Intelligent control system and method for a scooter

Abstract

The application discloses a scooter intelligent control system and method, wherein the intelligent control system of the scooter comprises a main control system, a battery system and an electric variable speed device; the electric variable speed device is connected with the main control system; the main control system comprises a central control module and further comprises a sensing system connected with the central control module; the sensing system further comprises a step frequency sensor, a torque sensor and a speed sensor; the electric variable speed device can change the transmission ratio of a chain connected between a five-way middle shaft and a driving wheel; the central control module can adjust the transmission ratio of the electric variable speed device according to the driving data collected by the sensing system. The transmission ratio of the chain is adjusted by the electric variable speed device, and the central control module can intelligently change the transmission ratio according to the operation parameters of the scooter to achieve the purpose of saving power. In the preferred scheme, the operation power of the power-assisted motor can also be adjusted to achieve the purpose of saving power, and the energy consumption is reduced, so that more power-assisted modes can be realized, and the power-assisted mileage is improved.

Description

Technical Field

[0001] This invention relates to the field of mobility scooter control technology, and in particular to an intelligent control system and method for mobility scooters. Background Technology

[0002] Currently, bicycles with gears are quite common among cycling enthusiasts. Users can shift gears as needed to save energy when riding uphill or in other situations. However, these bicycles have a certain learning curve, making them less accessible to the general public. In addition, scooters with electric assist motors are gradually becoming more common in the market. These scooters intelligently adjust the motor's output based on the user's riding torque, making it easier to ride on challenging terrains like inclines. It's clear that traditional electric scooters offer limited assistance, while bicycles with gears have a higher learning curve, and scooters with electric assist motors engage the motor as soon as riding torque increases, which is not conducive to energy management. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides an intelligent control system and method for a mobility scooter with more operating modes, which is conducive to effortless riding and has a low operating threshold.

[0004] Technical solution: To achieve the above objectives, the present invention provides an intelligent control system for a mobility scooter, which includes a main control system, a battery system, and an electric transmission device; the electric transmission device is connected to the main control system; the main control system includes a central control module and a sensing system connected to the central control module.

[0005] The sensing system also includes a cadence sensor, a torque sensor, and a speed sensor;

[0006] The electric speed change device can change the transmission ratio of the chain connecting the bottom bracket shaft and the drive wheel;

[0007] The central control module can adjust the transmission ratio of the electric transmission device based on the driving data collected by the sensing system.

[0008] Furthermore, it also includes a power assist motor, and the central control module can adjust the operating power of the power assist motor according to the driving data collected by the sensing system.

[0009] Furthermore, the electric transmission includes a front gearbox and a rear gearbox, with the chain straddling the front gearbox and the rear gearbox.

[0010] Furthermore, it also includes an electromagnetic shock absorber and / or an electric lifting seat connected to the main control system.

[0011] Furthermore, it also includes a manual control unit, wherein the main control system can adjust the transmission ratio of the electric transmission device according to the control signal issued by the manual control unit.

[0012] Furthermore, it also includes an external interaction system connected to the main control system; the external interaction system includes a control chip, a Bluetooth module connected to the control chip, a buzzer, and an external communication unit.

[0013] Furthermore, the battery system includes a main battery pack and a secondary battery; the secondary battery supplies power to the electric transmission device, and the main battery pack supplies power to the main control system.

[0014] Furthermore, the battery system contains only one battery pack, which supplies power to the main control system; the electric transmission is connected to the main control system via a coaxial cable, and the main control system controls the electric transmission via power line carrier communication through the coaxial cable, and the main control system supplies power to the electric transmission via the coaxial cable.

[0015] A method for intelligent control of a mobility scooter, based on the aforementioned intelligent control system for mobility scooters and implemented by the central control module, the method comprising:

[0016] Acquire cadence data, torque data, and speed data collected by the cadence sensor, torque sensor, and speed sensor;

[0017] Determine the compatibility between cadence, speed, and torque;

[0018] Adjust the transmission ratio of the electric speed change device according to the adaptation conditions.

[0019] Furthermore, adjusting the transmission ratio of the electric speed changer according to the adaptation includes:

[0020] When the torque data and speed data do not match, and the torque increment exceeds the speed increment, the transmission ratio of the electric transmission device is increased.

[0021] When the torque data and speed data do not match, and the speed increment exceeds the torque increment, the transmission ratio of the electric speed change device is reduced.

[0022] Furthermore, it also includes an assist motor connected to the central control system, and the method further includes:

[0023] Adjust the operating power of the assist motor according to the adaptation conditions.

[0024] Furthermore, the intelligent control system of the mobility scooter also includes an electromagnetic shock absorber and / or an electrically adjustable seat connected to the central control system; the method further includes:

[0025] Adjust the damping of the electromagnetic shock absorber and / or the electric lifting seat according to the speed data or control commands from the manual control unit.

[0026] Furthermore, the electric transmission includes a front gearbox and a rear gearbox, with the chain straddling the front and rear gearboxes; when controlling the electric transmission to change the gear ratio, the method includes:

[0027] Determine whether the target shift level of the transmission that needs to shift gears exceeds the predetermined level, and obtain the first judgment result;

[0028] If the first determination result is negative, the transmission is directly controlled to shift gears.

[0029] If the first judgment result is yes, the following steps are executed:

[0030] While controlling the transmission that needs to shift gears to perform the shift operation, another transmission is controlled to follow the shift in the same direction, and the number of shift levels followed is less than the target number of shift levels.

[0031] After the gearbox that needs to shift gears has shifted into the correct gear, the other gearbox is controlled to return to its original position.

[0032] Beneficial effects: The intelligent control system and method for the mobility scooter of the present invention adjusts the transmission ratio of the chain by setting an electric speed change device. The central control module can achieve the purpose of saving effort and reducing energy consumption by intelligently changing at least one of the transmission ratio and the operating power of the assist motor according to the operating parameters of the mobility scooter. This enables more assist modes and increases the assist range. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the system configuration of the intelligent control system for a mobility scooter in one embodiment;

[0034] Figure 2 This is a schematic diagram of the system configuration of the intelligent control system for the mobility scooter in another embodiment;

[0035] Figure 3 This is a flowchart illustrating the intelligent control method for mobility scooters.

[0036] In the diagram: 1-Central control module; 2-Pedal frequency sensor; 3-Torque sensor; 4-Speed ​​sensor; 5-Assisted motor; 6-Front derailleur; 7-Rear derailleur; 8-Manual control unit; 9-Electromagnetic shock absorber; 10-Electric lifting seat; 11-External interaction system; 11a-Control chip; 11b-Bluetooth module; 11c-Buzzer; 11d-External communication unit; 12-Battery system; 12a-Main battery pack; 12b-First auxiliary battery; 12c-Second auxiliary battery. Detailed Implementation

[0037] The invention will now be further described with reference to the accompanying drawings.

[0038] like Figure 1 The illustrated intelligent control system for the mobility scooter includes a main control system, a battery system 12, and an electric transmission device. The electric transmission device is connected to the main control system. The main control system includes a central control module 1 and a sensing system connected to the central control module 1. The sensing system includes a cadence sensor 2, a torque sensor 3, and a speed sensor 4. The electric transmission device can change the transmission ratio of the chain connecting the bottom bracket and the drive wheel. The central control module 1 can adjust the transmission ratio of the electric transmission device based on the driving data collected by the sensing system.

[0039] Preferably, the electric transmission includes a front gearbox 6 and a rear gearbox 7, with the chain straddling the front gearbox 6 and the rear gearbox 7. Both the front gearbox 6 and the rear gearbox 7 have position feedback sensors to facilitate the central control module 1 in obtaining information about the sprockets engaged with the chain.

[0040] Preferably, such as Figure 2 As shown, the intelligent control system of the mobility scooter also includes an assist motor 5, which is connected to the main control system. The central control module 1 can adjust the operating power of the assist motor 5 based on the driving data collected by the sensor system. In actual implementation, the central control module 1 can adjust only the operating power of the assist motor 5 or only the transmission ratio of the electric transmission device as needed, or it can adjust both the operating power and the transmission ratio of the assist motor 5 simultaneously.

[0041] Preferably, the system also includes an electromagnetic shock absorber 9 and / or an electric lifting seat 10 connected to the central control system. The central control module 1 can adjust the damping of the electromagnetic shock absorber 9 and / or the height of the electric lifting seat 10 according to the driving data collected by the sensing system and / or the control signal of the manual control unit 8.

[0042] Preferably, the system also includes a manual control unit 8, which allows the central control system to adjust the power of the power assist motor 5 and / or the transmission ratio of the electric transmission device based on control signals issued by the manual control unit 8. Furthermore, the manual control unit 8 can also be used to change the damping of the electromagnetic shock absorber 9 and the height of the electric lifting seat 10.

[0043] Preferably, the system further includes an external interaction system 11 connected to the central control module 1. The external interaction system 11 includes a control chip 11a, a Bluetooth module 11b connected to the control chip 11a, a buzzer 11c, and an external communication unit 11d. The external communication unit 11d can establish a wired and / or wireless connection with an external terminal, such as a mobile phone, tablet, or computer. Users can connect to the external interaction system 11 through the external terminal and configure personal preferences, such as setting a sports mode. The external terminal has a Bluetooth unit that can connect to the Bluetooth module 11b. The control chip 11a verifies the Bluetooth unit. After successful verification, the control chip 11a sends a verification signal to the central control module 1, which then unlocks the vehicle. This achieves seamless unlocking and improves the user experience. The unlocking can include software unlocking and / or vehicle lock unlocking (the vehicle is equipped with a vehicle lock). The buzzer 11c can emit a warning sound. For example, a mobility scooter can be equipped with a tire pressure monitoring module. When the tire pressure is abnormal, the control chip 11a controls the buzzer 11c to emit a warning sound.

[0044] In one embodiment, such as Figure 1 As shown, the battery system 12 includes a main battery pack 12a and a secondary battery 12b. The main battery pack 12a is generally installed inside the vehicle casing or is an external battery pack. The secondary battery 12b is a small battery that is plugged into the front transmission 6 and the rear transmission 7. The main battery pack 12a has a power supply port that can charge the secondary battery 12b. The secondary battery 12b can draw power from the main battery pack 12a through the power supply port, which can replenish the power to the secondary battery 12b when it is out of power outdoors and no plug can be found for charging.

[0045] In another embodiment, such as Figure 2 As shown, all the aforementioned power-consuming units (including the central control module 1, the power assist motor 5, the front gearbox 6, the rear gearbox 7, the external interaction system 11, etc.) can be powered by the same battery pack. Specifically, the battery system 12 powers the main control system, and the electric transmission is connected to the main control system via a coaxial cable. The main control system controls the electric transmission via power line carrier communication, and also powers the electric transmission via the coaxial cable. Furthermore, the central control module 1 can also power the external interaction system 11 while simultaneously exchanging signals with it via the coaxial cable.

[0046] This invention also provides an intelligent control method for a mobility scooter, which is based on the aforementioned intelligent control method for mobility scooters and is implemented by the central control module 1, such as... Figure 3 As shown, the method includes the following steps S101-S103:

[0047] Step S101: Obtain the cadence data, torque data, and speed data collected by the cadence sensor 2, torque sensor 3, and speed sensor 4.

[0048] Step S102: Determine the compatibility of cadence, speed, and torque;

[0049] Step S103: Adjust the transmission ratio of the electric transmission device according to the adaptation conditions. Alternatively, the assist can be adjusted by regulating the power of the assist motor 5.

[0050] Preferably, adjusting the transmission ratio of the electric speed changer according to the adaptation condition includes the following steps S201-S203:

[0051] Step S201: When the torque data and speed data are mismatched, and the torque increment exceeds the speed increment, the transmission ratio of the electric shifter is increased. The increment can be a percentage, and its value can be positive, 0, or negative. Before the electric shifter changes the transmission ratio, the speed increment and cadence increment are positively correlated. When the transmission ratio remains constant, if the riding torque increases significantly while the speed increase is not significant or even decreases, it indicates encountering situations with high resistance, such as uphill driving or starting from a stop. By increasing the transmission ratio of the electric shifter, the final torque output to the drive wheel can be increased while the user's riding torque and / or the output torque of the assist motor 5 remain constant, thus saving effort. After adjusting the transmission ratio, the relationship between cadence and speed changes in riding mode (pure human power drive) or assist mode (human power and assist motor 5 drive together). More cadence is needed to maintain speed in situations such as uphill driving. Furthermore, the output torque of the assist motor 5 can be increased by increasing its operating power to help the user save effort. The two measures of increasing the operating power of the power assist motor 5 and increasing the transmission ratio of the electric speed change device can also be used together.

[0052] In step S202, when the torque data and speed data are mismatched, and the speed increment exceeds the torque increment, the transmission ratio of the electric gearbox is reduced. This situation indicates that the torque required to achieve the same speed increment is very small, and the electric bicycle is on a downhill or other effort-saving section of road. Reducing the transmission ratio of the electric gearbox allows the same speed increment to be achieved with a lower pedal frequency. Furthermore, measures such as reducing the operating power of the power assist motor 5 or turning off the power assist motor 5 can be taken simultaneously.

[0053] Based on the above methods, the control system can automatically adjust the transmission ratio of the electric gearbox according to the data collected by the sensor system to save effort in situations such as uphill and static start, and reduce pedaling frequency in situations such as downhill. It can also adjust the output power of the power assist motor 5 to achieve the most reasonable human output based on the data collected by the sensor system. First, when the electric bicycle is going uphill, it downshifts to adjust the gear ratio of the front and rear gears according to the minimum and most reasonable human output to achieve the most efficient and reasonable gear shift; the opposite is true when going downhill. When the electric bicycle needs to accelerate or decelerate instantly, the transmission mechanism can also adjust to the most reasonable human output based on the feedback data from the sensors. When the bicycle starts from a static position, the electric gearbox will default to the most reasonable gear set in the initial position to start, thereby avoiding pedaling errors and chain slippage caused by gear shifting.

[0054] Preferably, the strategies for adjusting the electric transmission and the operating power of the assist motor 5 are used in combination. The central control module 1 performs optimization calculations based on the required total torque, the user's comfortable torque range, the range of assist torque provided by the assist motor 5, and the motor's power consumption curve. With the optimization goals of ensuring the user's output torque is within the comfortable torque range and reducing motor power consumption, a suitable distribution of human torque and the output torque of the assist motor 5, as well as the optimal transmission ratio, can be obtained. Based on the actual selectable gears of the electric transmission, a gear close to the optimal transmission ratio is selected. Finally, the actual output torque of the assist motor 5 is adjusted in reverse calculation based on the transmission ratio corresponding to the actual gear, thereby controlling the electric transmission to change the transmission ratio and the operating power of the assist motor 5. Through this method, torque can be rationally distributed and energy consumption reduced, resulting in a longer assisted riding range for the electric bicycle.

[0055] In addition, the central control module 1 can also adjust the operating power of the power assist motor 5 and the transmission ratio of the electric speed change device according to the control signal input by the manual control unit 8.

[0056] Preferably, the intelligent control system of the mobility scooter further includes an electromagnetic shock absorber 9 and / or an electrically adjustable seat 10 connected to the central control system; the method further includes:

[0057] The damping of the electromagnetic shock absorber 9 and / or the electrically adjustable seat 10 are adjusted according to the speed data or control commands from the manual control unit 8. Generally, the higher the speed, the greater the damping and the lower the seat height.

[0058] Preferably, the electric transmission includes two transmissions: a front transmission 6 and a rear transmission 7; when controlling the electric transmission to change the transmission ratio, the method includes the following steps S301-S303:

[0059] Step S301: Determine whether the target shift level of the transmission that needs to shift gears exceeds the predetermined level, and obtain the first determination result;

[0060] Step S302: If the first judgment result is negative, directly control the transmission to shift gears;

[0061] Step S303: When the first judgment result is yes, execute the following steps (a)-(b):

[0062] Step (a): While controlling the transmission that needs to shift gears to perform the shift operation, control another transmission to follow the shift in the same direction, and the number of shift levels followed is less than the target number of shift levels.

[0063] Step (b): After the gearbox that needs to shift gears has shifted into position, control the other gearbox to return to its original position.

[0064] For example, if the predetermined gear number is 1, and the current transmission 6 needs to shift 2 gears to the left, when actually controlling the front transmission 6 to shift to the left, first control the front transmission 6 and the rear transmission 7 to shift 1 gear to the left together, then control the front transmission 6 to continue shifting 1 gear to the left until it reaches the desired position, and finally control the rear transmission 7 to shift 1 gear to the right to reset. Through this operation, the problem of chain derailment that can easily occur when one transmission continuously shifts multiple gears relative to another can be effectively avoided.

[0065] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A smart control system for a mobility scooter, characterized in that: It includes a main control system, a battery system (12) and an electric transmission device; the electric transmission device is connected to the main control system; the main control system includes a central control module (1) and a sensing system connected to the central control module (1); The sensing system also includes a cadence sensor (2), a torque sensor (3), and a speed sensor (4); The electric speed change device can change the transmission ratio of the chain connecting the bottom bracket shaft and the drive wheel; The central control module (1) can adjust the transmission ratio of the electric transmission device according to the driving data collected by the sensing system; The electric transmission includes a front gearbox (6) and a rear gearbox (7), with the chain straddling between the front gearbox (6) and the rear gearbox (7); When controlling the electric speed change device to change the transmission ratio, the control method includes: Determine whether the target shift level of the transmission that needs to shift gears exceeds the predetermined level, and obtain the first judgment result; If the first determination result is negative, the transmission is directly controlled to shift gears. If the first judgment result is yes, the following steps are executed: While controlling the transmission that needs to shift gears to perform the shift operation, another transmission is controlled to follow the shift in the same direction, and the number of shift levels followed is less than the target number of shift levels. After the gearbox that needs to shift gears has shifted into the correct gear, the other gearbox is controlled to return to its original position.

2. The intelligent control system for the personal mobility vehicle according to claim 1, characterized in that, It also includes a power assist motor (5), and the central control module (1) can adjust the operating power of the power assist motor (5) according to the driving data collected by the sensing system.

3. The intelligent control system for the personal mobility vehicle according to claim 1, characterized in that, It also includes an electromagnetic shock absorber (9) and / or an electric lifting seat (10) connected to the main control system.

4. The intelligent control system for the personal mobility vehicle according to claim 1, characterized in that, It also includes a manual control unit (8), and the main control system can adjust the transmission ratio of the electric speed change device according to the control signal issued by the manual control unit (8).

5. The intelligent control system for the personal mobility vehicle according to claim 1, characterized in that, It also includes an external interaction system (11) connected to the main control system; the external interaction system (11) includes a control chip (11a), a Bluetooth module (11b) connected to the control chip (11a), a buzzer (11c), and an external communication unit (11d).

6. The intelligent control system for the personal mobility vehicle according to claim 1, characterized in that, The battery system (12) includes a main battery pack (12a) and a secondary battery (12b); the secondary battery (12b) supplies power to the electric transmission device, and the main battery pack (12a) supplies power to the main control system.

7. The intelligent control system for the personal mobility vehicle according to claim 1, characterized in that, The battery system (12) contains only one battery pack, which supplies power to the main control system; the electric transmission device is connected to the main control system via a coaxial cable, and the main control system controls the electric transmission device via power line carrier communication through the coaxial cable, and the main control system supplies power to the electric transmission device through the coaxial cable.

8. A method for intelligent control of a mobility scooter, which is based on the intelligent control system of the mobility scooter as described in claim 1 and is implemented by the central control module (1), characterized in that, The method includes: Acquire the cadence data, torque data and speed data collected by the cadence sensor (2), torque sensor (3) and speed sensor (4); Determine the compatibility between cadence, speed, and torque; Adjust the transmission ratio of the electric speed change device according to the adaptation conditions.

9. The intelligent control method for a personal mobility vehicle according to claim 8, characterized in that, The step of adjusting the transmission ratio of the electric speed change device according to the adaptation condition includes: When the torque data and speed data do not match, and the torque increment exceeds the speed increment, the transmission ratio of the electric transmission device is increased. When the torque data and speed data do not match, and the speed increment exceeds the torque increment, the transmission ratio of the electric speed change device is reduced.

10. The intelligent control method for a personal mobility vehicle according to claim 8, characterized in that, It also includes an assist motor (5) connected to the main control system, and the method further includes: Adjust the operating power of the assist motor (5) according to the adaptation conditions.

11. The intelligent control method for a personal mobility vehicle according to claim 8, characterized in that, The intelligent control system for the mobility scooter also includes an electromagnetic shock absorber (9) and / or an electrically adjustable seat (10) connected to the main control system; the method further includes: Adjust the damping of the electromagnetic shock absorber (9) and / or the electric lifting seat (10) according to the speed data or the control command of the manual control unit (8).

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