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Scooter road surface recognition method

A technology of road surface recognition and scooter, which is applied in the direction of electric speed/acceleration control, etc., can solve the problems of complicated use, easy injury, fall, etc., and achieve the effect of simple road conditions, increased safety and operating comfort

Pending Publication Date: 2018-09-07
贺凯
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

complicated to use
When a traditional non-electric scooter slides down a large slope, if the other foot steps on the ground, it is easy to get injured or fall

Method used

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  • Scooter road surface recognition method

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specific Embodiment approach

[0026] Such as figure 1 As shown, the scooter road surface recognition technology includes a skateboard coordinate system, the origin O is taken at the center of mass of the skateboard, the coordinate system is fixedly connected with the skateboard, the x-axis is in the symmetric plane of the skateboard and parallel to the design axis of the skateboard and points to the front of the skateboard, and the y-axis is vertical On the symmetric plane of the skateboard, pointing to the right of the skateboard, the z-axis is in the symmetric plane of the skateboard, perpendicular to the x-axis and pointing to the bottom of the skateboard, the relationship between the coordinate system of the skateboard and the coordinate system of the ground is three Euler angles, reflecting the attitude of the skateboard relative to the ground, Among them, the pitch angle θ (pitch): the angle between the X-axis of the skateboard coordinate system and the horizontal plane. When the positive half-axis of...

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Abstract

The invention relates to a scooter road surface recognition method. By installing an MEMS sensor, reading three-axis acceleration and three-axis angular velocity, calculating an Euler angle, a road surface condition is determined according to the angular velocity and the Euler angle. The method avoids a condition that a scooter is braked by one foot stamping on the ground or under the control or with the help of a remote control handle, and improves safety and operational comfort. In addition, the scooter road surface recognition technology can also be applied to the control of common rail vehicles. The rail vehicle is simple in road conditions and has only horizontal turns, ascents and descents, where the method is more effective and flexible.

Description

technical field [0001] The invention relates to the technical field of automation control, in particular to a scooter road surface recognition method. Background technique [0002] For the existing four-wheeled scooter, power is provided by the traditional foot stepping on the ground to ensure the motion of the scooter. When braking, step on the ground with one foot to increase friction to slow down the scooter. Now there is an electric four-wheeled scooter on the market, by using a remote control handle to control the operation and speed of the scooter. The brakes and power assist are also controlled by the remote control handle. For users standing on the scooter, the operation is cumbersome, and they need to be familiar with the position of the brake and power assist buttons. The existing electric four-wheeled scooter controls the operation and speed of the scooter by using a remote control handle. The brakes and power assist are also controlled by the remote control h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 贺凯
Owner 贺凯