An anti-runaway control system for an electric bicycle

Abstract

The present invention discloses a control system for preventing a motorized bicycle from running away, belonging to the field of control systems. A control system for preventing a motorized bicycle from running away includes: an input module for inputting a voltage signal to a control module; a condition module for identifying the vehicle state when the voltage signal is input; a control module for receiving the voltage signal and outputting a speed regulation signal to the motor, establishing a "voltage-time" coordinate system according to the voltage signal value, drawing a voltage change curve, and then formulating a standard curve according to at least one voltage change curve; a judgment module for judging whether the voltage change curve mapped by the newly input voltage signal conforms to the standard curve; and an output module for determining whether the motorized bicycle is in a runaway state according to the result of the judgment module; it can realize rapid and accurate detection of whether the motorized bicycle is in a runaway state.

Description

Technical Field

[0001] The present invention belongs to the field of control systems, and more specifically, relates to an anti-runaway control system for electric bicycles. Background Art

[0002] During the driving process of an electric bicycle, a runaway phenomenon may occur. The runaway phenomenon refers to the situation where, without the user's subjective awareness, the electric bicycle gets out of control, the motor speed suddenly increases, and the whole vehicle or the vehicle with a passenger flies out of the handlebar. This is accompanied by user personal safety accidents and damage to the electric bicycle. The reasons for the runaway phenomenon include poor contact of internal circuits, short circuits of internal circuits, and the user unconsciously turning the handlebar.

[0003] Existing anti-runaway systems for electric bicycles, such as an automatic protection method and controller for electric bicycle runaway with the patent number CN201611159724.6, have a certain delay in detecting and judging the runaway state, and cannot quickly detect whether the electric bicycle is in a runaway state and react to it;

[0004] In addition, for the electric bicycle runaway protection control device and method with the patent number CN201010544051.2, although the voltage value generated by the handlebar is used as the detection object to quickly judge whether the electric bicycle is in a runaway state, it only determines whether the electric bicycle is in a runaway state when the voltage value is higher than the set protection value. The criterion for determining the runaway state is too narrow. The voltage value received by the controller of the electric bicycle is generally between 0.8 V and 4.2 V, and a runaway phenomenon may occur within this range. Therefore, this method is not accurate enough in detecting the runaway state. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an anti-runaway control system for electric bicycles, which can quickly and accurately detect whether the electric bicycle is in a runaway state.

[0006] An anti-runaway control system for electric bicycles according to the present invention includes

[0007] an input module for inputting a voltage signal to a control module;

[0008] a condition module for identifying the vehicle state when the voltage signal is input;

[0009] a control module for receiving the voltage signal and outputting a speed regulation signal to the motor, establishing a "voltage-time" coordinate system according to the voltage signal value, plotting a voltage change curve, and then formulating a standard curve based on at least one voltage change curve;

[0010] a judgment module for judging whether the voltage change curve mapped by the newly input voltage signal conforms to the standard curve; and

[0011] An output module, configured to determine whether the electric bicycle is in a runaway state according to the result of the determination module, and then open or close the path for the control module to output a speed regulation signal to the motor according to whether the electric bicycle is in a runaway state.

[0012] As a further improvement of the present invention, the condition module includes a speed sensor, a gravity sensor, and / or a parking switch and / or a secondary manual action sensor; the speed sensor is configured to sense whether the traveling speed of the electric bicycle is zero when the voltage signal is first input in a first determination process; the gravity sensor and / or the parking switch and / or the secondary manual action sensor are configured to sense whether the voltage change condition of the electric bicycle is qualified when the voltage signal is first input in a first determination process; when the traveling speed of the electric bicycle is zero or non-zero when the voltage signal is first input in a first determination process, the qualified standards for the corresponding voltage change conditions are different.

[0013] As a further improvement of the present invention, after receiving the voltage signal, the control module can identify the voltage magnitude, establish a "voltage-time" coordinate system, and draw a voltage change curve within a set time; the control module obtains the voltage change curve when the traveling speed of the electric bicycle is zero when the voltage signal is first input in a first determination process, and draws a standard curve; the standard curve is the average curve of at least one voltage change curve when the traveling speed is zero.

[0014] As a further improvement of the present invention, when the voltage signal is first input in a first determination process and the traveling speed of the electric bicycle is zero, in the complete curve state, the slope of the curve tends to be horizontal with time until it is within the range of 0 to 5°.

[0015] As a further improvement of the present invention, when the complete voltage change curve when the traveling speed of the electric bicycle is zero is obtained when the voltage signal is first input in the first determination process, it is recognized as the standard curve; when the voltage signal is first input in each subsequent determination process and the complete voltage change curve when the traveling speed of the electric bicycle is zero is obtained, the curve is combined with the standard curve to obtain an average curve, and the average curve replaces the original standard curve to become the new standard curve.

[0016] As a further improvement of the present invention, the criteria for the determination module to determine whether the voltage change curve mapped by the newly input voltage signal matches the standard curve include: whether the starting point of the newly mapped voltage change curve is on the standard curve, whether the error between the slope of the newly mapped voltage change curve and the slope of the standard curve is within the set range, and / or whether there is a brake signal input at the slope change node.

[0017] As a further improvement of the present invention, the steps for the judgment module to judge whether the voltage change curve mapped by the newly input voltage signal conforms to the standard curve include:

[0018] S10. Judge whether the starting point of the curve corresponds to the standard curve. If so, proceed to step S20; if not, determine that the electric bicycle is in a runaway state.

[0019] S20. Judge whether the error between the slope of the curve and the slope of the standard curve is within the set range. If so, determine that the electric bicycle is in a normal state; if not, proceed to step S30.

[0020] S30. Judge whether a braking signal is input at the node where the slope of the voltage change curve exceeds the tolerance. If so, proceed to step S40; if not, determine that the electric bicycle is in a runaway state.

[0021] S40. Judge whether the voltage signal value decreases after the slope change node. If so, determine that the electric bicycle is in a normal state; if not, determine that the electric bicycle is in a runaway state.

[0022] As a further improvement of the present invention, when the voltage signal is first input in a single determination process and the electric bicycle is in a state where its traveling speed is zero, the qualified conditions for the voltage change of the electric bicycle when the voltage signal is first input in a single determination process are: the gravity sensor responds, the parking switch responds, and the secondary human action sensor responds; when the voltage signal is first input in a single determination process and the electric bicycle is in a state where its traveling speed is not zero, the qualified conditions for the voltage change of the electric bicycle when the voltage signal is first input in a single determination process are: the gravity sensor responds, the parking switch does not respond, and the secondary human action sensor does not respond.

[0023] As a further improvement of the present invention, the secondary human actions include: turning on the power switch of the electric bicycle and turning off the parking switch.

[0024] As a further improvement of the present invention, when it is determined that the electric bicycle is in a runaway state, the output module disconnects the path for the control module to output a speed regulation signal to the motor.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] By setting up a condition module, the present invention identifies the vehicle state when a voltage signal is input. It mainly identifies whether the vehicle is in a driving state when the voltage signal is input. When the driving speed of the electric bicycle is zero when the voltage signal is input, the control module starts to record the change curve of the voltage signal input value in this case. Within a set time period, when the change of the voltage change curve is "gradually rising gently from the safe voltage value - rapidly rising - gently rising to the limit voltage value", the control module recognizes this voltage change curve as the standard curve; when a new voltage signal is input, the curve of the new voltage signal is compared with the standard curve to determine whether the electric bicycle is in a runaway state, which has the advantages of fast judgment speed and accurate judgment results;

[0027] When a voltage signal is input again when the driving speed is zero, the judgment module judges the value of the voltage signal input for the first time. When the error between the input value of the voltage signal and the value of the starting point of the standard curve is within the set range, it indicates that the voltage signal is input under normal conditions. If the error is not within the set range, it can be regarded that the voltage signal is input in a runaway state, and it can be directly determined as a runaway state and prevention and control are carried out. Such a setting has a fast judgment speed and does not require a certain amount of time for statistics; if the error is within the set range, then it is judged whether the error between the overall slope change of the curve and the slope change of the standard curve is within the set range. If the error is within the set range, it can be regarded as being input under normal conditions. If the error is not within the set range, it is further judged whether it is the slope change caused by braking. If so, it is determined that the electric bicycle is in a normal state, and if not, it is determined that the electric bicycle is in a runaway state and prevention and control are carried out; such a setting can achieve the benefit of accurate judgment results, eliminate the voltage signal change caused by braking, avoid misjudgment, and at the same time judge whether the electric bicycle is in a runaway state at the moment of the slope change, which has the advantage of fast judgment speed;

[0028] When there is a voltage signal input again when the driving speed is not zero, it means that the electric bicycle is in a driving state at this time. Therefore, the voltage value of the first input is different from the voltage value corresponding to the starting point of the standard curve. However, if the electric bicycle is in a normal state, the input voltage value should always be within the range of the voltage value corresponding to the standard curve. When it exceeds this range, it is determined that the electric bicycle is in a runaway state and prevention and control are carried out. When the input voltage value is within this range, it is judged whether the slope of the curve has an error within the set range compared with the slope of the standard curve. If so, it is determined that the electric bicycle is in a normal state. If not, the nodes of the slope change are discussed again. When the node of the slope change is caused by the input of the brake signal, it is determined that the electric bicycle is still in a normal state. If the node of the slope change is not caused by the input of the brake signal, it is determined that the electric bicycle is in an abnormal state and prevention and control are carried out; The advantage of this setting is that it can be judged when the electric bicycle is driving. The judgment time of this system is fixed each time. When it is judged again and the electric bicycle is in a driving state, it can still be accurately judged, not limited to starting from the starting state, and the problem of runaway caused by line errors during driving can be prevented and controlled;

[0029] The present invention collects all curves that meet the requirements of the standard curve. Each time a new curve is collected, it is merged and averaged with the original standard curve, and the obtained average curve is the new standard curve. The standard curve is continuously iterated to improve the standard degree of the standard curve, avoiding the problem that the unstable voltage value caused by the output oscillation of the electric bicycle affects the judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the system operation flow of the present invention;

[0032] Figure 3 It is the standard curve of the voltage change curve of the present invention;

[0033] Figure 4 It is the voltage change curve in the runaway state when the line of the present invention is in poor contact;

[0034] Figure 5 It is the voltage change curve in the runaway state when the line of the present invention is short-circuited;

[0035] Figure 6 It is the voltage change curve when braking in the normal state of the present invention;

[0036] Figure 7 It is the voltage change curve when the line is in poor contact during driving of the present invention;

[0037] Figure 8 This is the voltage change curve when the circuit is short-circuited during the running of the present invention. Specific embodiments

[0038] Specific embodiment 1: Please refer to Figure 1-8 An anti-runaway control system for an electric bicycle, which includes an input module, a condition module, a control module, a judgment module, and an output module.

[0039] The input module is used to input a voltage signal to the control module. The voltage signals counted in this application are the voltage signals directly input to the control module, including the voltage signals generated by rotating the handlebar, as well as the voltage signals generated by circuit open circuit and short circuit.

[0040] The condition module is used to identify the vehicle state when the voltage signal is input. The condition module includes a speed sensor, a gravity sensor, a parking switch, and a secondary human action sensor; the speed sensor is used to sense whether the running speed of the electric bicycle is zero when the voltage signal is first input in a primary determination process; the gravity sensor, the parking switch, and the secondary human action sensor are used to sense whether the voltage change condition of the electric bicycle is qualified when the voltage signal is first input in a primary determination process. The secondary human actions include: turning on the power switch of the electric bicycle and turning off the parking switch. The vehicle state here includes a motion state and a safety state; the determination of the motion state is: in a primary judgment process, at the time node when the voltage signal is first input, the running speed of the vehicle. If the running speed is zero, it is determined that the vehicle is in a starting state. If the running speed is not zero, it is determined that the vehicle is in a running state; the determination of the safety state is related to the result of the motion state, and the determination criteria for the safety state are inconsistent for different motion state results. When the vehicle is in the starting state, the determination criteria for the safety state are: the gravity sensor responds, the parking switch responds, and the secondary human action sensor responds; when the vehicle is in the running state, the determination criteria for the safety state are: the gravity sensor responds, the parking switch does not respond, and the secondary human action sensor does not respond; when the vehicle does not meet the corresponding safety state, it is directly determined that the electric bicycle is in a runaway state and prevention and control are carried out; when the vehicle meets the corresponding safety state, it is directly determined that the electric bicycle is in a normal state, and the voltage signal is stored and calculated.

[0041] The control module is used to receive voltage signals and output speed regulation signals to the motor, establish a "voltage - time" coordinate system according to the voltage signal values, plot the voltage change curve, and then formulate a standard curve based on at least one voltage change curve. After receiving the voltage signal, the control module can identify the voltage magnitude, establish a "voltage - time" coordinate system, and plot the voltage change curve within a set time; the control module obtains the voltage change curve when the driving speed of the electric bicycle is zero when the voltage signal is first input in a single determination process to plot the standard curve; the standard curve is the average curve of at least one voltage change curve when the driving speed is zero. When the complete voltage change curve when the driving speed of the electric bicycle is zero is obtained when the voltage signal is first input in the first determination process, it is recognized as the standard curve; when the voltage signal is first input in each subsequent determination process, the complete voltage change curve when the driving speed of the electric bicycle is zero is obtained, and this curve is combined with the standard curve to obtain an average curve, and this average curve replaces the original standard curve to become the new standard curve. Specifically, when the voltage signal is first input in a single determination process, for the voltage change curve when the driving speed of the electric bicycle is zero, in the state of a complete curve, the slope of the curve tends to be horizontal over time until it is within the range of 0 - 5°, as Figure 3 shown; generally, the normal voltage input value of the electric bicycle is 0.8 - 4.2V, where 0.8V is the safety voltage, that is, after the voltage value exceeds 0.8V, the control module starts to calculate and react.

[0042] The judgment module is used to judge whether the voltage change curve mapped by the newly input voltage signal conforms to the standard curve. The criteria for the judgment module to judge whether the voltage change curve mapped by the newly input voltage signal conforms to the standard curve include: whether the starting point of the newly mapped voltage change curve is located on the standard curve, whether the error between the slope of the newly mapped voltage change curve and the slope of the standard curve is within the set range, and / or whether there is a brake signal input at the slope change node. The statement "whether the starting point of the newly mapped voltage change curve is located on the standard curve" mentioned here includes two cases: 1. In the starting state, whether the error between the voltage value corresponding to the starting point of the curve and the voltage value corresponding to the starting point of the standard curve is within the set range; 2. In the driving state, whether the voltage value corresponding to the starting point of the curve is within the voltage value range corresponding to the standard curve. The statement "whether the error between the slope of the newly mapped voltage change curve and the slope of the standard curve is within the set range" mentioned here means whether the slope of each segment of the entire curve conforms to the slope of the voltage value change corresponding to the standard curve. If a section of the image of this curve does not conform to the slope corresponding to the standard curve, it is determined that the electric bicycle is in a runaway state. The statement "whether there is a brake signal input at the slope change node" mentioned here means whether the slope change at the slope change node conforms to the slope change of the voltage value corresponding to braking. Since there are various reasons for the sudden change of the voltage value, the normal reasons include the input of the brake signal, which changes the driving speed, and then the voltage signal input to the control module will also change suddenly. If the slope of the curve is changed due to the input of the brake signal, the voltage signal value should decrease after this time node. If it remains unchanged or increases, it means that the sudden change of the voltage value is caused by other abnormal reasons, such as circuit breakage, short circuit, etc. At this time, it is determined that the electric bicycle is in a runaway state.

[0043] The output module is used to determine whether the electric bicycle is in a runaway state according to the result of the judgment module, and then open or close the path of the speed control signal output by the control module to the motor according to whether the electric bicycle is in a runaway state. The steps for the judgment module to judge whether the voltage change curve mapped by the newly input voltage signal conforms to the standard curve include:

[0044] S10. Judge whether the starting point of the curve corresponds to the standard curve. If so, proceed to step S20; if not, determine that the electric bicycle is in a runaway state. The criterion for whether the starting point of the curve corresponds to the standard curve is related to the motion state of the electric bicycle. When the electric bicycle is in the starting state, the criterion for whether the starting point of the curve corresponds to the standard curve is: whether the error between the voltage value corresponding to the starting point of the curve and the voltage value corresponding to the starting point of the standard curve is within the set range. When the electric bicycle is in the driving state, the criterion for whether the starting point of the curve corresponds to the standard curve is: whether the voltage value corresponding to the starting point of the curve is within the voltage value range corresponding to the standard curve.

[0045] S20. Determine whether the error between the slope of the curve and the slope of the standard curve is within the set range. If so, it is determined that the electric bicycle is in a normal state; if not, proceed to step S30.

[0046] S30. Determine whether there is a brake signal input at the node where the slope of the voltage change curve exceeds the tolerance. If so, proceed to step S40; if not, it is determined that the electric bicycle is in a runaway state.

[0047] S40. Determine whether the voltage signal value decreases after the slope change node. If so, it is determined that the electric bicycle is in a normal state; if not, it is determined that the electric bicycle is in a runaway state.

[0048] When it is determined that the electric bicycle is in a runaway state, the output module disconnects the path for the control module to output a speed regulation signal to the motor, so that the motor no longer starts, avoiding the problem of traffic accidents caused by the electric bicycle driving by itself without manual control.

[0049] The process of the anti-runaway system of this application includes the following steps:

[0050] S1. The control module receives the input voltage signal.

[0051] S2. The judgment module judges the current motion state of the electric bicycle.

[0052] S3. The judgment module judges the safety state of the electric bicycle according to the current motion state of the electric bicycle. If it is not in a safe state, the output module determines that the electric bicycle is in a runaway state and disconnects the path for the control module to output a speed regulation signal to the motor; if it is in a safe state, the output module determines that the electric bicycle is in a normal state.

[0053] S4. The control module obtains the input voltage signal and establishes an image in the coordinate system.

[0054] S5. The judgment module judges whether the voltage change curve mapped by the newly input voltage signal conforms to the standard curve. If not, the output module determines that the electric bicycle is in a runaway state and disconnects the path for the control module to output a speed regulation signal to the motor; if it conforms, the output module determines that the electric bicycle is in a normal state.

[0055] The runaway states prevented by this application include:

[0056] 1. As Figure 4 shown, when the voltage signal is initially input, the internal circuit lines of the electric bicycle are in poor contact, the input voltage value is already greater than the safety voltage in the initial state, and the electric bicycle accelerates too fast.

[0057] 2. As Figure 5As shown, when the initial input voltage signal is applied, the internal circuit of the electric bicycle is short-circuited, and the input voltage value directly reaches the maximum voltage in the initial state, resulting in the electric bicycle accelerating too fast;

[0058] 3. As Figure 7 shown, during a judgment process, the internal circuit of the electric bicycle has poor contact, causing the voltage value to be constantly output to the control module, resulting in the electric bicycle being unable to control deceleration;

[0059] As Figure 8 shown, during a judgment process, the internal circuit of the electric bicycle is short-circuited, causing the voltage to be constantly output to the control module at the maximum voltage value, resulting in the electric bicycle being unable to control deceleration.

Claims

1. An anti-runaway control system for an electric bicycle, characterized in that: Including: An input module for inputting a voltage signal to a control module, where the voltage signal includes voltage signals generated by rotating a grip, circuit open, and circuit short; A condition module for identifying the vehicle state when the voltage signal is input; A control module for receiving the voltage signal and outputting a speed regulation signal to the motor, establishing a "voltage-time" coordinate system based on the voltage signal value, plotting a voltage change curve, and formulating a standard curve according to at least one voltage change curve; A judgment module for judging whether the voltage change curve mapped by the newly input voltage signal matches the standard curve; And An output module for determining whether the electric bicycle is in a runaway state according to the result of the judgment module, and then opening or closing the path for the control module to output the speed regulation signal to the motor according to whether the electric bicycle is in a runaway state; The condition module includes a speed sensor, a gravity sensor, a parking switch, and a secondary human action sensor; the speed sensor is used to sense whether the driving speed of the electric bicycle is zero when the voltage signal is first input in a determination process; the gravity sensor and / or the parking switch and / or the secondary human action sensor are used to sense whether the voltage change condition of the electric bicycle is qualified when the voltage signal is first input in a determination process; in the state where the driving speed of the electric bicycle is zero or non-zero when the voltage signal is first input in a determination process, the qualified standards for the corresponding voltage change conditions are different.

2. The anti-runaway control system for an electric bicycle according to claim 1, characterized in that: After receiving the voltage signal, the control module can identify the voltage magnitude, establish a "voltage-time" coordinate system, and plot a voltage change curve within a set time; the control module obtains the voltage change curve when the driving speed of the electric bicycle is zero when the voltage signal is first input in a determination process to plot the standard curve; the standard curve is the average curve of at least one voltage change curve when the driving speed is zero.

3. The anti-runaway control system for an electric bicycle according to claim 2, characterized in that: When the voltage change curve when the driving speed of the electric bicycle is zero is first input in a determination process, in the complete curve state, the slope of the curve tends to be horizontal over time until it is within the range of 0 to 5°.

4. The anti-runaway control system for an electric bicycle according to claim 3, characterized in that: After obtaining the complete voltage change curve when the driving speed of the electric bicycle is zero when the voltage signal is first input in the first determination process, it is recognized as the standard curve; In each subsequent determination process when the voltage signal is first input, after obtaining the complete voltage change curve when the driving speed of the electric bicycle is zero, the curve is merged with the standard curve to obtain an average curve, and the average curve replaces the original standard curve to become a new standard curve.

5. The anti-runaway control system for an electric bicycle according to claim 1, characterized in that: The criteria for the judgment module to judge whether the voltage change curve mapped by the newly input voltage signal matches the standard curve include: whether the starting point of the newly mapped voltage change curve is on the standard curve, whether the error between the slope of the newly mapped voltage change curve and the slope of the standard curve is within the set range, and / or whether there is a brake signal input at the slope change node.

6. The anti-runaway control system for an electric bicycle according to claim 5, characterized in that: The steps for the judgment module to judge whether the voltage change curve mapped by the newly input voltage signal matches the standard curve include: S10. Determine whether the starting point of the curve corresponds to the standard curve. If it does, proceed to step S20; otherwise, determine that the electric bicycle is in a runaway state. S20. Determine whether the error between the slope of the curve and the slope of the standard curve is within the set range. If it is, determine that the electric bicycle is in a normal state; otherwise, proceed to step S30. S30. Determine whether a brake signal is input at the slope deviation node of the voltage change curve. If it is, proceed to step S40; otherwise, determine that the electric bicycle is in a runaway state. S40. Determine whether the voltage signal value decreases after the slope change node. If it does, determine that the electric bicycle is in a normal state; otherwise, determine that the electric bicycle is in a runaway state.

7. The anti-runaway control system for an electric bicycle according to claim 1, characterized in that: When the voltage signal is first input during a determination process and the electric bicycle is in a state where its traveling speed is zero, the qualified conditions for the voltage change of the electric bicycle when the voltage signal is first input during a determination process are: the gravity sensor responds, the parking switch responds, and the secondary human action sensor responds. When the voltage signal is first input during a determination process and the electric bicycle is in a state where its traveling speed is not zero, the qualified conditions for the voltage change of the electric bicycle when the voltage signal is first input during a determination process are: the gravity sensor responds, the parking switch does not respond, and the secondary human action sensor does not respond.

8. The anti-runaway control system for an electric bicycle according to claim 1, characterized in that: Secondary human actions include: turning on the power switch of the electric bicycle and turning off the parking switch.

9. The anti-runaway control system for an electric bicycle according to claim 1, characterized in that: When it is determined that the electric bicycle is in a runaway state, the output module disconnects the path for the control module to output a speed control signal to the motor.

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