetermined Direction includes forward or reverse.
- the method before acquiring the pressure data of the two strain gauge sensors in real time, the method further includes: acquiring initial pressure data of the two strain gauge sensors, where the initial pressure data is when the target object stands with both feet.
- the pressure data generated when the electric skateboard is on the electric skateboard, the initial pressure data includes the first initial pressure data of the first end and the second initial pressure data of the second end; calculate the first initial pressure data
- the absolute value of the difference from the second initial pressure data is the second difference.
- controlling the motor to rotate in a predetermined direction and at a predetermined speed so that the electric skateboard moves forward or backward includes: obtaining the speed of the electric skateboard at the current moment in real time; Calculate the absolute value of the difference between the first difference and the second difference to obtain a third difference; when the third difference is within a predetermined range, control the motor not to rotate, and according to The speed is used to control the electric skateboard to stay still or decelerate until it stops; when the third difference value is not within the predetermined range, at least based on the first pressure data and the second pressure data, the electric skateboard is controlled to The motor rotates in the predetermined direction and at the predetermined speed to make the electric skateboard move forward or backward.
- the direction in which the second end points to the first end is a first direction
- the direction in which the first end points to the second end is a second direction
- the second pressure data controls the motor to rotate in the predetermined direction and at the predetermined speed to make the electric skateboard move forward or backward, including: when the first pressure data is greater than the second pressure data, and When the direction of the speed is the first direction, control the forward rotation of the motor so that the electric skateboard moves in the first direction, and determine the predetermined speed based on the first difference;
- the motor is controlled to reverse so that the electric skateboard moves along the second direction.
- the motor when the first pressure data is greater than the second pressure data and the direction of the speed is the first direction, the motor is controlled to rotate forward so that the electric skateboard moves along the moving in the first direction, and determining the predetermined speed according to the first difference, including: when the change rate of the first difference is a positive number, controlling the motor to rotate forward and increasing the speed of the motor. a predetermined speed to make the electric skateboard accelerate in the first direction; when the change rate of the first difference is a negative number, control the motor to rotate forward and reduce the predetermined speed of the motor , so that the electric skateboard decelerates in the first direction.
- the motor when the second pressure data is greater than the first pressure data and the direction of the speed is the second direction, the motor is controlled to reverse so that the electric skateboard moves along the moving in the second direction, and determining the predetermined speed according to the first difference, including: when the change rate of the first difference is a positive number, controlling the motor to reverse, and increasing the The predetermined speed of the motor becomes larger, so that the electric skateboard accelerates in the second direction; when the rate of change of the first difference is negative, the motor is controlled to reverse, and the motor decreases The predetermined speed becomes smaller, so that the electric skateboard decelerates in the second direction.
- a control device for an electric skateboard includes a motor and two strain gauge sensors.
- the two strain gauge sensors are respectively disposed on both sides of the electric skateboard.
- the device includes a first acquisition unit, a first calculation unit and a control unit, wherein the first acquisition unit is used to acquire pressure data of two strain gauge sensors in real time, located on the first side of the electric skateboard
- the pressure data of the strain gauge sensor at the second end of the electric skateboard is the first pressure data
- the pressure data of the strain gauge sensor at the second end of the electric skateboard is the second pressure data
- the pressure data is the target object
- the first calculation unit is used to calculate the absolute value of the difference between the first pressure data and the second pressure data to obtain the first difference
- the control The unit is configured to control the motor to rotate in a predetermined direction and at a predetermined speed according to at least the first difference, so that the electric skateboard moves forward or backward, and the predetermined
- a computer-readable storage medium includes a stored program, wherein the program is used to perform any one of the methods described.
- a processor is also provided, and the processor is configured to run a program, wherein the program executes any one of the methods described when running.
- an electric skateboard is also provided.
- the electric skateboard includes two strain gauge sensors, a motor and a controller, wherein the two strain gauge sensors are respectively disposed on the electric skateboard.
- the strain sensor is used to sense pressure data, which is the pressure data generated by a target object standing on the electric skateboard;
- the motor is used to control the movement of the electric skateboard;
- the controller is used to to perform any of the methods described.
- the pressure data of the two strain gauge sensors are obtained in real time, and the pressure data of the strain gauge sensor located at the first end of the electric skateboard is The data is the first pressure data, the pressure data of the strain gauge sensor located at the second end of the electric skateboard is the second pressure data, and the pressure data is the pressure data generated by the target object standing on the electric skateboard. ; Then, calculate the absolute value of the difference between the first pressure data and the second pressure data to obtain the first difference; finally, at least based on the first difference, control the motor in a predetermined direction and in a The electric skateboard rotates at a predetermined speed to move forward or backward, and the predetermined direction includes forward rotation or reverse rotation.
- the control method of the electric skateboard of the present disclosure is to set one of the strain gauges at each end of the electric skateboard. type sensor, and calculate the absolute value of the difference between the first pressure data and the second pressure data at both ends of the electric skateboard, and control the motor along the predetermined direction according to the absolute value of the difference.
- the predetermined speed rotates to make the electric skateboard move forward or backward, and at the same time control the speed of the electric skateboard, ensuring that only two strain gauge sensors are used to control the forward or backward movement of the electric skateboard, and control the electric skateboard.
- the movement speed of the electric skateboard ensures that the direction and movement speed of the electric skateboard can be completely controlled by the target user's body sense, ensuring that the target user has a better experience, and solves the problem in the existing technology due to the excessive control process of the electric skateboard. Complexity leads to poor user experience for target users.
- Figure 1 shows a schematic flowchart of a control method for an electric skateboard according to an embodiment of the present disclosure
- FIG. 2 shows a schematic diagram of a control device of an electric skateboard according to an embodiment of the present disclosure
- FIG. 3 shows a schematic diagram of an electric skateboard according to an embodiment of the present disclosure.
- a typical implementation of the present disclosure provides a A control method for an electric skateboard, its control device, a computer-readable storage medium, a processor and an electric skateboard.
- a method for controlling an electric skateboard includes a motor and two strain gauge sensors.
- the two strain gauge sensors are respectively disposed at both ends of the electric skateboard.
- FIG. 1 is a flowchart of a control method of an electric skateboard according to an embodiment of the present disclosure. As shown in Figure 1, the method includes the following steps:
- Step S101 obtain the pressure data of the two strain gauge sensors in real time.
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is the first pressure data.
- the strain gauge sensor located at the second end of the electric skateboard is the first pressure data.
- the above-mentioned pressure data is the second pressure data, and the above-mentioned pressure data is the pressure data generated by the target object standing on the above-mentioned electric skateboard;
- Step S102 calculate the absolute value of the difference between the above-mentioned first pressure data and the above-mentioned second pressure data to obtain the first difference;
- Step S103 at least based on the first difference, control the motor to rotate in a predetermined direction and at a predetermined speed, so that the electric skateboard moves forward or backward, and the predetermined direction includes forward rotation or reverse rotation.
- the pressure data of the two strain gauge sensors are obtained in real time.
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is the first pressure data
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is the first pressure data.
- the pressure data of the strain gauge sensor at the second end is the second pressure data
- the pressure data is the pressure data generated by the target object standing on the electric skateboard; then, the difference between the first pressure data and the second pressure data is calculated.
- the control method of the electric skateboard disclosed in the present disclosure is to provide one of the above-mentioned strain gauge sensors at each end of the above-mentioned electric skateboard.
- the strain gauge pressure sensor is located between the board surface of the electric skateboard and the bridge.
- the bridge ensures that the electric skateboard can control the electric skateboard to turn left or right according to the left and right tilt of the target user. It is further ensured that the above-mentioned electric skateboard can change the speed and direction according to the wishes of the above-mentioned target users.
- the above method before acquiring the pressure data of the two strain gauge sensors in real time, further includes: acquiring the initial pressure of the two strain gauge sensors.
- the above-mentioned initial pressure data is the above-mentioned pressure data generated when the above-mentioned target object stands on the above-mentioned electric skateboard with both feet, the above-mentioned initial pressure data includes the first initial pressure data of the above-mentioned first end and the second initial pressure data of the above-mentioned second end. ; Calculate the absolute value of the difference between the above-mentioned first initial pressure data and the above-mentioned second initial pressure data to obtain the second difference.
- the pressure data of the target user in the stable and motionless state of the electric skateboard can be obtained, ensuring that subsequent changes can be made based on the second difference.
- Accurately controlling the above-mentioned predetermined direction and the above-mentioned speed of the above-mentioned motor further ensures that the direction and movement speed of the above-mentioned electric skateboard can be controlled completely through the target user's body sense, ensuring that the target user has a better experience.
- the above-mentioned initial pressure data is the pressure data generated by the target user's feet standing upright on the surface of the above-mentioned electric skateboard for a short time before using the above-mentioned electric skateboard.
- the above-mentioned motor does not rotate, and the above-mentioned electric skateboard Maintain the static state and calibrate this state as the initial state.
- controlling the motor to rotate in a predetermined direction and at a predetermined speed according to at least the first difference to make the electric skateboard move forward or backward includes: obtaining in real time the position of the electric skateboard at the current moment.
- the above-mentioned predetermined speed rotates to make the above-mentioned electric skateboard move forward or backward.
- Rotating at the above-mentioned predetermined speed to make the above-mentioned electric skateboard move forward or backward further ensures that the direction and movement speed of the above-mentioned electric skateboard can be completely controlled according to the wishes of the above-mentioned target user, ensuring that the target user has a better experience.
- the motor is controlled not to rotate. If the speed of the electric skateboard is larger, the electric skateboard starts to decelerate. If the speed of the electric skateboard is zero, then The aforementioned electric skateboard remains stationary.
- the direction in which the above-mentioned second end points to the above-mentioned first end is a first direction
- the direction in which the above-mentioned first end points to the above-mentioned second end is a second direction
- the above-mentioned second pressure data controls the above-mentioned motor to rotate in the above-mentioned predetermined direction and at the above-mentioned predetermined speed, so that the above-mentioned electric skateboard moves forward or backward, including: when the above-mentioned first pressure data is greater than the above-mentioned second pressure data, and the direction of the above-mentioned speed is In the case of the first direction, the motor is controlled to rotate forward so that the electric skateboard moves in the first direction, and the predetermined speed is determined based on the first difference; when the second pressure data is greater than the first pressure data , and when the direction of the speed is the second direction
- the motor is controlled to rotate forward, and when the direction of the speed is the first direction, the electric skateboard moves in the first direction at a speed of Relevant to the above-mentioned first difference, and when the direction of the above-mentioned speed is the above-mentioned second direction, the above-mentioned electric skateboard decelerates in the above-mentioned second direction, and when the above-mentioned second pressure data is greater than the above-mentioned first pressure data , controlling the reverse rotation of the above-mentioned motor, and when the direction of the above-mentioned speed is the above-mentioned second direction, the above-mentioned electric skateboard moves in the above-mentioned second direction, and its movement speed is related to the above-mentioned first difference, and in the direction of the above-mentioned speed In the case of the above-mentioned first direction, the above-mentioned electric skateboard decelerates along
- the first pressure data gradually increases, and at the same time, the first pressure data gradually becomes smaller, and the motor starts and starts to rotate forward.
- the electric skateboard begins to move in the first direction, and the greater the third difference, the greater the predetermined speed of the motor, making the speed of the electric skateboard greater.
- the above-mentioned second end begins to tilt, the above-mentioned second pressure data gradually increases, and the above-mentioned first pressure data gradually becomes smaller.
- the above-mentioned motor starts and begins to reverse, causing the above-mentioned electric skateboard to move in the above-mentioned second direction, and the above-mentioned third difference
- the predetermined speed of the motor begins to decrease, so that the electric skateboard begins to decelerate until it stops.
- the above-mentioned The motor rotates forward to cause the electric skateboard to move in the first direction, and determines the predetermined speed based on the first difference, including: controlling the motor to rotate forward when the rate of change of the first difference is positive, And increase the predetermined speed of the above-mentioned motor, so that the above-mentioned electric skateboard accelerates in the above-mentioned first direction; when the change rate of the above-mentioned first difference is a negative number, control the above-mentioned motor to rotate forward, and reduce the predetermined speed of the above-mentioned motor.
- the motor is controlled to rotate forward, and when the change rate of the first difference is a positive number, the The electric skateboard accelerates along the first direction.
- the change rate of the first difference is negative, the electric skateboard decelerates along the first direction, ensuring that the user can lean forward or backward according to the body's movement.
- Obliquely controlling the speed of the above-mentioned electric skateboard further ensures that the direction and movement speed of the above-mentioned electric skateboard can be controlled completely according to the wishes of the above-mentioned target user, ensuring that the target user has a better experience.
- control The above-mentioned motor reversely rotates so that the above-mentioned electric skateboard moves in the above-mentioned second direction
- the above-mentioned predetermined speed is determined based on the above-mentioned first difference, including: when the change rate of the above-mentioned first difference is positive, controlling the above-mentioned motor to reverse rotation, and increase the predetermined speed of the above-mentioned motor to make the above-mentioned electric skateboard accelerate in the above-mentioned second direction; when the change rate of the above-mentioned first difference is a negative number, control the above-mentioned motor to reverse, and reduce the above-mentioned The predetermined speed of the motor becomes smaller, so that the electric skateboard decelerates in the second direction.
- the motor is controlled to rotate reversely, and when the change rate of the first difference is a positive number, the The electric skateboard accelerates along the second direction.
- the change rate of the first difference is negative, the electric skateboard decelerates along the second direction, ensuring that the user can lean forward or backward according to the body's movement.
- Obliquely controlling the speed of the above-mentioned electric skateboard further ensures that the direction and movement speed of the above-mentioned electric skateboard can be controlled completely according to the wishes of the above-mentioned target user, ensuring that the target user has a better experience.
- An embodiment of the present disclosure also provides a control device for an electric skateboard.
- the above-mentioned electric skateboard includes a motor and two strain gauge sensors.
- the two above-mentioned strain gauge sensors are respectively arranged at both ends of the above-mentioned electric skateboard.
- the control device of the electric skateboard of the embodiment can be used to execute the control method for the electric skateboard provided by the embodiment of the present disclosure. The following is an introduction to the control device of the electric skateboard provided by the embodiment of the present disclosure.
- FIG. 2 is a schematic diagram of a control device of an electric skateboard according to an embodiment of the present disclosure.
- the device includes a first acquisition unit 10, a first calculation unit 20 and a control unit 30, wherein the first acquisition unit 10 is used to acquire the pressure data of the two strain gauge sensors in real time and is located on the electric motor.
- the pressure data of the strain gauge sensor at the first end of the skateboard is the first pressure data
- the pressure data of the strain gauge sensor at the second end of the electric skateboard is the second pressure data
- the pressure data is the target object standing on The pressure data generated on the above-mentioned electric skateboard
- the above-mentioned first calculation unit 20 is used to calculate the absolute value of the difference between the above-mentioned first pressure data and the above-mentioned second pressure data to obtain the first difference
- the above-mentioned control unit 30 is used to at least calculate the The first difference controls the motor to rotate in a predetermined direction and at a predetermined speed, so that the electric skateboard moves forward or backward, and the predetermined direction includes forward rotation or reverse rotation.
- the pressure data of the two strain gauge sensors are acquired in real time through the first acquisition unit.
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is the first pressure data.
- the pressure data of the strain gauge sensor at the second end of the electric skateboard is the second pressure data, and the pressure data is the pressure data generated by the target object standing on the electric skateboard;
- the first pressure data is calculated by the first calculation unit
- the absolute value of the difference between the above-mentioned second pressure data and the first difference is obtained;
- the control unit controls the above-mentioned motor to rotate in a predetermined direction and at a predetermined speed according to at least the above-mentioned first difference, so that the above-mentioned electric skateboard moves forward or backward.
- the above-mentioned predetermined direction includes forward rotation or reverse rotation.
- the control device of the electric skateboard of the present disclosure is provided with one of the above-mentioned strain gauge sensors at both ends of the above-mentioned electric skateboard.
- the strain gauge pressure sensor is located between the board surface of the electric skateboard and the bridge.
- the bridge ensures that the electric skateboard can control the electric skateboard to turn left or right according to the left and right tilt of the target user. It is further ensured that the above-mentioned electric skateboard can change the speed and direction according to the wishes of the above-mentioned target users.
- the above-mentioned device further includes a second acquisition unit and a second calculation unit, wherein the above-mentioned second acquisition unit is used to acquire two Before obtaining the pressure data of the strain gauge sensor, obtain the initial pressure data of the two strain gauge sensors.
- the initial pressure data is the pressure data generated when the target object stands with both feet on the electric skateboard.
- the initial pressure data includes the above-mentioned first pressure data.
- the first initial pressure data at one end and the second initial pressure data at the second end; the second calculation unit is used to calculate the absolute value of the difference between the first initial pressure data and the second initial pressure data to obtain the second initial pressure data. difference.
- the pressure data of the target user in the stable and motionless state of the electric skateboard can be obtained, ensuring that subsequent changes can be made based on the second difference.
- Accurately controlling the above-mentioned predetermined direction and the above-mentioned speed of the above-mentioned motor further ensures that the direction and movement speed of the above-mentioned electric skateboard can be controlled completely through the target user's body sense, ensuring that the target user has a better experience.
- the above-mentioned initial pressure data is the pressure data generated by the target user's feet standing upright on the surface of the above-mentioned electric skateboard for a short time before using the above-mentioned electric skateboard.
- the above-mentioned motor does not rotate, and the above-mentioned electric skateboard Maintain the static state and calibrate this state as the initial state.
- the above-mentioned control unit includes an acquisition module, a calculation module, a first control module and a second control module, wherein the above-mentioned acquisition module is used to acquire the speed of the above-mentioned electric skateboard at the current moment in real time; the above-mentioned The calculation module is used to calculate the absolute value of the difference between the above-mentioned first difference and the above-mentioned second difference to obtain a third difference; the above-mentioned first control module is used to control when the above-mentioned third difference is within a predetermined range.
- the above-mentioned motor does not rotate, and according to the above-mentioned speed, the above-mentioned electric skateboard is controlled to stay still or decelerate until it stops;
- the above-mentioned second control module is used to control the above-mentioned electric skateboard according to at least the above-mentioned first pressure data and
- the second pressure data controls the motor to rotate in the predetermined direction and at the predetermined speed, so that the electric skateboard moves forward or backward.
- the motor is controlled to move in the predetermined direction according to the first pressure data and the second pressure data.
- Rotating at the above-mentioned predetermined speed to make the above-mentioned electric skateboard move forward or backward further ensures that the direction and movement speed of the above-mentioned electric skateboard can be completely controlled according to the wishes of the above-mentioned target user, ensuring that the target user has a better experience.
- the motor is controlled not to rotate. If the speed of the electric skateboard is larger, the electric skateboard starts to decelerate. If the speed of the electric skateboard is zero, then The aforementioned electric skateboard remains stationary.
- the direction in which the above-mentioned second end points to the above-mentioned first end is a first direction
- the direction in which the above-mentioned first end points to the above-mentioned second end is a second direction.
- the above-mentioned second control module includes a first Control sub-module, second control sub-module, third control sub-module and fourth control sub-module, wherein the above-mentioned first control sub-module is used when the above-mentioned first pressure data is greater than the above-mentioned second pressure data and the direction of the above-mentioned speed
- the motor In the case of the first direction, the motor is controlled to rotate forward so that the electric skateboard moves in the first direction, and the predetermined speed is determined based on the first difference;
- the motor is controlled to reverse so that the electric skateboard moves in the second direction, and is determined based on the first difference.
- the above-mentioned third control sub-module is used to control the above-mentioned motor to rotate forward when the above-mentioned first pressure data is greater than the above-mentioned second pressure data, and the direction of the above-mentioned speed is the above-mentioned second direction, so that the above-mentioned electric skateboard Make a deceleration movement along the second direction;
- the fourth control submodule is used to control the reverse rotation of the motor when the second pressure data is greater than the first pressure data and the direction of the speed is the first direction, So that the above-mentioned electric skateboard can decelerate in the above-mentioned first direction.
- the first pressure data gradually increases, and at the same time, the first pressure data gradually becomes smaller, and the motor starts and starts to rotate forward.
- the electric skateboard begins to move in the first direction, and the greater the third difference, the greater the predetermined speed of the motor, making the speed of the electric skateboard greater.
- the above-mentioned second end begins to tilt, the above-mentioned second pressure data gradually increases, and the above-mentioned first pressure data gradually becomes smaller.
- the above-mentioned motor starts and begins to reverse, causing the above-mentioned electric skateboard to move in the above-mentioned second direction, and the above-mentioned third difference
- the predetermined speed of the motor begins to decrease, so that the electric skateboard begins to decelerate until it stops.
- the first pressure data gradually increases, and at the same time, the first pressure data gradually becomes smaller, and the motor starts and starts to rotate forward.
- the electric skateboard begins to move in the first direction, and the greater the third difference, the greater the predetermined speed of the motor, making the speed of the electric skateboard greater.
- the above-mentioned second end begins to tilt, the above-mentioned second pressure data gradually increases, and the above-mentioned first pressure data gradually becomes smaller.
- the above-mentioned motor starts and begins to reverse, causing the above-mentioned electric skateboard to move in the above-mentioned second direction, and the above-mentioned third difference
- the predetermined speed of the motor begins to decrease, so that the electric skateboard begins to decelerate until it stops.
- the above-mentioned first control sub-module is also used to control the above-mentioned motor to rotate forward when the change rate of the above-mentioned first difference is positive, And increase the predetermined speed of the above-mentioned motor, so that the above-mentioned electric skateboard accelerates in the above-mentioned first direction; when the change rate of the above-mentioned first difference is a negative number, control the above-mentioned motor to rotate forward, and reduce the predetermined speed of the above-mentioned motor. , so that the above-mentioned electric skateboard decelerates in the above-mentioned first direction.
- the motor is controlled to rotate forward, and when the change rate of the first difference is a positive number, the The electric skateboard accelerates along the first direction.
- the change rate of the first difference is negative, the electric skateboard decelerates along the first direction, ensuring that the user can lean forward or backward according to the body's movement.
- Obliquely controlling the speed of the above-mentioned electric skateboard further ensures that the direction and movement speed of the above-mentioned electric skateboard can be controlled completely according to the wishes of the above-mentioned target user, ensuring that the target user has a better experience.
- the above-mentioned second control sub-module is also used to control the above-mentioned motor to reverse when the change rate of the above-mentioned first difference is positive. , and increase the predetermined speed of the above-mentioned motor, so that the above-mentioned electric skateboard accelerates in the above-mentioned second direction; when the change rate of the above-mentioned first difference is a negative number, the above-mentioned motor is controlled to reverse, and the above-mentioned motor decreases The predetermined speed becomes smaller, so that the above-mentioned electric skateboard decelerates in the above-mentioned second direction.
- the motor is controlled to rotate reversely, and when the change rate of the first difference is a positive number, the The electric skateboard accelerates along the second direction.
- the change rate of the first difference is negative, the electric skateboard decelerates along the second direction, ensuring that the user can lean forward or backward according to the body's movement.
- Obliquely controlling the speed of the above-mentioned electric skateboard further ensures that the direction and movement speed of the above-mentioned electric skateboard can be controlled completely according to the wishes of the above-mentioned target user, ensuring that the target user has a better experience.
- the control device of the above-mentioned electric skateboard includes a processor and a memory.
- the above-mentioned first acquisition unit, the above-mentioned first determination unit, the above-mentioned control unit, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory. Implement corresponding functions.
- the processor contains a core, which retrieves the corresponding program unit from the memory.
- One or more kernels can be set, and the problem in the prior art that the control process of the electric skateboard is too complex, resulting in poor user experience for target users, can be solved by adjusting the kernel parameters.
- 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).
- RAM random access memory
- ROM read-only memory
- flash RAM flash memory
- Embodiments of the present disclosure provide a computer-readable storage medium on which a program is stored.
- the program is executed by a processor, the above-mentioned control method for an electric skateboard is implemented.
- An embodiment of the present disclosure provides a processor.
- the processor is configured to run a program. When the program is run, the control method for the electric skateboard is executed.
- Embodiments of the present disclosure provide a device.
- the device includes a processor, a memory, and a program stored in the memory and executable on the processor.
- the processor executes the program, it implements at least the following steps:
- Step S101 obtain the pressure data of the two strain gauge sensors in real time.
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is the first pressure data.
- the strain gauge sensor located at the second end of the electric skateboard is the first pressure data.
- the above-mentioned pressure data is the second pressure data, and the above-mentioned pressure data is the pressure data generated by the target object standing on the above-mentioned electric skateboard;
- Step S102 Calculate the absolute value of the difference between the above-mentioned first pressure data and the above-mentioned second pressure data to obtain the first difference;
- Step S103 at least based on the first difference, control the motor to rotate in a predetermined direction and at a predetermined speed, so that the electric skateboard moves forward or backward, and the predetermined direction includes forward rotation or reverse rotation.
- the devices in this article can be servers, PCs, PADs, mobile phones, etc.
- the present disclosure also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program initialized with at least the following method steps:
- Step S101 obtain the pressure data of the two strain gauge sensors in real time.
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is the first pressure data.
- the strain gauge sensor located at the second end of the electric skateboard is the first pressure data.
- the above-mentioned pressure data is the second pressure data, and the above-mentioned pressure data is the pressure data generated by the target object standing on the above-mentioned electric skateboard;
- Step S102 Calculate the absolute value of the difference between the above-mentioned first pressure data and the above-mentioned second pressure data to obtain the first difference;
- Step S103 at least based on the first difference, control the motor to rotate in a predetermined direction and at a predetermined speed, so that the electric skateboard moves forward or backward, and the predetermined direction includes forward rotation or reverse rotation.
- an electric skateboard is also provided.
- the above-mentioned electric skateboard includes two strain gauge sensors, a motor and a controller, wherein the two above-mentioned strain gauge sensors are respectively disposed on the above-mentioned electric skateboard.
- the above-mentioned strain gauge sensor is used to sense pressure data
- the above-mentioned pressure data is the pressure data generated by the target object standing on the above-mentioned electric skateboard
- the above-mentioned motor is used to control the movement of the above-mentioned electric skateboard
- the above-mentioned controller is used to execute any of the above-mentioned methods. method.
- the above-mentioned electric skateboard includes two strain gauge sensors, a motor and a controller.
- the two above-mentioned strain gauge sensors are respectively arranged at both ends of the above-mentioned electric skateboard.
- the above-mentioned strain gauge sensors are used to sense pressure data, and the above-mentioned pressure data is the target object.
- the pressure data generated by standing on the above-mentioned electric skateboard; the above-mentioned motor is used to control the movement of the above-mentioned electric skateboard; the above-mentioned controller is used to perform any one of the above methods.
- the electric skateboard of the present disclosure is provided with one of the above-mentioned strain gauge sensors at both ends of the above-mentioned electric skateboard, and calculates the above-mentioned The absolute value of the difference between the first pressure data and the second pressure data at both ends of the electric skateboard controls the motor to rotate in the predetermined direction and at the predetermined speed according to the absolute value of the difference, so that the electric skateboard moves forward or backward.
- the strain sensor 40 is located between the board 50 and the bridge 60 .
- the target user stands on the board 50 and performs left and right control through the bridge 60 .
- the disclosed technical content can be implemented in other ways.
- the device embodiments described above are only illustrative.
- the division of the above-mentioned units can be a logical function division.
- multiple units or components can be combined or integrated. to another system, or some features can be ignored, or not implemented.
- the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the units or modules may be in electrical or other forms.
- the units described above as separate components may or may not be physically separated.
- the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
- each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
- the above integrated units can be implemented in the form of hardware or software functional units.
- the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
- the technical solution of the present disclosure is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the above methods in various embodiments of the present disclosure.
- the aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code. .
- the pressure data of the two strain gauge sensors are obtained in real time.
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is the first pressure data.
- the pressure data of the strain sensor located at the second end of the electric skateboard is the second pressure data, and the pressure data is the pressure data generated by the target object standing on the electric skateboard; then, calculate the first pressure data and the above pressure data.
- the absolute value of the difference between the second pressure data is used to obtain the first difference; finally, at least based on the first difference, the above-mentioned motor is controlled to rotate in a predetermined direction and at a predetermined speed, so that the above-mentioned electric skateboard moves forward or backward, and the above-mentioned predetermined Direction includes forward or reverse.
- the control method of the electric skateboard disclosed in the present disclosure is to provide one of the above-mentioned strain gauge sensors at each end of the above-mentioned electric skateboard.
- the pressure data of the two strain gauge sensors are acquired in real time through the first acquisition unit.
- the pressure data of the strain gauge sensor located at the first end of the electric skateboard is:
- the first pressure data, the pressure data of the strain sensor located at the second end of the electric skateboard is the second pressure data, and the pressure data is the pressure data generated by the target object standing on the electric skateboard;
- the first calculation unit Calculate the absolute value of the difference between the above-mentioned first pressure data and the above-mentioned second pressure data to obtain the first difference; and use the control unit to control the above-mentioned motor to rotate in a predetermined direction and at a predetermined speed based on at least the above-mentioned first difference, so that The above-mentioned electric skateboard moves forward or backward, and the above-mentioned predetermined direction includes forward rotation or reverse rotation.
- the control device of the electric skateboard of the present disclosure is provided with one of the above-mentioned strain gauge sensors at both ends of the above-mentioned electric skateboard.
- the above-mentioned electric skateboard of the present disclosure includes two strain gauge sensors, a motor and a controller, wherein the two above-mentioned strain gauge sensors are respectively provided at both ends of the above-mentioned electric skateboard, and the above-mentioned strain gauge sensors are used to sense pressure data,
- the above-mentioned pressure data is the pressure data generated by the target object standing on the above-mentioned electric skateboard;
- the above-mentioned motor is used to control the movement of the above-mentioned electric skateboard;
- the above-mentioned controller is used to execute any one of the above methods.
- the electric skateboard of the present disclosure is provided with one of the above-mentioned strain gauge sensors at both ends of the above-mentioned electric skateboard, and calculates the above-mentioned The absolute value of the difference between the first pressure data and the second pressure data at both ends of the electric skateboard controls the motor to rotate in the predetermined direction and at the predetermined speed according to the absolute value of the difference, so that the electric skateboard moves forward or backward.
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- Motorcycle And Bicycle Frame (AREA)
Abstract
本公开提供了一种电动滑板的控制方法、其控制装置以及电动滑板，该方法包括：首先，实时获取两个应变式传感器的压力数据，位于电动滑板的第一端的应变式传感器的压力数据为第一压力数据，位于电动滑板的第二端的应变式传感器的压力数据为第二压力数据，压力数据为目标对象站立在电动滑板上产生的压力数据；然后，计算第一压力数据与第二压力数据的差值的绝对值，得到第一差值；最后，至少根据第一差值，控制电机沿预定方向且以预定速度转动，以使得电动滑板前进或者后退，预定方向包括正转或者反转。保证了可以通过目标用户的体感控制电动滑板的方向及速度，解决了现有技术中的电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
Description
本公开以2022年04月21日递交的、申请号为202210422384.0且名称为“电动滑板的控制方法、其控制装置以及电动滑板”的专利文件为优先权文件，该文件的全部内容通过引用结合在本公开中。
本公开涉及滑板领域，具体而言，涉及一种电动滑板的控制方法、其控制装置、计算机可读存储介质、处理器以及电动滑板。
传统的电动滑板车是主要是通过一个手持无线手柄来控制电机，实现电动滑板的加减速，由于用户需要使用手柄来控制前进和后退方向以及加减速，在很大程度上很难实现完全的“体感”控制，且控制方法较为复杂。
因此，亟需一种只通过用户的身体的前后左右倾斜，来完全实现滑板的所有动作的方法。
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
本公开的主要目的在于提供一种电动滑板的控制方法、其控制装置、计算机可读存储介质、处理器以及电动滑板，以解决现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
根据本公开实施例的一个方面，提供了一种电动滑板的控制方法，所述电动滑板包括电机以及两个应变式传感器，两个所述应变式传感器分别设置在所述电动滑板的两端，所述方法包括：实时获取两个所述应变式传感器的压力数据，位于所述电动滑板的第一端的所述应变式传感器的所述压力数据为第一压力数据，位于所述电动滑板的第二端的所述应变式传感器的所述压力数据为第二压力数据，所述压力数据为目标对象站立在所述电动滑板上产生的压力数据；计算所述第一压力数据与所述第二压力数据的差值的绝对值，得到第一差值；至少根据所述第一差值，控制所述电机沿预定方向且以预定速度转动，以使得所述电动滑板前进或者后退，所述预定方向包括正转或者反转。
可选地，在实时获取两个应变式传感器的压力数据之前，所述方法还包括：获取两个所述应变式传感器的初始压力数据，所述初始压力数据为所述目标对象双脚站立在所述电动滑板上时产生的所述压力数据，所述初始压力数据包括所述第一端的第一初始压力数据以及 所述第二端的第二初始压力数据；计算所述第一初始压力数据与所述第二初始压力数据的差值的绝对值，得到第二差值。
可选地，至少根据所述第一差值，控制所述电机沿预定方向且以预定速度转动，以使得所述电动滑板前进或者后退，包括：实时获取所述电动滑板在当前时刻的速度；计算所述第一差值与所述第二差值的差值的绝对值，得到第三差值；在所述第三差值在预定范围的情况下，控制所述电机不转动，且根据所述速度，控制所述电动滑板不动或者减速直至停止；在所述第三差值不在所述预定范围的情况下，至少根据所述第一压力数据以及所述第二压力数据，控制所述电机沿所述预定方向且以所述预定速度转动，以使得所述电动滑板前进或者后退。
可选地，所述第二端指向所述第一端的方向为第一方向，所述第一端指向所述第二端的方向为第二方向，至少根据所述第一压力数据以及所述第二压力数据，控制所述电机沿所述预定方向且以所述预定速度转动，以使得所述电动滑板前进或者后退，包括：在所述第一压力数据大于所述第二压力数据，且所述速度的方向为所述第一方向的情况下，控制所述电机正转，以使得所述电动滑板沿所述第一方向运动，并根据所述第一差值确定所述预定速度；在所述第二压力数据大于所述第一压力数据，且所述速度的方向为所述第二方向的情况下，控制所述电机反转，以使得所述电动滑板沿所述第二方向运动，并根据所述第一差值确定所述预定速度；在所述第一压力数据大于所述第二压力数据，且所述速度的方向为所述第二方向的情况下，控制所述电机正转，以使得所述电动滑板沿所述第二方向做减速运动；在所述第二压力数据大于所述第一压力数据，且所述速度的方向为所述第一方向的情况下，控制所述电机反转，以使得所述电动滑板沿所述第一方向做减速运动。
可选地，在所述第一压力数据大于所述第二压力数据，且所述速度的方向为所述第一方向的情况下，控制所述电机正转，以使得所述电动滑板沿所述第一方向运动，并根据所述第一差值确定所述预定速度，包括：在所述第一差值的变化率为正数时，控制所述电机正转，且增大所述电机的预定速度，以使得所述电动滑板沿所述第一方向做加速运动；在所述第一差值的变化率为负数时，控制所述电机正转，且减小所述电机的预定速度，以使得所述电动滑板沿所述第一方向做减速运动。
可选地，在所述第二压力数据大于所述第一压力数据，且所述速度的方向为所述第二方向的情况下，控制所述电机反转，以使得所述电动滑板沿所述第二方向上运动，并根据所述第一差值确定所述预定速度，包括：在所述第一差值的变化率为正数时，控制所述电机反转，且增大所述电机的预定速度变大，以使得所述电动滑板沿所述第二方向做加速运动；在所述第一差值的变化率为负数时，控制所述电机反转，且减小所述电机的预定速度变小，以使得所述电动滑板沿所述第二方向做减速运动。
根据本公开实施例的另一方面，还提供了一种电动滑板的控制装置，所述电动滑板包括电机以及两个应变式传感器，两个所述应变式传感器分别设置在所述电动滑板的两端，所述装置包括第一获取单元、第一计算单元以及控制单元，其中，所述第一获取单元用于实时获取两个所述应变式传感器的压力数据，位于所述电动滑板的第一端的所述应变式传感器的所 述压力数据为第一压力数据，位于所述电动滑板的第二端的所述应变式传感器的所述压力数据为第二压力数据，所述压力数据为目标对象站立在所述电动滑板上产生的压力数据；所述第一计算单元用于计算所述第一压力数据与所述第二压力数据的差值的绝对值，得到第一差值；所述控制单元用于至少根据所述第一差值，控制所述电机沿预定方向且以预定速度转动，以使得所述电动滑板前进或者后退，所述预定方向包括正转或者反转。
根据本公开实施例的又一方面，还提供了一种计算机可读存储介质，所述计算机可读存储介质包括存储的程序，其中，所述程序用于执行任一种所述的方法。
根据本公开实施例的再一方面，还提供了一种处理器，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方法。
根据本公开实施例的又一方面，还提供了一种电动滑板，所述电动滑板包括两个应变式传感器、电机以及控制器，其中，两个所述应变式传感器分别设置在所述电动滑板的两端，所述应变式传感器用于感应压力数据，所述压力数据为目标对象站立在所述电动滑板上产生的压力数据；所述电机用于控制所述电动滑板运动；所述控制器用于执行任一种所述的方法。
在本公开实施例中，所述电动滑板的控制方法中，首先，实时获取两个所述应变式传感器的压力数据，位于所述电动滑板的第一端的所述应变式传感器的所述压力数据为第一压力数据，位于所述电动滑板的第二端的所述应变式传感器的所述压力数据为第二压力数据，所述压力数据为目标对象站立在所述电动滑板上产生的压力数据；然后，计算所述第一压力数据与所述第二压力数据的差值的绝对值，得到第一差值；最后，至少根据所述第一差值，控制所述电机沿预定方向且以预定速度转动，以使得所述电动滑板前进或者后退，所述预定方向包括正转或者反转。相比现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题，本公开的所述电动滑板的控制方法，通过在所述电动滑板两端各设置一个所述应变式传感器，并计算所述电动滑板两端的所述第一压力数据与所述第二压力数据的差值的绝对值，根据所述差值的绝对值控制所述电机沿所述预定方向且以所述预定速度转动，使得所述电动滑板前进或者后退，同时控制所述电动滑板的速度，保证了只通过两个所述应变式传感器完成控制所述电动滑板的前进或者后退，以及控制所述电动滑板的运动速度，保证了可以完全通过目标用户的体感控制所述电动滑板的方向以及运动速度，保证了目标用户的体验感较好，解决了现有技术中的由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
构成本公开的一部分的说明书附图用来提供对本公开的进一步理解，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1示出了根据本公开的实施例的电动滑板的控制方法流程示意图；
图2示出了根据本公开的实施例的电动滑板的控制装置的示意图；
图3示出了根据本公开的实施例的电动滑板的示意图。
其中，上述附图包括以下附图标记：
40、应变式传感器；50、板面；60、桥架。
需要说明的是，在不冲突的情况下，本公开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公开。
为了使本技术领域的人员更好地理解本公开方案，下面将结合本公开实施例中的附图，对本公开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公开一部分的实施例，而不是全部的实施例。基于本公开中的实施例，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，都应当属于本公开保护的范围。
需要说明的是，本公开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，以便这里描述的本公开的实施例。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、产品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、产品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。
正如背景技术中所说的，现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题，为了解决上述问题，本公开的一种典型的实施方式中，提供了一种电动滑板的控制方法、其控制装置、计算机可读存储介质、处理器以及电动滑板。
根据本公开的实施例，提供了一种电动滑板的控制方法，上述电动滑板包括电机以及两个应变式传感器，两个上述应变式传感器分别设置在上述电动滑板的两端。
图1是根据本公开实施例的电动滑板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，实时获取两个上述应变式传感器的压力数据，位于上述电动滑板的第一端的上述应变式传感器的上述压力数据为第一压力数据，位于上述电动滑板的第二端的上述应变式传感器的上述压力数据为第二压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；
步骤S102，计算上述第一压力数据与上述第二压力数据的差值的绝对值，得到第一差 值；
步骤S103，至少根据上述第一差值，控制上述电机沿预定方向且以预定速度转动，以使得上述电动滑板前进或者后退，上述预定方向包括正转或者反转。
上述电动滑板的控制方法中，首先，实时获取两个上述应变式传感器的压力数据，位于上述电动滑板的第一端的上述应变式传感器的上述压力数据为第一压力数据，位于上述电动滑板的第二端的上述应变式传感器的上述压力数据为第二压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；然后，计算上述第一压力数据与上述第二压力数据的差值的绝对值，得到第一差值；最后，至少根据上述第一差值，控制上述电机沿预定方向且以预定速度转动，以使得上述电动滑板前进或者后退，上述预定方向包括正转或者反转。相比现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题，本公开的上述电动滑板的控制方法，通过在上述电动滑板两端各设置一个上述应变式传感器，并计算上述电动滑板两端的上述第一压力数据与上述第二压力数据的差值的绝对值，根据上述差值的绝对值控制上述电机沿上述预定方向且以上述预定速度转动，使得上述电动滑板前进或者后退，同时控制上述电动滑板的速度，保证了只通过两个上述应变式传感器完成控制上述电动滑板的前进或者后退，以及控制上述电动滑板的运动速度，保证了可以完全通过目标用户的体感控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好，解决了现有技术中的由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
一种具体的实施例中，上述应变式压力传感器位于上述电动滑板的板面与桥架之间，上述桥架保证了上述电动滑板可以根据上述目标用户的左右倾斜控制上述电动滑板左拐或者右拐，进一步保证了上述电动滑板可以根据上述目标用户的意愿改变速度以及方向。
为了进一步保证上述目标用户的体验感较好，根据本公开的一种具体实施例，在实时获取两个应变式传感器的压力数据之前，上述方法还包括：获取两个上述应变式传感器的初始压力数据，上述初始压力数据为上述目标对象双脚站立在上述电动滑板上时产生的上述压力数据，上述初始压力数据包括上述第一端的第一初始压力数据以及上述第二端的第二初始压力数据；计算上述第一初始压力数据与上述第二初始压力数据的差值的绝对值，得到第二差值。通过获取上述目标用户的上述初始压力数据，并计算得到上述第二差值，可以获得上述目标用户在上述电动滑板稳定不动状态下的上述压力数据，保证了后续根据上述第二差值可以更加准确的控制上述电机的上述预定方向以及上述预定速度，进一步保证了可以完全通过目标用户的体感控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好。
具体地，上述初始压力数据为目标用户每次在使用上述电动滑板前，双脚保持短暂的直立站稳在上述电动滑板的板面上产生的压力数据，此时上述电机不转动，上述电动滑板保持静止状态，标定此状态为初始状态。
根据本公开的另一种具体实施例，至少根据上述第一差值，控制上述电机沿预定方向且以预定速度转动，以使得上述电动滑板前进或者后退，包括：实时获取上述电动滑板在当前时刻的速度；计算上述第一差值与上述第二差值的差值的绝对值，得到第三差值；在上述第 三差值在预定范围的情况下，控制上述电机不转动，且根据上述速度，控制上述电动滑板不动或者减速直至停止；在上述第三差值不在上述预定范围的情况下，至少根据上述第一压力数据以及上述第二压力数据，控制上述电机沿上述预定方向且以上述预定速度转动，以使得上述电动滑板前进或者后退。通过得到上述第三差值，并且在上述第三差值在预定范围的情况下，控制上述电机不转动，保证了在上述目标用户没有控制上述电动滑板运动的意愿的情况下，控制上述电机不转动，以使得上述电动滑板减速至停止或者保持不动，在上述第三差值不在上述预定范围的情况下，根据上述第一压力数据以及上述第二压力数据，控制上述电机沿上述预定方向且以上述预定速度转动，以使得上述电动滑板前进或者后退，进一步保证了可以完全根据上述目标用户的意愿控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好。
具体地，在上述第三差值在预定范围的情况下，控制上述电机不转动，如果上述电动滑板的速度较大，那么上述电动滑板开始做减速运动，如果上述电动滑板的速度为零，那么上述电动滑板保持不动。
根据本公开的又一种具体实施例，上述第二端指向上述第一端的方向为第一方向，上述第一端指向上述第二端的方向为第二方向，至少根据上述第一压力数据以及上述第二压力数据，控制上述电机沿上述预定方向且以上述预定速度转动，以使得上述电动滑板前进或者后退，包括：在上述第一压力数据大于上述第二压力数据，且上述速度的方向为上述第一方向的情况下，控制上述电机正转，以使得上述电动滑板沿上述第一方向运动，并根据上述第一差值确定上述预定速度；在上述第二压力数据大于上述第一压力数据，且上述速度的方向为上述第二方向的情况下，控制上述电机反转，以使得上述电动滑板沿上述第二方向运动，并根据上述第一差值确定上述预定速度；在上述第一压力数据大于上述第二压力数据，且上述速度的方向为上述第二方向的情况下，控制上述电机正转，以使得上述电动滑板沿上述第二方向做减速运动；在上述第二压力数据大于上述第一压力数据，且上述速度的方向为上述第一方向的情况下，控制上述电机反转，以使得上述电动滑板沿上述第一方向做减速运动。在上述第一压力数据大于上述第二压力数据的情况下，控制上述电机正转，且在上述速度的方向为上述第一方向的情况下，上述电动滑板沿上述第一方向运动，其运动速度与上述第一差值有关，且在上述速度的方向为上述第二方向的情况下，上述电动滑板沿上述第二方向做减速运动，在上述第二压力数据大于上述第一压力数据的情况下，控制上述电机反转，且在上述速度的方向为上述第二方向的情况下，上述电动滑板沿上述第二方向运动，其运动速度与上述上述第一差值有关，且在上述速度的方向为上述第一方向的情况下，上述电动滑板沿着上述第一方向做减速运动，保证了用户可以根据上述压力数据精准控制上述电动滑板的运动方向以及速度，进一步保证了可以完全根据上述目标用户的意愿控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好。
具体地，在上述目标用户从初始状态往上述电动滑板的上述第一端倾斜时，上述第一压力数据逐渐增大，同时上述第一压力数据逐渐变小，上述电机启动并开始正转，上述电动滑板向上述第一方向开始运动，且上述第三差值越大，上述电机的上述预定速度越大，使得上述电动滑板的速度越大，同理，随着上述目标用户往上述电动滑板的上述第二端开始倾斜， 上述第二压力数据逐渐增大，同时上述第一压力数据逐渐变小，上述电机启动并开始反转，使得上述电动滑板向上述第二方向运动，且上述第三差值越大，上述电机的上述预定速度越大，使得上述电动滑板的速度越大，同样，如果上述目标用户从上述电动滑板的上述第一端或者上述第二段的方向开始向初始状态倾斜，上述电机的上述预定速度开始减小，以使得上述电动滑板开始减速直到停止。
为了进一步保证目标用户的体验感较好，根据本公开的一种具体实施例，在上述第一压力数据大于上述第二压力数据，且上述速度的方向为上述第一方向的情况下，控制上述电机正转，以使得上述电动滑板沿上述第一方向运动，并根据上述第一差值确定上述预定速度，包括：在上述第一差值的变化率为正数时，控制上述电机正转，且增大上述电机的预定速度，以使得上述电动滑板沿上述第一方向做加速运动；在上述第一差值的变化率为负数时，控制上述电机正转，且减小上述电机的预定速度，以使得上述电动滑板沿上述第一方向做减速运动。在上述第一压力数据大于上述第二压力数据，且上述电动滑板的速度方向为上述第一方向的情况下，控制上述电机正转，在上述第一差值的变化率为正数时，上述电动滑板沿着上述第一方向做加速运动，在上述第一差值的变化率为负数的情况下，上述电动滑板沿上述第一方向做减速运动，保证了用户可以根据身体的前倾或者后斜控制上述电动滑板的速度，进一步保证了可以完全根据上述目标用户的意愿控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好。
为了进一步保证目标用户的体验感较好，根据本公开的另一种具体实施例，在上述第二压力数据大于上述第一压力数据，且上述速度的方向为上述第二方向的情况下，控制上述电机反转，以使得上述电动滑板沿上述第二方向上运动，并根据上述第一差值确定上述预定速度，包括：在上述第一差值的变化率为正数时，控制上述电机反转，且增大上述电机的预定速度变大，以使得上述电动滑板沿上述第二方向做加速运动；在上述第一差值的变化率为负数时，控制上述电机反转，且减小上述电机的预定速度变小，以使得上述电动滑板沿上述第二方向做减速运动。在上述第二压力数据大于上述第一压力数据，且上述电动滑板的速度方向为上述第二方向的情况下，控制上述电机反转，在上述第一差值的变化率为正数时，上述电动滑板沿着上述第二方向做加速运动，在上述第一差值的变化率为负数的情况下，上述电动滑板沿上述第二方向做减速运动，保证了用户可以根据身体的前倾或者后斜控制上述电动滑板的速度，进一步保证了可以完全根据上述目标用户的意愿控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好。
本公开实施例还提供了一种电动滑板的控制装置，上述电动滑板包括电机以及两个应变式传感器，两个上述应变式传感器分别设置在上述电动滑板的两端，需要说明的是，本公开实施例的电动滑板的控制装置可以用于执行本公开实施例所提供的用于电动滑板的控制方法。以下对本公开实施例提供的电动滑板的控制装置进行介绍。
图2是根据本公开实施例的电动滑板的控制装置的示意图。如图2所示，该装置包括第一获取单元10、第一计算单元20以及控制单元30，其中，上述第一获取单元10用于实时获取两个上述应变式传感器的压力数据，位于上述电动滑板的第一端的上述应变式传感器的上 述压力数据为第一压力数据，位于上述电动滑板的第二端的上述应变式传感器的上述压力数据为第二压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；上述第一计算单元20用于计算上述第一压力数据与上述第二压力数据的差值的绝对值，得到第一差值；上述控制单元30用于至少根据上述第一差值，控制上述电机沿预定方向且以预定速度转动，以使得上述电动滑板前进或者后退，上述预定方向包括正转或者反转。
上述电动滑板的控制装置中，通过上述第一获取单元实时获取两个上述应变式传感器的压力数据，位于上述电动滑板的第一端的上述应变式传感器的上述压力数据为第一压力数据，位于上述电动滑板的第二端的上述应变式传感器的上述压力数据为第二压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；通过上述第一计算单元计算上述第一压力数据与上述第二压力数据的差值的绝对值，得到第一差值；通过控制单元至少根据上述第一差值，控制上述电机沿预定方向且以预定速度转动，以使得上述电动滑板前进或者后退，上述预定方向包括正转或者反转。相比现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题，本公开的上述电动滑板的控制装置，通过在上述电动滑板两端各设置一个上述应变式传感器，并计算上述电动滑板两端的上述第一压力数据与上述第二压力数据的差值的绝对值，根据上述差值的绝对值控制上述电机沿上述预定方向且以上述预定速度转动，使得上述电动滑板前进或者后退，同时控制上述电动滑板的速度，保证了只通过两个上述应变式传感器完成控制上述电动滑板的前进或者后退，以及控制上述电动滑板的运动速度，保证了可以完全通过目标用户的体感控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好，解决了现有技术中的由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
一种具体的实施例中，上述应变式压力传感器位于上述电动滑板的板面与桥架之间，上述桥架保证了上述电动滑板可以根据上述目标用户的左右倾斜控制上述电动滑板左拐或者右拐，进一步保证了上述电动滑板可以根据上述目标用户的意愿改变速度以及方向。
为了进一步保证上述目标用户的体验感较好，根据本公开的一种具体实施例，上述装置还包括第二获取单元以及第二计算单元，其中，上述第二获取单元用于在实时获取两个应变式传感器的压力数据之前，获取两个上述应变式传感器的初始压力数据，上述初始压力数据为上述目标对象双脚站立在上述电动滑板上时产生的上述压力数据，上述初始压力数据包括上述第一端的第一初始压力数据以及上述第二端的第二初始压力数据；上述第二计算单元用于计算上述第一初始压力数据与上述第二初始压力数据的差值的绝对值，得到第二差值。通过获取上述目标用户的上述初始压力数据，并计算得到上述第二差值，可以获得上述目标用户在上述电动滑板稳定不动状态下的上述压力数据，保证了后续根据上述第二差值可以更加准确的控制上述电机的上述预定方向以及上述预定速度，进一步保证了可以完全通过目标用户的体感控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好。
具体地，上述初始压力数据为目标用户每次在使用上述电动滑板前，双脚保持短暂的直立站稳在上述电动滑板的板面上产生的压力数据，此时上述电机不转动，上述电动滑板保持静止状态，标定此状态为初始状态。
根据本公开的另一种具体实施例，上述控制单元包括获取模块、计算模块、第一控制模块以及第二控制模块，其中，上述获取模块用于实时获取上述电动滑板在当前时刻的速度；上述计算模块用于计算上述第一差值与上述第二差值的差值的绝对值，得到第三差值；上述第一控制模块用于在上述第三差值在预定范围的情况下，控制上述电机不转动，且根据上述速度，控制上述电动滑板不动或者减速直至停止；上述第二控制模块用于在上述第三差值不在上述预定范围的情况下，至少根据上述第一压力数据以及上述第二压力数据，控制上述电机沿上述预定方向且以上述预定速度转动，以使得上述电动滑板前进或者后退。通过得到上述第三差值，并且在上述第三差值在预定范围的情况下，控制上述电机不转动，保证了在上述目标用户没有控制上述电动滑板运动的意愿的情况下，控制上述电机不转动，以使得上述电动滑板减速至停止或者保持不动，在上述第三差值不在上述预定范围的情况下，根据上述第一压力数据以及上述第二压力数据，控制上述电机沿上述预定方向且以上述预定速度转动，以使得上述电动滑板前进或者后退，进一步保证了可以完全根据上述目标用户的意愿控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好。
具体地，在上述第三差值在预定范围的情况下，控制上述电机不转动，如果上述电动滑板的速度较大，那么上述电动滑板开始做减速运动，如果上述电动滑板的速度为零，那么上述电动滑板保持不动。
根据本公开的又一种具体实施例，上述第二端指向上述第一端的方向为第一方向，上述第一端指向上述第二端的方向为第二方向，上述第二控制模块包括第一控制子模块、第二控制子模块、第三控制子模块以及第四控制子模块，其中，上述第一控制子模块用于在上述第一压力数据大于上述第二压力数据，且上述速度的方向为上述第一方向的情况下，控制上述电机正转，以使得上述电动滑板沿上述第一方向运动，并根据上述第一差值确定上述预定速度；上述第二控制子模块用于在上述第二压力数据大于上述第一压力数据，且上述速度的方向为上述第二方向的情况下，控制上述电机反转，以使得上述电动滑板沿上述第二方向运动，并根据上述第一差值确定上述预定速度；上述第三控制子模块用于在上述第一压力数据大于上述第二压力数据，且上述速度的方向为上述第二方向的情况下，控制上述电机正转，以使得上述电动滑板沿上述第二方向做减速运动；上述第四控制子模块用于在上述第二压力数据大于上述第一压力数据，且上述速度的方向为上述第一方向的情况下，控制上述电机反转，以使得上述电动滑板沿上述第一方向做减速运动。具体地，在上述目标用户从初始状态往上述电动滑板的上述第一端倾斜时，上述第一压力数据逐渐增大，同时上述第一压力数据逐渐变小，上述电机启动并开始正转，上述电动滑板向上述第一方向开始运动，且上述第三差值越大，上述电机的上述预定速度越大，使得上述电动滑板的速度越大，同理，随着上述目标用户往上述电动滑板的上述第二端开始倾斜，上述第二压力数据逐渐增大，同时上述第一压力数据逐渐变小，上述电机启动并开始反转，使得上述电动滑板向上述第二方向运动，且上述第三差值越大，上述电机的上述预定速度越大，使得上述电动滑板的速度越大，同样，如果上述目标用户从上述电动滑板的上述第一端或者上述第二段的方向开始向初始状态倾斜，上述电机的上述预定速度开始减小，以使得上述电动滑板开始减速直到停止。
具体地，在上述目标用户从初始状态往上述电动滑板的上述第一端倾斜时，上述第一压 力数据逐渐增大，同时上述第一压力数据逐渐变小，上述电机启动并开始正转，上述电动滑板向上述第一方向开始运动，且上述第三差值越大，上述电机的上述预定速度越大，使得上述电动滑板的速度越大，同理，随着上述目标用户往上述电动滑板的上述第二端开始倾斜，上述第二压力数据逐渐增大，同时上述第一压力数据逐渐变小，上述电机启动并开始反转，使得上述电动滑板向上述第二方向运动，且上述第三差值越大，上述电机的上述预定速度越大，使得上述电动滑板的速度越大，同样，如果上述目标用户从上述电动滑板的上述第一端或者上述第二段的方向开始向初始状态倾斜，上述电机的上述预定速度开始减小，以使得上述电动滑板开始减速直到停止。
为了进一步保证目标用户的体验感较好，根据本公开的一种具体实施例，上述第一控制子模块还用于在上述第一差值的变化率为正数时，控制上述电机正转，且增大上述电机的预定速度，以使得上述电动滑板沿上述第一方向做加速运动；在上述第一差值的变化率为负数时，控制上述电机正转，且减小上述电机的预定速度，以使得上述电动滑板沿上述第一方向做减速运动。在上述第一压力数据大于上述第二压力数据，且上述电动滑板的速度方向为上述第一方向的情况下，控制上述电机正转，在上述第一差值的变化率为正数时，上述电动滑板沿着上述第一方向做加速运动，在上述第一差值的变化率为负数的情况下，上述电动滑板沿上述第一方向做减速运动，保证了用户可以根据身体的前倾或者后斜控制上述电动滑板的速度，进一步保证了可以完全根据上述目标用户的意愿控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好。
为了进一步保证目标用户的体验感较好，根据本公开的另一种具体实施例，上述第二控制子模块还用于在上述第一差值的变化率为正数时，控制上述电机反转，且增大上述电机的预定速度变大，以使得上述电动滑板沿上述第二方向做加速运动；在上述第一差值的变化率为负数时，控制上述电机反转，且减小上述电机的预定速度变小，以使得上述电动滑板沿上述第二方向做减速运动。在上述第二压力数据大于上述第一压力数据，且上述电动滑板的速度方向为上述第二方向的情况下，控制上述电机反转，在上述第一差值的变化率为正数时，上述电动滑板沿着上述第二方向做加速运动，在上述第一差值的变化率为负数的情况下，上述电动滑板沿上述第二方向做减速运动，保证了用户可以根据身体的前倾或者后斜控制上述电动滑板的速度，进一步保证了可以完全根据上述目标用户的意愿控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好。
上述电动滑板的控制装置包括处理器和存储器，上述第一获取单元、上述第一确定单元以及上述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现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
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。
本公开实施例提供了一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时实现上述电动滑板的控制方法。
本公开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电动滑板的控制方法。
本公开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，实时获取两个上述应变式传感器的压力数据，位于上述电动滑板的第一端的上述应变式传感器的上述压力数据为第一压力数据，位于上述电动滑板的第二端的上述应变式传感器的上述压力数据为第二压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；
步骤S102，计算上述第一压力数据与上述第二压力数据的差值的绝对值，得到第一差值；
步骤S103，至少根据上述第一差值，控制上述电机沿预定方向且以预定速度转动，以使得上述电动滑板前进或者后退，上述预定方向包括正转或者反转。
本文中的设备可以是服务器、PC、PAD、手机等。
本公开还提供了一种计算机程序产品，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，实时获取两个上述应变式传感器的压力数据，位于上述电动滑板的第一端的上述应变式传感器的上述压力数据为第一压力数据，位于上述电动滑板的第二端的上述应变式传感器的上述压力数据为第二压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；
步骤S102，计算上述第一压力数据与上述第二压力数据的差值的绝对值，得到第一差值；
步骤S103，至少根据上述第一差值，控制上述电机沿预定方向且以预定速度转动，以使得上述电动滑板前进或者后退，上述预定方向包括正转或者反转。
根据本公开的另一种典型的实施例，还提供了一种电动滑板，上述电动滑板包括两个应变式传感器、电机以及控制器，其中，两个上述应变式传感器分别设置在上述电动滑板的两端，上述应变式传感器用于感应压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；上述电机用于控制上述电动滑板运动；上述控制器用于执行任一种上述的方法。
上述电动滑板，包括两个应变式传感器、电机以及控制器，其中，两个上述应变式传感器分别设置在上述电动滑板的两端，上述应变式传感器用于感应压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；上述电机用于控制上述电动滑板运动；上 述控制器用于执行任一种上述的方法。相比现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题，本公开的上述电动滑板，通过在上述电动滑板两端各设置一个上述应变式传感器，并计算上述电动滑板两端的上述第一压力数据与上述第二压力数据的差值的绝对值，根据上述差值的绝对值控制上述电机沿上述预定方向且以上述预定速度转动，使得上述电动滑板前进或者后退，同时控制上述电动滑板的速度，保证了只通过两个上述应变式传感器完成控制上述电动滑板的前进或者后退，以及控制上述电动滑板的运动速度，保证了可以完全通过目标用户的体感控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好，解决了现有技术中的由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
具体地，如图3所示，上述应变式传感器40位于上述板面50与上述桥架60之间，上述目标用户站在上述板面50上，通过上述桥架60进行左右方向的控制。
在本公开的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本公开所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如上述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
上述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本公开各个实施例上述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
从以上的描述中，可以看出，本公开上述的实施例实现了如下技术效果：
1)、本公开的上述电动滑板的控制方法中，首先，实时获取两个上述应变式传感器的压力数据，位于上述电动滑板的第一端的上述应变式传感器的上述压力数据为第一压力数据，位于上述电动滑板的第二端的上述应变式传感器的上述压力数据为第二压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；然后，计算上述第一压力数据与上述第二压力数据的差值的绝对值，得到第一差值；最后，至少根据上述第一差值，控制上述电机沿预定方向且以预定速度转动，以使得上述电动滑板前进或者后退，上述预定方向包括正转或者反转。相比现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题，本公开的上述电动滑板的控制方法，通过在上述电动滑板两端各设置一个上述应变式传感器，并计算上述电动滑板两端的上述第一压力数据与上述第二压力数据的差值的绝对值，根据上述差值的绝对值控制上述电机沿上述预定方向且以上述预定速度转动，使得上述电动滑板前进或者后退，同时控制上述电动滑板的速度，保证了只通过两个上述应变式传感器完成控制上述电动滑板的前进或者后退，以及控制上述电动滑板的运动速度，保证了可以完全通过目标用户的体感控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好，解决了现有技术中的由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
2)、本公开的上述电动滑板的控制装置中，通过上述第一获取单元实时获取两个上述应变式传感器的压力数据，位于上述电动滑板的第一端的上述应变式传感器的上述压力数据为第一压力数据，位于上述电动滑板的第二端的上述应变式传感器的上述压力数据为第二压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；通过上述第一计算单元计算上述第一压力数据与上述第二压力数据的差值的绝对值，得到第一差值；通过控制单元至少根据上述第一差值，控制上述电机沿预定方向且以预定速度转动，以使得上述电动滑板前进或者后退，上述预定方向包括正转或者反转。相比现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题，本公开的上述电动滑板的控制装置，通过在上述电动滑板两端各设置一个上述应变式传感器，并计算上述电动滑板两端的上述第一压力数据与上述第二压力数据的差值的绝对值，根据上述差值的绝对值控制上述电机沿上述预定方向且以上述预定速度转动，使得上述电动滑板前进或者后退，同时控制上述电动滑板的速度，保证了只通过两个上述应变式传感器完成控制上述电动滑板的前进或者后退，以及控制上述电动滑板的运动速度，保证了可以完全通过目标用户的体感控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好，解决了现有技术中的由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
3)、本公开的上述电动滑板，包括两个应变式传感器、电机以及控制器，其中，两个上述应变式传感器分别设置在上述电动滑板的两端，上述应变式传感器用于感应压力数据，上述压力数据为目标对象站立在上述电动滑板上产生的压力数据；上述电机用于控制上述电动滑板运动；上述控制器用于执行任一种上述的方法。相比现有技术中由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题，本公开的上述电动滑板，通过在上述电动滑板两端各设置一个上述应变式传感器，并计算上述电动滑板两端的上述第一压力数据与上述第二压力数据的差值的绝对值，根据上述差值的绝对值控制上述电机沿上述预定方向且以 上述预定速度转动，使得上述电动滑板前进或者后退，同时控制上述电动滑板的速度，保证了只通过两个上述应变式传感器完成控制上述电动滑板的前进或者后退，以及控制上述电动滑板的运动速度，保证了可以完全通过目标用户的体感控制上述电动滑板的方向以及运动速度，保证了目标用户的体验感较好，解决了现有技术中的由于电动滑板的控制过程过于复杂导致目标用户使用体验感较差的问题。
以上所述仅为本公开的优选实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。
Claims (10)
- 一种电动滑板的控制方法，其中，所述电动滑板包括电机以及两个应变式传感器，两个所述应变式传感器分别设置在所述电动滑板的两端，所述方法包括：实时获取两个所述应变式传感器的压力数据，位于所述电动滑板的第一端的所述应变式传感器的所述压力数据为第一压力数据，位于所述电动滑板的第二端的所述应变式传感器的所述压力数据为第二压力数据，所述压力数据为目标对象站立在所述电动滑板上产生的压力数据；计算所述第一压力数据与所述第二压力数据的差值的绝对值，得到第一差值；至少根据所述第一差值，控制所述电机沿预定方向且以预定速度转动，以使得所述电动滑板前进或者后退，所述预定方向包括正转或者反转。
- 根据权利要求1所述的方法，其中，在实时获取两个应变式传感器的压力数据之前，所述方法还包括：获取两个所述应变式传感器的初始压力数据，所述初始压力数据为所述目标对象双脚站立在所述电动滑板上时产生的所述压力数据，所述初始压力数据包括所述第一端的第一初始压力数据以及所述第二端的第二初始压力数据；计算所述第一初始压力数据与所述第二初始压力数据的差值的绝对值，得到第二差值。
- 根据权利要求2所述的方法，其中，至少根据所述第一差值，控制所述电机沿预定方向且以预定速度转动，以使得所述电动滑板前进或者后退，包括：实时获取所述电动滑板在当前时刻的速度；计算所述第一差值与所述第二差值的差值的绝对值，得到第三差值；在所述第三差值在预定范围的情况下，控制所述电机不转动，且根据所述速度，控制所述电动滑板不动或者减速直至停止；在所述第三差值不在所述预定范围的情况下，至少根据所述第一压力数据以及所述第二压力数据，控制所述电机沿所述预定方向且以所述预定速度转动，以使得所述电动滑板前进或者后退。
- 根据权利要求3所述的方法，其中，所述第二端指向所述第一端的方向为第一方向，所述第一端指向所述第二端的方向为第二方向，至少根据所述第一压力数据以及所述第二压力数据，控制所述电机沿所述预定方向且以所述预定速度转动，以使得所述电动滑板前进或者后退，包括：在所述第一压力数据大于所述第二压力数据，且所述速度的方向为所述第一方向的情况下，控制所述电机正转，以使得所述电动滑板沿所述第一方向运动，并根据所述第一差值确定所述预定速度；在所述第二压力数据大于所述第一压力数据，且所述速度的方向为所述第二方向的情况下，控制所述电机反转，以使得所述电动滑板沿所述第二方向运动，并根据所述第一差值确定所述预定速度；在所述第一压力数据大于所述第二压力数据，且所述速度的方向为所述第二方向的情况下，控制所述电机正转，以使得所述电动滑板沿所述第二方向做减速运动；在所述第二压力数据大于所述第一压力数据，且所述速度的方向为所述第一方向的情况下，控制所述电机反转，以使得所述电动滑板沿所述第一方向做减速运动。
- 根据权利要求4所述的方法，其中，在所述第一压力数据大于所述第二压力数据，且所述速度的方向为所述第一方向的情况下，控制所述电机正转，以使得所述电动滑板沿所述第一方向运动，并根据所述第一差值确定所述预定速度，包括：在所述第一差值的变化率为正数时，控制所述电机正转，且增大所述电机的预定速度，以使得所述电动滑板沿所述第一方向做加速运动；在所述第一差值的变化率为负数时，控制所述电机正转，且减小所述电机的预定速度，以使得所述电动滑板沿所述第一方向做减速运动。
- 根据权利要求4所述的方法，其中，在所述第二压力数据大于所述第一压力数据，且所述速度的方向为所述第二方向的情况下，控制所述电机反转，以使得所述电动滑板沿所述第二方向上运动，并根据所述第一差值确定所述预定速度，包括：在所述第一差值的变化率为正数时，控制所述电机反转，且增大所述电机的预定速度变大，以使得所述电动滑板沿所述第二方向做加速运动；在所述第一差值的变化率为负数时，控制所述电机反转，且减小所述电机的预定速度变小，以使得所述电动滑板沿所述第二方向做减速运动。
- 一种电动滑板的控制装置，其中，所述电动滑板包括电机以及两个应变式传感器，两个所述应变式传感器分别设置在所述电动滑板的两端，所述装置包括：第一获取单元，用于实时获取两个所述应变式传感器的压力数据，位于所述电动滑板的第一端的所述应变式传感器的所述压力数据为第一压力数据，位于所述电动滑板的第二端的所述应变式传感器的所述压力数据为第二压力数据，所述压力数据为目标对象站立在所述电动滑板上产生的压力数据；第一计算单元，用于计算所述第一压力数据与所述第二压力数据的差值的绝对值，得到第一差值；控制单元，用于至少根据所述第一差值，控制所述电机沿预定方向且以预定速度转动，以使得所述电动滑板前进或者后退，所述预定方向包括正转或者反转。
- 一种计算机可读存储介质，其中，所述计算机可读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6中任意一项所述的方法。
- 一种处理器，其中，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6中任意一项所述的方法。
- 一种电动滑板，其中，所述电动滑板包括：两个应变式传感器，分别设置在所述电动滑板的两端，所述应变式传感器用于感应压力数据，所述压力数据为目标对象站立在所述电动滑板上产生的压力数据；电机，用于控制所述电动滑板运动；控制器，用于执行权利要求1至6中任意一项所述的方法。
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