Electric pedal and optimization design method and device thereof

Abstract

The invention discloses an electric pedal and an optimization design method and device thereof, and relates to the technical field of optimization design of electric pedals. According to the technical scheme, when design optimization is conducted on the electric pedal driven by the four-connecting-rod contraction and expansion mechanism to turn over, whether the pedal body of the electric pedal has inward horizontal displacement or not in the outward turning-over process of the electric pedal is judged during optimization, and when the pedal body has inward horizontal displacement, the electric pedal is driven to turn over by the four-connecting-rod contraction and expansion mechanism; if the outward displacement of the pedal in the horizontal direction cannot be accurately controlled on the basis of the structure of the current four-connecting-rod contraction and expansion mechanism, the position of the hinge point of the four-connecting-rod contraction and expansion mechanism is readjusted until the pedal is smoothly unfolded outwards in the overturning process. According to the technical scheme, the four-connecting-rod contraction and expansion mechanism of the electric pedal can be optimized, and the accuracy of horizontal displacement control during overturning of the electric pedal is improved. Meanwhile, according to the optimization design method, the overturning process of the electric pedal can be smoother, and the sensing quality of the electric pedal is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric pedal optimization design, and in particular to an electric pedal and an optimization design method and device thereof. Background Art

[0002] In the automotive field, electric running boards have been widely used in a variety of vehicle models as an accessory to improve vehicle convenience and aesthetics. Traditional electric running boards mostly use a four-link retractable structure, but there are some defects in actual use, such as the non-uniform extension length during the flipping process, which may cause the board to fall back when it is opened to the end, affecting the accuracy of electric running board control. Summary of the invention

[0003] In order to solve the technical problem of improving the control accuracy of an electric pedal, the present invention provides an electric pedal and an optimization design method and device thereof, which can enable the optimized electric pedal to unfold smoothly and improve the accuracy of horizontal displacement control when the electric pedal is flipped.

[0004] The embodiment of the present invention provides the following solution:

[0005] In a first aspect, an embodiment of the present invention provides an optimization design method for an electric pedal, the method comprising:

[0006] Determine whether the foot pedal of the electric pedal has horizontal inward displacement during the outward flipping process, wherein the electric pedal is a pedal driven to flip by a four-bar retracting and extending mechanism;

[0007] When the foot pedal has an inward horizontal displacement, the hinge point position of the four-bar retracting and extending mechanism is readjusted until the foot pedal is smoothly unfolded outward during the turning process.

[0008] In an optional embodiment, determining whether the foot pedal of the electric pedal has horizontal inward displacement during the outward flipping process includes:

[0009] Acquire a target view of the electric pedal, wherein the target view is a plan view representing the connection relationship between the four-bar retractable mechanism and the pedal;

[0010] Obtaining a path curve of the pedal during the flipping process according to the target view, wherein the path curve is a curve of the horizontal displacement of the pedal during the flipping process as the flipping angle changes;

[0011] When the path curve has a monotonically decreasing characteristic, it is determined that the pedal has an inward horizontal displacement.

[0012] In an optional embodiment, the hinge point position of the four-link retracting and extending mechanism is readjusted until the foot pedal is smoothly unfolded outward during the flipping process, including:

[0013] A flip coordinate system is constructed on a target view of the electric pedal, wherein the target view is a plane view representing a connection relationship between the four-bar extension and retractable mechanism and the pedal;

[0014] According to the relationship between the adjustment amount of the hinge point position in the flip coordinate system and the horizontal displacement when the pedal flips, the target mapping relationship is obtained;

[0015] The position of the hinge point is adjusted according to the target mapping relationship until the inward horizontal displacement of the pedal during the flipping process is less than a preset value.

[0016] In an optional embodiment, the hinge point position is the first hinge point rotating around the drive motor shaft in the four-bar extension and retraction mechanism; according to the relationship between the adjustment amount of the hinge point position in the flip coordinate system and the horizontal displacement when the pedal flips, the target mapping relationship is obtained, including:

[0017] According to the adjustment amount of the first hinge point, an optimized central angle of the first hinge point around the drive motor shaft before and after the adjustment is obtained;

[0018] According to the cosine theorem equation, the optimized center angle and the length of each hinge point in the four-bar extension and retraction mechanism, the coordinates of the first hinge point after adjustment are obtained to solve the equation;

[0019] Obtain the coordinate position of the first hinge point after adjustment according to the coordinate solving equation;

[0020] The target mapping relationship is obtained according to the corresponding relationship represented by the coordinate position and the straight-line distance from any point on the pedal.

[0021] In an optional embodiment, adjusting the position of the hinge point according to the target mapping relationship until the inward horizontal displacement of the pedal during the flipping process is less than a preset value includes:

[0022] Inputting different adjustment amounts of the hinge point position into the target mapping relationship according to the preset adjustment step length, so as to obtain the path curve of the pedal during the flipping process under different adjustment amounts;

[0023] When the monotonically decreasing variation of the path curve is less than a preset decreasing threshold, it is determined that the inward horizontal displacement of the pedal during the turning process is less than a preset value.

[0024] In an optional embodiment, before adjusting the hinge point position of the four-bar linkage retracting and extending mechanism, the method further includes:

[0025] Obtain the inward horizontal displacement of the pedal during the flipping process;

[0026] When the displacement is greater than a preset displacement threshold, determining that the position of the hinge point to be adjusted is the first hinge point and / or the second hinge point on the four-bar extension and retracting mechanism away from the pedal side;

[0027] When the displacement is less than or equal to the displacement threshold, the adjusted hinge point position is determined to be the third hinge point and / or the fourth hinge point on the four-bar extension and retracting mechanism close to the pedal side.

[0028] In an optional embodiment, after the hinge point position of the four-bar extension and retraction mechanism is adjusted, the method further includes:

[0029] The flipping speed of the electric pedal after the hinge point position adjustment is adjusted until the fluctuation of the flipping speed of the pedal during the flipping process is less than a preset value.

[0030] In an optional embodiment, adjusting the flipping speed of the electric pedal after the hinge point position adjustment until the fluctuation of the flipping speed of the pedal during the flipping process is less than a preset value includes:

[0031] The electric pedal with the hinge point position adjusted is tested to obtain a flipping operation curve, wherein the flipping operation curve is a curve showing the flipping speed of the electric pedal changing with the flipping angle;

[0032] According to the fluctuation characteristics presented by the flipping operation curve, fluctuation compensation is configured for it until the fluctuation amount of the flipping speed represented by the compensated flipping operation curve is less than a preset value.

[0033] In a second aspect, an embodiment of the present invention further provides an optimization design device for an electric pedal, the device comprising:

[0034] A judging module, used to judge whether the foot pedal of the electric pedal has an inward horizontal displacement during the process of the electric pedal turning outward, wherein the electric pedal is a pedal driven to turn by a four-bar retracting and extending mechanism;

[0035] The first adjustment module is used to readjust the hinge point position of the four-bar retracting and extending mechanism when the foot pedal has an inward horizontal displacement, until the foot pedal is smoothly unfolded outward during the flipping process.

[0036] In a third aspect, an embodiment of the present invention further provides an electric pedal, which is obtained by optimizing the design by any method in the first aspect.

[0037] Compared with the prior art, the electric pedal and the optimization design method and device of the present invention have the following advantages:

[0038] When the technical solution of the present invention is designed and optimized for an electric pedal driven to flip by a four-bar retracting and extending mechanism, it is determined during the optimization whether the foot pedal of the electric pedal has an inward horizontal displacement during the outward flipping process. When the foot pedal has an inward horizontal displacement, it indicates that the outward displacement of the foot pedal in the horizontal direction cannot be accurately controlled based on the structure of the current four-bar retracting and extending mechanism. Then, the hinge point position of the four-bar retracting and extending mechanism is readjusted until the foot pedal smoothly unfolds outward during the flipping process. This technical solution can optimize the four-bar retracting and extending mechanism of the electric pedal so that it does not have an inward horizontal displacement during the flipping process, thereby improving the accuracy of the horizontal displacement control when the electric pedal flips. At the same time, this optimization design method can make the flipping process of the electric pedal smoother and improve the perceived quality of the electric pedal. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A flowchart of an optimization design method for an electric pedal provided by an embodiment of the present invention;

[0041] Figure 2 A schematic structural diagram of a transverse section of an electric pedal provided by an embodiment of the present invention;

[0042] Figure 3 A first schematic diagram of a path curve provided by an embodiment of the present invention;

[0043] Figure 4 A second schematic diagram of a path curve provided by an embodiment of the present invention;

[0044] Figure 5 A first schematic diagram of a flip operation curve provided by an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of a speed regulation curve provided by an embodiment of the present invention;

[0046] Figure 7 A second schematic diagram of a flip operation curve provided by an embodiment of the present invention;

[0047] Figure 8 A schematic structural diagram of an optimization design device for an electric pedal provided in an embodiment of the present invention.

[0048] Explanation of the reference numerals: 1-fixed beam, 2-active arm, 3-active arm, 4-pedal. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.

[0050] See also Figure 1 , Figure 1 This is a flow chart of an optimization design method for an electric pedal provided by an embodiment of the present invention. The method can be applied to a design terminal of an electric pedal to optimize its design. The design terminal can be a computer device or a server device that can run the method. No specific limitation is made here. The method includes:

[0051] S11. Determine whether the foot pedal of the electric pedal has an inward horizontal displacement during the process of the electric pedal flipping outward, wherein the electric pedal is a pedal driven to flip by a four-bar retractable mechanism.

[0052] Specifically, the cross-sectional structure of the electric pedal is as follows: Figure 2 As shown, the electric pedal includes a fixed beam 1, an active arm 2, a driven arm 3 and a foot pedal 4. The fixed beam 1 is installed on the vehicle chassis, parallel to the length direction of the vehicle, and located at the bottom of the door. Point A of the active arm 2 is hinged to the fixed beam 1, and point B of the active arm 2 is hinged to the foot pedal 4. A drive motor can be installed at point A of the active arm 2, and the foot pedal 4 is flipped by the drive motor. Point D of the driven arm 3 is hinged to the fixed beam 1, and point C of the driven arm 3 is hinged to the foot pedal 4. After the foot pedal 4 is flipped and extended, it is convenient for the driver and passengers of the vehicle to get on and off the vehicle; during the driving process of the vehicle, the foot pedal 4 is retracted and hidden under the vehicle chassis.

[0053] The four-bar extension and retracting mechanism composed of the fixed beam 1, the active arm 2, the driven arm 3 and the pedal 4 has high strength, but is limited by the characteristics of the four-bar structure. If the hinge point is not designed properly, the pedal 4 will have an inward horizontal displacement during the outward flipping process, which will make it impossible to accurately control the horizontal position and affect the perceived quality during use. The data of the horizontal displacement of the pedal during the flipping process can be obtained through software simulation, and based on the data, it can be determined whether there is an inward horizontal displacement during the flipping process of the pedal. If the data continues to increase with the increase of the flipping angle, and the two are in a positive proportional relationship, it means that there is no inward horizontal displacement; otherwise, it means that there is an inward horizontal displacement. Please continue to refer to Figure 2 In the figure, the K1 direction is the outward direction of the pedal flipping process, that is, the outside of the vehicle; the K2 direction is the inward direction of the pedal flipping process, that is, the inside of the vehicle.

[0054] Exemplarily, step S11 includes sub-steps S11-1 to S11-3, which are specifically described as follows:

[0055] S11-1, obtaining a target view of the electric pedal. The target view is a plan view representing the connection relationship between the four-bar extension and retractable mechanism and the pedal. Figure 2 The target view is shown, through which the structure of the electric pedal before optimization can be obtained.

[0056] S11-2. Obtain a path curve of the pedal during the flipping process according to the target view, wherein the path curve is a curve of the horizontal displacement of the pedal during the flipping process as the flipping angle changes. Figure 3 , Figure 3 It is the first schematic diagram of the path curve, which represents the path curve of the optimized front pedal in the flipping process. The horizontal axis is the flipping angle of the active arm, and the vertical axis is the horizontal displacement of point E on the pedal. Point E is any point on the pedal, which is represented as the horizontal coordinate data Ey.

[0057] S11-3. When the path curve has a monotonically decreasing characteristic, it is determined that the pedal has an inward horizontal displacement. Please continue to refer to Figure 3 From the figure, we can see the running trajectory of point E. The horizontal axis represents the flip angle (or rotation angle), and the vertical axis represents the horizontal coordinate of point E. When the drive shaft rotates 0-80°, Ey increases; between 80-85°, Ey decreases, and the path curve shows a monotonically decreasing feature, indicating that the pedal retracts in the horizontal direction, affecting the perceived quality during customer use. Therefore, it is necessary to optimize the structure of the four-bar retracting and extending mechanism.

[0058] S12. When the foot pedal has an inward horizontal displacement, readjust the hinge point position of the four-bar retracting and extending mechanism until the foot pedal is smoothly unfolded outward during the turning process.

[0059] Specifically, the foot pedal has an inward horizontal displacement during the flipping process, which means that the hinge point position of the four-bar retracting and extending mechanism is not set reasonably, resulting in the foot pedal to retract in the horizontal direction. The hinge point position of the four-bar retracting and extending mechanism is adjusted. One or more hinge point positions can be adjusted. After the adjustment is completed, the electric pedal continues to be simulated or tested to determine whether there is still retraction, until the foot pedal is smoothly unfolded outward during the flipping process.

[0060] It should be noted that when adjusting the position of the hinge point, the amount of adjustment each time can be set based on the experience of the technician, or can be determined through a calibration experiment. It is sufficient to gradually adjust the inward horizontal displacement of the pedal until it is eliminated, and no further details are given here.

[0061] In practical applications, the range of changes produced by adjusting different hinge points is different. If the adjustment is performed indiscriminately by trial and error, it will take a lot of adjustment time and effort. Based on this, in a specific implementation, before adjusting the hinge point position of the four-bar extension and retracting mechanism, the method further includes:

[0062] Obtain the amount of horizontal displacement of the pedal inward during the flipping process. The displacement represents the inward offset distance of the pedal during the flipping process. When the displacement is greater than the preset displacement threshold, it means that the displacement is large and a large adjustment is required. Then, the hinge point position to be adjusted is determined to be the first hinge point and / or the second hinge point on the side away from the pedal on the four-bar extension and retraction mechanism. Please continue to refer to Figure 2 , Figure 2 The first hinge point is point B, and the second hinge point is point A. Since the first hinge point and the second hinge point are far from the pedal, the displacement adjustment amplitude after adjustment is large. On the contrary, when the displacement is less than or equal to the displacement threshold, it means that the displacement is small, and the hinge point position to be adjusted is determined to be the third hinge point and / or the fourth hinge point on the four-bar extension and retracting mechanism close to the pedal side. Figure 2 The third hinge point is point C, the fourth hinge point is point D, the third hinge point and the fourth hinge point are close to the pedal, the displacement produced after adjustment is small, and precise adjustment can be implemented.

[0063] It is understandable that when the positions of the first hinge point and the second hinge point are adjusted, since the second hinge point A is mostly the hinge point for installing the drive motor, in order to prevent the drive motor from interfering with other components after the position adjustment, the first hinge point B can be adjusted first. In practical applications, if the displacement is large, the first hinge point can be adjusted first to perform a rough adjustment of the displacement; after the displacement is reduced, the third hinge point and the fourth hinge point can be further adjusted to achieve fine adjustment until there is no inward horizontal displacement of the foot pedal during the outward flipping process.

[0064] Exemplarily, step S12 includes sub-steps S12-1 to S12-3, which are specifically described as follows:

[0065] S12-1. Construct a flip coordinate system on the target view of the electric pedal, wherein the target view is a plane view representing the connection relationship between the four-bar extension and retractable mechanism and the pedal. Figure 2 , a flip coordinate system can be established based on this view. The horizontal coordinate is marked as y, which represents the coordinate value of the hinge point in the horizontal direction; the vertical coordinate is marked as z, which represents the coordinate value of the hinge point in the vertical direction; the x direction is the length direction of the electric pedal, which has no meaning in the plane view. By flipping the coordinate system, the coordinate change of the first hinge point B and the coordinate change of any point E on the pedal can be measured during the flipping process of the electric pedal.

[0066] S12-2, according to the relationship between the adjustment amount of the hinge point position in the flip coordinate system and the change in the horizontal displacement when the pedal flips, a target mapping relationship is obtained. Based on the target mapping relationship, the corresponding change in the horizontal displacement of the pedal during the outward flipping process after the adjustment amount changes can be obtained. The target mapping relationship can be a data model. After the adjustment amount is input into the data model, the change in the horizontal displacement of point E is obtained based on the output result of the data model.

[0067] In practical applications, due to the complex changing relationship of the four-bar extension and retraction mechanism during the movement, the conventional method cannot accurately obtain the target mapping relationship. Based on this, in a specific implementation, the hinge point position is configured as the first hinge point rotating around the drive motor axis in the four-bar extension and retraction mechanism, that is, Figure 2 Sub-step S12-2 specifically includes:

[0068] In the first step, according to the adjustment amount of the first hinge point, the optimized central angle of the first hinge point around the drive motor shaft before and after the adjustment is obtained. Figure 2 Point A is the center of the electric pedal drive shaft, point B is the center of another rotation axis of the active arm (or rocker) connected to point A; point C is the center of another rotation axis of the connecting rod connected to point B, and the pedal is connected to the connecting rod; point D is the center of another rotation axis of the driven arm (or connecting rod) connected to point C. The adjustment amount of the first hinge point can be set based on the initial position of point B, for example, moving 1mm in any direction of its circumference; or it can be based on point A as the center of the circle and AB as the radius to draw an arc to obtain the curve BB', the adjustment amount is any point on the curve BB', the position of point B after rotation is set as B', and the optimized center angle is ∠BAB', recorded as α.

[0069] The second step is to solve the equation for the coordinates of the first hinge point after adjustment based on the cosine theorem equation, the optimized central angle and the length of each hinge point in the four-bar extension and retraction mechanism. Taking the first hinge point as an example, the coordinates of point A are defined as (Ax, Ay, Az), the coordinates of point B are defined as (Bx, By, Bz), the coordinates of point B' are defined as (B'x, B'y, B'z), the coordinates of point C are defined as (Cx, Cy, Cz), the coordinates of point D are defined as (Dx, Dy, Dz), and the coordinates of point E are defined as (Ex, Ey, Ez). Since point B rotates around point A, after point B rotates around point A to point B', AB = AB', that is, the following relationship exists:

[0070]

[0071] ∠BAD=arccos((AD 2 +AB 2 -BD 2 ) / (2*AB*AD))

[0072] In △ABB′, the distance of BB′ can be calculated based on the cosine theorem equation:

[0073]

[0074] Solve the equation in coordinates:

[0075] (B′x-Bx) 2 +(B′y-By) 2 )+(B′z-Bz) 2 =BB′ 2

[0076] (B′x-Ax) 2 +(B′y-Ay) 2 )+(B′z-Az) 2 =AB′ 2

[0077] (B′x-Dx) 2 +(B′y-Dy) 2 )+(B′z-Dz) 2 =DB′ 2

[0078] In △ADB′, the distance of DB′ can be calculated based on the cosine theorem equation:

[0079]

[0080] The coordinate solution equation is the solution equation for point B', that is:

[0081] B′x=Bx;

[0082] B′y=(((B′D 2 -BA 2 )-(Dy 2 -Ay 2 )-(Dz 2 -Az 2 ))×(-2×Ay+2×By)-((BA 2 -BB′ 2 )-(Ay 2 -By 2 )-(Az 2 -Bz 2 ))×(-2×Dy+2×Ay)) / ((-2×Ay+2×By)×(-2×Dz+2×Az)-(-2×Dy+2×Ay)×(-2×Az+2×Bz));

[0083] B′z=(((B′D 2 -BA 2 )-(Dy2 -Ay 2 )-(Dz 2 -Az 2 ))×(-2×Az+2×Bz)-((BA 2 -BB′ 2 )-(Ay 2 -By 2 )-(Az 2 -Bz 2 ))×(-2×Dz+2×Az)) / ((-2×Az+2×Bz)×(-2×Dy+2×Ay)-(-2×Dz+2×Az)×(-2×Ay+2×By)).

[0084] The third step is to obtain the coordinate position of the first hinge point after adjustment according to the coordinate solution equation. The coordinate position of the first hinge point after adjustment is the coordinate of point B' (B'x, B'y, B'z). In the above coordinate solution equation, since the target view is a plane view and there is no displacement change in the x direction, the coordinate position of the first hinge point after adjustment can also be represented by (B'y, B'z).

[0085] The fourth step is to obtain the target mapping relationship based on the corresponding relationship represented by the coordinate position and the straight-line distance from any point on the pedal. Any point on the pedal is point E, such as Figure 2 As shown in , the outermost point of the pedal can be recorded as point E, and the distance B′E from point B′ to point E remains constant. When point B is adjusted to B′, the motion trajectory of point E changes accordingly during the pedal flipping process. To facilitate the characterization of the target mapping relationship, the above formula is written into an EXCEL table, and the coordinates of point B′ corresponding to any flip angle α can be obtained. Similarly, the coordinates of point E can be solved in sequence. It should be noted that when the target mapping relationship is characterized by an EXCEL table, the coordinate positions of points A, B, C, and E, the adjustment amount of point B, and the length of BE are input items. After entering them into the EXCEL table, the trajectory of point E when the pedal flips can be solved. So far, the target mapping relationship of the adjustment amount changing with the horizontal displacement when the pedal flips has been obtained.

[0086] S12-3, adjusting the position of the hinge point according to the target mapping relationship until the inward horizontal displacement of the pedal during the flipping process is less than the preset value. By inputting different adjustment amounts to the target mapping relationship, the horizontal displacement of point E can be obtained. When the inward horizontal displacement during the flipping process of the pedal is less than the preset value, it means that the pedal has no obvious inward movement, and the adjustment of point B has met the optimization target of the electric pedal. The optimized structure is determined as the target structure of the electric pedal.

[0087] Exemplarily, sub-step S12-3 includes the following implementation steps:

[0088] In the first step, different adjustment amounts of the hinge position are input into the target mapping relationship according to the preset adjustment step, so as to obtain the path curve of the pedal during the flipping process under different adjustment amounts. The adjustment amount can be transformed based on the coordinates of point B according to 1mm steps, and the horizontal displacement of the pedal during the flipping process under different adjustment amounts is obtained based on the target mapping relationship. The path curve of the pedal is obtained based on different flipping angles and corresponding horizontal displacements, that is, Figure 3 The curve shown.

[0089] In the second step, when the monotonically decreasing change of the path curve is less than the preset decreasing threshold, it means that the pedal does not undergo a significant inward displacement during the flipping process, and it is determined that the inward horizontal displacement of the pedal during the flipping process is less than the preset value. Figure 4 , Figure 4 This is the path curve after adjusting the hinge point position. It can be seen from the figure that with the increase of the flip angle, the pedal does not move inward significantly in the horizontal direction, indicating that the optimization has achieved the goal.

[0090] In actual application, it is also limited by the characteristics of the four-link retracting and extending mechanism. When the driving motor drives the four-link retracting and extending mechanism to implement the flipping of the foot pedal, it shows a variable speed movement, that is, the expansion speed in the horizontal direction is fast in the middle, and slow in the opening and stopping stages. Please refer to Figure 5 , Figure 5 is the horizontal flipping speed of point E during the flipping process of the pedal, the horizontal axis is the flipping angle, and the vertical axis is the flipping speed. In this motion state, the user cannot judge whether the electric pedal is damaged, which affects its perceived quality. Based on this, in a specific implementation, after the hinge point position of the four-bar retractable mechanism is adjusted, the method further includes:

[0091] S13, adjusting the flipping speed of the electric pedal after the hinge point position adjustment, until the fluctuation of the flipping speed of the pedal during the flipping process is less than a preset value.

[0092] Specifically, a damping mechanism can be added to restrict the movement of the four-bar extension and retraction mechanism, for example, a spring or other elastic component can be added to restrict the flipping movement of the foot pedal, or a separate damping motor can be added to restrict the flipping movement, and the fluctuation of the flipping speed can be reduced to less than a preset value. Since the fluctuation of the flipping speed is small, the foot pedal can run at a near-constant speed during the flipping process, thereby further improving the perceived quality of the electric pedal and the accuracy of the electric pedal motion control.

[0093] Exemplarily, step S13 includes S13-1 to S13-2, which are specifically described as follows:

[0094] S13-1. Test the electric pedal after adjusting the hinge position to obtain a flip operation curve, wherein the flip operation curve is a curve showing the flip speed of the electric pedal as a function of the flip angle. By measuring the electric pedal, the flip speed at different flip angles can be obtained, and the flip operation curve can be obtained based on the relationship between the two, i.e. Figure 5 The curve shown.

[0095] S13-2, configure fluctuation compensation for the flip operation curve according to the fluctuation characteristics presented by the flip operation curve, until the fluctuation amount of the flip speed represented by the compensated flip operation curve is less than the preset value. Fluctuation compensation is the compensation amount applied to make the flip speed more uniform. Based on the fluctuation characteristics presented by the flip operation curve, a compensation curve (or speed regulation curve) representing the fluctuation compensation can be determined. Please refer to Figure 6 , Figure 6 This is a schematic diagram of the compensation curve. The variation characteristics of the compensation curve are opposite to those of the flip operation curve. After compensation is implemented based on the compensation curve, the flip speed of the pedal at different flip angles can be made more uniform. When implementing compensation, the relationship between the flip angle and the flip speed represented by the compensation curve is written into the control program to achieve the speed control of the drive motor. Figure 7 , Figure 7 To complete the flipping operation curve after compensation, it can be seen that the flipping speed is uniform at different flipping angles. The optimization strategy is to decelerate the drive motor in the middle stage of flipping, and through the speed control of the whole process, the E point has a constant flipping speed in the whole flipping process.

[0096] Based on the same technical concept as the optimization design method, the embodiment of the present invention also provides an optimization design device for an electric pedal, see Figure 8 , Figure 8 This is a schematic diagram of the structure of the design device. The design device includes:

[0097] A judging module 801 is used to judge whether the foot pedal of the electric pedal has an inward horizontal displacement during the process of the electric pedal turning outward, wherein the electric pedal is a pedal driven to turn by a four-bar retracting and extending mechanism;

[0098] The first adjustment module 802 is used to readjust the hinge point position of the four-bar retracting and extending mechanism when the foot pedal has an inward horizontal displacement, until the foot pedal is smoothly unfolded outward during the turning process.

[0099] In an optional embodiment, the judgment module includes:

[0100] An acquisition submodule is used to acquire a target view of the electric pedal, wherein the target view is a plan view representing the connection relationship between the four-bar retractable mechanism and the pedal;

[0101] A first obtaining submodule is used to obtain a path curve of the pedal during the flipping process according to the target view, wherein the path curve is a curve of the horizontal displacement of the pedal during the flipping process as the flipping angle changes;

[0102] The first determination submodule is used to determine that the pedal has an inward horizontal displacement when the path curve has a monotonically decreasing feature.

[0103] In an optional embodiment, the first adjustment module includes:

[0104] A construction submodule is used to construct a flip coordinate system on a target view of the electric pedal, wherein the target view is a plane view representing the connection relationship between the four-bar retractable mechanism and the pedal;

[0105] The second acquisition submodule is used to obtain the target mapping relationship according to the relationship between the adjustment amount of the hinge point position in the flip coordinate system and the change of the horizontal displacement when the pedal is flipped;

[0106] The adjustment submodule is used to adjust the position of the hinge point according to the target mapping relationship until the inward horizontal displacement of the pedal during the flipping process is less than a preset value.

[0107] In an optional embodiment, the hinge point position is the first hinge point rotating around the drive motor shaft in the four-bar extension and retraction mechanism; the second obtaining submodule includes:

[0108] A first obtaining unit, configured to obtain an optimized central angle of the first hinge point around the drive motor shaft before and after the adjustment according to the adjustment amount of the first hinge point;

[0109] The second obtaining unit is used to obtain the coordinates of the first hinge point after adjustment and solve the equation according to the cosine theorem equation, the optimized central angle and the length of each hinge point in the four-bar extension and retracting mechanism;

[0110] A third obtaining unit, used for obtaining the coordinate position of the first hinge point after adjustment according to the coordinate solving equation;

[0111] The fourth obtaining unit is used to obtain the target mapping relationship according to the corresponding relationship represented by the coordinate position and the straight-line distance from any point on the pedal.

[0112] In an optional embodiment, the adjustment submodule includes:

[0113] a fifth obtaining unit, configured to input different adjustment amounts of the hinge point position into a target mapping relationship according to a preset adjustment step, so as to obtain a path curve of the pedal during the flipping process under different adjustment amounts;

[0114] The determination unit is used to determine that the inward horizontal displacement of the pedal during the turning process is less than a preset value when the monotonically decreasing change amount of the path curve is less than a preset decreasing threshold value.

[0115] In an optional embodiment, the design device further includes:

[0116] An acquisition module, used for acquiring the amount of horizontal inward displacement of the pedal during the turning process;

[0117] A first determination module, for determining that the position of the hinge point to be adjusted is a first hinge point and / or a second hinge point on a side of the four-bar extension and retracting mechanism away from the pedal when the displacement is greater than a preset displacement threshold;

[0118] The second determination module is used to determine that the adjusted hinge point position is the third hinge point and / or the fourth hinge point on the four-bar extension and retracting mechanism close to the pedal side when the displacement is less than or equal to the displacement threshold.

[0119] In an optional embodiment, the design device further includes:

[0120] The second adjustment module is used to adjust the flipping speed of the electric pedal after the hinge point position adjustment is completed, until the fluctuation of the flipping speed of the pedal during the flipping process is less than a preset value.

[0121] In an optional embodiment, the second adjustment module includes:

[0122] The third obtaining submodule is used to test the electric pedal after the hinge point position adjustment is completed to obtain a flip operation curve, wherein the flip operation curve is a curve of the flip speed of the electric pedal changing with the flip angle;

[0123] The configuration submodule is used to configure fluctuation compensation according to the fluctuation characteristics presented by the flip operation curve, until the fluctuation amount of the flip speed represented by the compensated flip operation curve is less than a preset value.

[0124] Based on the same technical concept as the optimization design method, an embodiment of the present invention further provides an electric pedal, which is optimized and designed by any one of the optimization design methods.

[0125] The technical solution provided in the embodiments of the present invention has at least the following technical effects or advantages:

[0126] When optimizing the design of an electric pedal driven to flip by a four-bar retractable mechanism, it is determined whether the pedal has an inward horizontal displacement during the outward flipping process of the electric pedal. If the pedal has an inward horizontal displacement, it means that the outward displacement of the pedal in the horizontal direction cannot be accurately controlled based on the structure of the current four-bar retractable mechanism. Then, the hinge point position of the four-bar retractable mechanism is readjusted until the pedal is smoothly unfolded outward during the flipping process. This technical solution can optimize the four-bar retractable mechanism of the electric pedal so that it does not have an inward horizontal displacement during the flipping process, thereby improving the accuracy of the horizontal displacement control when the electric pedal flips. At the same time, this optimization design method can make the flipping process of the electric pedal smoother and improve the perceived quality of the electric pedal.

[0127] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take 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 code.

[0128] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (modules, systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0131] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0132] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An optimization design method for an electric pedal, characterized in that: The method comprises: Determine whether the foot pedal of the electric pedal has an inward horizontal displacement during the outward flipping process, wherein the electric pedal is a pedal driven to flip by a four-bar retracting and extending mechanism; When the foot pedal has an inward horizontal displacement, the hinge point position of the four-bar retracting and extending mechanism is readjusted until the foot pedal is smoothly unfolded outward during the turning process.

2. The optimization design method of the electric pedal according to claim 1, characterized in that: The step of judging whether the foot pedal of the electric pedal has horizontal displacement inwards during the outward flipping process includes: Acquire a target view of the electric pedal, wherein the target view is a plan view representing the connection relationship between the four-bar retractable mechanism and the pedal; Obtaining a path curve of the pedal during the flipping process according to the target view, wherein the path curve is a curve of a horizontal displacement of the pedal during the flipping process as the flipping angle changes; When the path curve has a monotonically decreasing characteristic, it is determined that the foot pedal has an inward horizontal displacement.

3. The optimization design method of the electric pedal according to claim 1, characterized in that: The re-adjusting the hinge point position of the four-bar retracting and extending mechanism until the foot pedal is smoothly unfolded outward during the flipping process includes: Constructing a flip coordinate system on a target view of the electric pedal, wherein the target view is a plan view representing a connection relationship between the four-bar retractable mechanism and the pedal; Obtaining a target mapping relationship according to a relationship between an adjustment amount of the hinge point position in the flip coordinate system and a change in a horizontal displacement when the pedal flips; The position of the hinge point is adjusted according to the target mapping relationship until the inward horizontal displacement of the foot pedal during the turning process is less than a preset value.

4. The optimization design method of the electric pedal according to claim 3, characterized in that: The hinge point position is the first hinge point in the four-bar extension and retraction mechanism that rotates around the drive motor shaft; the target mapping relationship is obtained according to the relationship between the adjustment amount of the hinge point position in the flip coordinate system and the horizontal displacement when the pedal flips, including: According to the adjustment amount of the first hinge point, obtaining the optimized central angle of the first hinge point around the drive motor shaft before and after the adjustment; According to the cosine theorem equation, the optimized central angle and the length of each hinge point in the four-bar extension and retraction mechanism, the coordinates of the first hinge point after adjustment are obtained to solve the equation; Obtaining the adjusted coordinate position of the first hinge point according to the coordinate solving equation; The target mapping relationship is obtained according to the corresponding relationship represented by the coordinate position and the straight-line distance from any point on the pedal.

5. The optimization design method of the electric pedal according to claim 3, characterized in that: The adjusting the position of the hinge point according to the target mapping relationship until the inward horizontal displacement of the pedal during the flipping process is less than a preset value includes: Inputting different adjustment amounts of the hinge point position into the target mapping relationship according to a preset adjustment step, so as to obtain a path curve of the pedal during the flipping process under different adjustment amounts; When the monotonically decreasing variation of the path curve is less than a preset decreasing threshold, it is determined that the inward horizontal displacement of the foot pedal during the turning process is less than a preset value.

6. The optimization design method of the electric pedal according to claim 1, characterized in that: Before adjusting the hinge point position of the four-bar linkage retracting and extending mechanism, the method further includes: Obtaining the inward horizontal displacement of the foot pedal during the flipping process; When the displacement is greater than a preset displacement threshold, determining that the adjusted hinge point position is a first hinge point and / or a second hinge point on the four-bar extension and retracting mechanism that is away from the pedal side; When the displacement is less than or equal to the displacement threshold, the adjusted hinge point position is determined to be the third hinge point and / or the fourth hinge point on the four-bar extension and retracting mechanism close to the pedal side.

7. The optimization design method of the electric pedal according to claim 1, characterized in that: After the hinge point position of the four-bar extension and retraction mechanism is adjusted, the method further includes: The flipping speed of the electric pedal after the hinge point position adjustment is adjusted until the fluctuation of the flipping speed of the pedal during the flipping process is less than a preset value.

8. The optimization design method of the electric pedal according to claim 7, characterized in that: The step of adjusting the flipping speed of the electric pedal after the hinge point position adjustment until the fluctuation of the flipping speed of the pedal during the flipping process is less than a preset value includes: Testing the electric pedal after adjusting the hinge point position to obtain a flip operation curve, wherein the flip operation curve is a curve showing the flip speed of the electric pedal changing with the flip angle; According to the fluctuation characteristics presented by the flipping operation curve, fluctuation compensation is configured for it until the fluctuation amount of the flipping speed represented by the compensated flipping operation curve is less than a preset value.

9. An optimized design device for an electric pedal, characterized in that: The device comprises: A judging module, used to judge whether the foot pedal of the electric pedal has an inward horizontal displacement during the outward turning process, wherein the electric pedal is a pedal driven to turn by a four-bar retracting and extending mechanism; The first adjustment module is used to readjust the hinge point position of the four-bar retracting and extending mechanism when the foot pedal has an inward horizontal displacement, until the foot pedal is smoothly unfolded outward during the turning process.

10. An electric pedal, characterized in that: The electric pedal is obtained by optimizing the design according to any one of the methods described in claims 1-8.

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