Electric power-assisted roller skate control method and electric power-assisted roller skate

Abstract

The application relates to the technical field of sports equipment, and provides an electric power-assisted roller skate control method and an electric power-assisted roller skate. The application is characterized in that a user selects a working mode independently to adapt to the user's own requirements and skill levels; the angle and stress state between two electric power-assisted roller skates are acquired, and the power-assisted condition is judged in combination with the real-time speed of the user, so that a handheld remote controller is removed, and the operation is simpler; when it is determined that power assistance is needed, the power-assisted acceleration is calculated according to the working mode and the real-time speed, the strength control and dynamic adjustment of the power assistance are realized, the process of sliding is more labor-saving and safe, and the power assistance is closer to the traditional roller skating mode; finally, the driving motor of the first electric power-assisted roller skate is controlled to perform stage power assistance according to the power-assisted acceleration, so that continuous endurance is not needed, and the endurance time is improved.

Description

Technical Field

[0001] This application relates to the field of sports equipment technology, and in particular to a control method for electric-assisted roller skates and electric-assisted roller skates. Background Technology

[0002] As people's living standards improve, roller skating is gaining popularity among teenagers due to its high entertainment value and ability to improve balance. However, traditional roller skates are tiring to use for extended periods and do not provide satisfactory transportation.

[0003] Currently available remote-controlled assisted roller skates allow users to control them using a handheld remote. While this makes long-distance skating easier, the need for hand-foot interaction during assistance is inconvenient, and prolonged use reduces battery life. Furthermore, when sending assistance commands, both feet must move synchronously, preventing users from switching feet during the assistance process. Doing so would cause the drive wheels to accelerate in the air, exceeding the user's inertia upon landing and increasing the risk of falls. This results in an unnatural skating experience, restricts dynamic balance, and ultimately reduces the enjoyment and flexibility of roller skating. Summary of the Invention

[0004] In view of this, this application provides an electric-assisted roller skate control method and an electric-assisted roller skate to solve the technical problems of inconvenient operation, poor control effect and reduced battery life caused by the need to use a handheld remote control during skating.

[0005] The first aspect of this application provides a control method for an electric-assisted roller skate, applied to a first electric-assisted roller skate, wherein the first electric-assisted roller skate and a second electric-assisted roller skate are capable of communication and interaction, the method comprising:

[0006] Select the working mode corresponding to the user-triggered working mode key command;

[0007] Obtain the angle between the first electric-assisted roller skate and the second electric-assisted roller skate;

[0008] Based on the first pressure on the first electric-assisted roller skate and the second pressure on the second electric-assisted roller skate, determine the force state of the first electric-assisted roller skate and the second electric-assisted roller skate;

[0009] Obtain the real-time speed of the first electric-assisted roller skate;

[0010] Based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate, determine whether it is necessary to provide assistance to the first electric-assisted roller skate.

[0011] When it is determined that assistance is needed for the first electric-assisted roller skate, the assistance acceleration is obtained according to the working mode and the real-time speed;

[0012] The drive motor of the first electric-assisted roller skate drives the first electric-assisted roller skate to run according to the assist acceleration.

[0013] In one possible implementation, determining the force state of the first and second electric-assisted roller skates includes:

[0014] Determine whether both the first pressure and the second pressure are greater than a preset pressure threshold;

[0015] When both the first pressure and the second pressure are greater than the preset pressure threshold, the force state is determined to be that both the first electric-assisted roller skate and the second electric-assisted roller skate are under force.

[0016] When the first pressure is greater than the preset pressure threshold and the second pressure is less than the preset pressure threshold, the force state is determined to be that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force.

[0017] When the first pressure is less than the preset pressure threshold and the second pressure is greater than the preset pressure threshold, the force state is determined to be that the first electric-assisted roller skate is not under force and the second electric-assisted roller skate is under force.

[0018] When both the first pressure and the second pressure are less than the preset pressure threshold, the force state is determined to be that neither the first electric-assisted roller skate nor the second electric-assisted roller skate is under any force.

[0019] In one possible implementation, determining whether to provide assistance to the first electric-assisted roller skate based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate includes:

[0020] Determine whether the real-time speed of the first electric-assisted roller skate is within the preset speed range;

[0021] When it is determined that the real-time speed of the first electric-assisted roller skate is within the preset speed range, it is determined whether the angle is within the preset angle range;

[0022] When the angle is determined to be within the preset angle range, it is determined whether the force state is that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force.

[0023] When the force state is such that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force, it is determined that the first electric-assisted roller skate needs to be assisted.

[0024] When the real-time speed of the first electric-assisted roller skate is not within the preset speed range, or the angle is not within the preset angle range, or the force state is not that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force, it is determined that no assistance is needed for the first electric-assisted roller skate.

[0025] In one possible implementation, the operating modes include: a beginner mode and an advanced mode, and obtaining the assist acceleration based on the operating mode and the real-time speed includes:

[0026] When the working mode is the beginner mode, a first preset calculation formula corresponding to the real-time speed is determined, and the assist acceleration is calculated based on the real-time speed using the first preset calculation formula.

[0027] When the working mode is the advanced mode, a second preset calculation formula corresponding to the real-time speed is determined, and the assist acceleration is calculated based on the real-time speed using the second preset calculation formula.

[0028] In one possible implementation, when the operating mode is the beginner mode, before determining whether to provide assistance to the first electric-assisted roller skate based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate, the method further includes:

[0029] Determine whether the real-time speed is less than a preset maximum speed threshold, wherein the preset maximum speed threshold is within the preset speed range;

[0030] When the real-time speed is less than the preset maximum speed threshold, the process of determining whether to provide assistance to the first electric-assisted roller skate based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate is executed; when the real-time speed is greater than the preset maximum speed threshold, it is determined that no assistance is needed for the first electric-assisted roller skate.

[0031] In one possible implementation, the method further includes:

[0032] The original acceleration of the drive motor of the first electric-assisted roller skate is obtained, wherein the original acceleration includes the current acceleration of the drive motor and the real-time acceleration of the user;

[0033] Determine whether the original acceleration is less than the assist acceleration;

[0034] When it is determined that the original acceleration is less than the assist acceleration, the drive motor of the first electric assist roller skate is controlled to drive the first electric assist roller skate to run according to the assist acceleration;

[0035] When it is determined that the original acceleration is greater than the assist acceleration, the control of the drive motor of the first electric-assisted roller skate to drive the first electric-assisted roller skate to run according to the assist acceleration is not executed.

[0036] In one possible implementation, obtaining the angle between the first electric-assisted roller skate and the second electric-assisted roller skate includes:

[0037] Send an angle coordinate system query command to the second electric-assisted roller skate;

[0038] Receive the angle coordinate system sent by the second electric-assisted roller skate in response to the angle coordinate system query command;

[0039] The angle between the first electric-assisted roller skate and the second electric-assisted roller skate is calculated based on the angular coordinate system.

[0040] In one possible implementation, the method further includes:

[0041] When it is determined that no assistance is needed for the first electric-assisted roller skate, the drive motor of the first electric-assisted roller skate is controlled to stop rotating.

[0042] In one possible implementation, after selecting the working mode corresponding to the user-triggered working mode key command, the method further includes:

[0043] Obtain the performance parameters of the first electric-assisted roller skate;

[0044] The performance parameters are used to detect whether the first electric-assisted roller skate is abnormal.

[0045] When an abnormality is detected in the first electric-assisted roller skate, the fault indicator light will be activated to provide an alarm.

[0046] A second aspect of this application provides an electrically assisted roller skate, including a roller skate body, the roller skate body comprising:

[0047] The mode switching module is used to receive user-triggered working mode button commands;

[0048] Angle acquisition module is used to acquire the angle and real-time acceleration of the electric-assisted roller skates;

[0049] A pressure acquisition module is used to acquire the pressure on the electric-assisted roller skates;

[0050] A wireless communication module is used to acquire the pressure and angle transmitted by the paired electric-assisted roller skates;

[0051] The speed acquisition module is used to acquire the real-time speed of the electric-assisted roller skates;

[0052] A control unit module connecting the mode switching module, the angle acquisition module, the pressure acquisition module, the wireless communication module, and the speed acquisition module is used to execute the steps of the electric-assisted roller skate control method.

[0053] The electric-assisted roller skate control method and electric-assisted roller skates provided in this application, compared to existing electric roller skates that require hand and foot coordination and a handheld remote control for assistance, this application determines whether the assistance conditions are met by judging angle and pressure, eliminating the need for a handheld remote control and making operation simpler. Existing electric roller skates rely on remote control to send commands, resulting in continuous remote assistance, while the assistance state of this application is phased assistance after recognizing that the assistance conditions are met, thus eliminating the need for continuous operation and improving battery life. Existing electric roller skates control the assistance speed based on the linear Hall switch of the remote control, while this application controls the assistance acceleration based on the user-selected working mode and the current real-time speed, thereby controlling the strength of the assistance, making skating more effortless and safer, and closer to the traditional roller skating mode, resulting in a better experience. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the structure of an electric-assisted roller skate as shown in an embodiment of this application;

[0055] Figure 2 This is a schematic diagram of the angle acquisition module shown in an embodiment of this application;

[0056] Figure 3 This is a schematic diagram of the pressure acquisition module shown in an embodiment of this application;

[0057] Figure 4 This is a schematic diagram of the structure of the wireless communication module shown in the embodiments of this application;

[0058] Figure 5 This is a schematic diagram of the structure of the control unit module shown in the embodiments of this application;

[0059] Figure 6 This is a schematic diagram of the speed acquisition module shown in an embodiment of this application;

[0060] Figure 7 This is a flowchart illustrating an electric-assisted roller skate control method according to an embodiment of this application;

[0061] Figure 8 This is a flowchart illustrating the assisted judgment method in the embodiments of this application.

[0062] Explanation of reference numerals in the attached figures:

[0063] 1. Electric-assisted roller skates; 10. Roller skate body; 101. Mode switching module; 102. Angle acquisition module; 103. Pressure acquisition module; 104. Wireless communication module; 105. Control unit module; 106. Speed ​​acquisition module; 107. Motor driver module; 108. Power supply module. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described below with reference to the accompanying drawings.

[0065] like Figure 1 The diagram shown is a structural schematic of the electric-assisted roller skates provided in an embodiment of this application.

[0066] The electric-assisted roller skate 1 includes a roller skate body 10, which may include: a mode switching module 101, an angle acquisition module 102, a pressure acquisition module 103, a wireless communication module 104, a control unit module 105, a speed acquisition module 106, a motor driver module 107, and a power supply module 108. The mode switching module 101, the angle acquisition module 102, the pressure acquisition module 103, the wireless communication module 104, the speed acquisition module 106, the motor driver module 107, and the power supply module 108 are electrically connected to the control unit module 105. The power supply module 108 provides a stable power supply to support the normal operation of the angle acquisition module 102, the pressure acquisition module 103, the wireless communication module 104, the control unit module 105, the speed acquisition module 106, and the motor driver module 107.

[0067] The mode switching module 101 is used to receive the working mode button command triggered by the user, thereby switching the working mode of the electric-assisted roller skates 1.

[0068] In some embodiments, the mode switching module 101 can trigger the switching of the working mode by pressing or touching the sensor. The working mode may include a beginner mode and an advanced mode. The beginner mode is suitable for novice users, with a lower assist effect and a lower maximum speed setting compared to the advanced mode; the advanced mode is the default setting. For example, a user can switch the working mode of the electric-assisted roller skate 1 to beginner mode by long-pressing the mode switching button or the mode switching virtual icon for a preset time period (e.g., 3 seconds). When the user selects beginner mode, the electric-assisted roller skate 1 will provide lower assist and limit the maximum speed. When the user selects advanced mode, the electric-assisted roller skate 1 will provide higher assist and allow a higher maximum speed.

[0069] Combined Figure 2 As shown, the angle acquisition module 102 can be installed at the center of the bottom of the left and right feet of the electric-assisted roller skate 1, and is used to acquire the angle and real-time acceleration of the electric-assisted roller skate 1. The angle acquisition module 102 transmits the acquired data and acceleration to the control unit module 105 for processing.

[0070] In some embodiments, the angle acquisition module 102 can be a gyroscope sensor module. The gyroscope's angle sensor acquires the current user's angle, and the gyroscope's accelerometer acquires the real-time acceleration of the current user's direction of motion. It should be noted that the angle acquired by the angle acquisition module 102 is a calibrated value.

[0071] The angle between the two electric-assisted roller skates 1 in the horizontal direction can be obtained based on the collected angle, thereby judging the user's foot posture and tilt angle changes. When the user's feet are turned outward, the angle acquisition module 102 will sense the change in the opening angle. When the user's feet are parallel, the angle acquisition module 102 will sense the change in the parallel angle. When the user's feet are turned inward, the angle acquisition module 102 will sense the change in the closing angle.

[0072] Combined Figure 3 As shown, the pressure acquisition module 103 can be installed below the left and right foot pads of the electric-assisted roller skate 1 to collect the pressure on the electric-assisted roller skate 1. The pressure acquisition module 103 transmits the collected pressure to the control unit module 105 for processing.

[0073] In some embodiments, the pressure acquisition module 103 can be a pressure sensor module. The pressure sensor acquires pressure signals from the user's feet, and an analog-to-digital converter (ADC) interface converts the acquired analog signals into digital signals.

[0074] The pressure sensor can determine the force distribution on the left and right electric-assisted roller skates 1 based on the collected pressure data, thereby identifying the current foot distribution and suspension status of the user. When the user shifts their weight to their left foot, the pressure sensor 103 senses an increase in pressure on the left footplate. When the user shifts their weight to their right foot, the pressure sensor 103 senses an increase in pressure on the right footplate. The pressure sensor 103 can also detect whether the user is in a suspended or grounded state. The pressure sensor 103 transmits the pressure distribution and suspension status to the control unit module 105 for processing.

[0075] In practice, the user's state of suspension or ground is determined by comparing the collected pressure with a preset pressure threshold. If the collected pressure exceeds the preset threshold, the user is considered to be on the ground, and the electric-assisted roller skates are under load. If the collected pressure is less than the preset threshold, the user is considered to be suspended, and the electric-assisted roller skates are not under load.

[0076] like Figure 4 As shown, the wireless communication module 104 is used for communication between the left and right electric-assisted roller skates to achieve collaborative work and synchronous control.

[0077] In some implementations, the wireless communication module 104 may employ wireless communication technologies, such as Bluetooth or radio frequencies, to ensure stable data transmission and communication performance.

[0078] Through the wireless communication module 104, the electric-assisted roller skates of the left and right feet can exchange data, including information such as pressure, posture, speed, and assistance requirements. Specifically, the wireless communication module of the left electric-assisted roller skate sends the pressure and angle of the left foot to the wireless communication module of the right electric-assisted roller skate, and the wireless communication module of the right electric-assisted roller skate sends the pressure and angle of the right foot to the wireless communication module of the left electric-assisted roller skate. This interactive transmission of the horizontal angle, pressure, and other information currently collected by the two electric-assisted roller skates allows the control unit module 105 to determine whether the current assistance conditions have been met.

[0079] See Figure 5As shown, the control unit module 105 receives the angle sent by the angle acquisition module 102 and the pressure sent by the pressure acquisition module 103, and simultaneously receives the angle and pressure of the paired electric-assisted roller skates sent by the wireless communication module 104, and performs the following judgment on the assistance conditions:

[0080] Condition 1: Determine if the electric-assisted roller skate has an initial velocity. That is, determine if the current real-time speed of the electric-assisted roller skate 1 is within a preset speed range (e.g., 1 m / s - 6 m / s). If the current real-time speed of the electric-assisted roller skate 1 is not within the preset speed range, the assist condition is not met, and assist is canceled. If the current real-time speed of the electric-assisted roller skate 1 is within the preset speed range, the assist condition is met, and the process continues to determine condition 2.

[0081] Condition 2: Determine whether the outward V-angle formed by the two electric-assisted roller skates is within a preset angle range (e.g., 30°-120°). If the outward V-angle formed by the two electric-assisted roller skates is not within the preset angle range, the assist condition is not met, and assist is canceled. If the outward V-angle formed by the two electric-assisted roller skates is within the preset angle range, the assist condition is met, and the process continues to check Condition 3.

[0082] Condition 3: Determine if both electric-assisted roller skates are under force simultaneously. This means determining if both of the user's feet (wearing the electric-assisted roller skates) are on the ground at the same time. If both feet are on the ground simultaneously, the assist condition is not met, and assist is canceled. When one foot is suspended in the air and the other is on the ground, the assist condition is met, and assist mode is applied to the foot on the ground.

[0083] In some embodiments, the control unit module 105 may further include a battery abnormality data processing unit, an operational amplifier circuit abnormality signal processing unit, a main and auxiliary board abnormality signal processing unit, a sampling data processing unit, etc. The control unit module 105 can acquire performance parameters of the electric-assisted roller skate 1, such as battery level, battery temperature, drive motor temperature, motor Hall signal, motor speed, etc., and detect whether there is an abnormality in the electric-assisted roller skate 1 based on these performance parameters. When an abnormality is detected in the electric-assisted roller skate 1, an alarm light is activated to provide an alert.

[0084] like Figure 6 As shown, the speed acquisition module 106 can be a motor Hall sensor module, used to acquire the real-time speed of the electric-assisted roller skate 1.

[0085] The motor driver module 107 may include a motor, a motor drive circuit, and a transmission device, used to send assist pulses to provide additional propulsion. Specifically, the control unit module 105 can acquire the real-time acceleration of the current user's movement direction through the angle acquisition module 102, and adjust the pulse width modulation (PWM) drive signal in conjunction with the current real-time speed feedback. The PWM drive signal is then transmitted to the motor driver module 107 to achieve proportional adjustment of the acceleration generated by the motor assistance, thereby controlling the motor speed to achieve a smooth control effect at maximum speed and ensure safety. The motor speed is related to the tire radius.

[0086] In advanced mode, for example, when the real-time speed v is less than 1 m / s, the assist acceleration a = 0 m / s²; when the real-time speed v is greater than 1 m / s and less than 4 m / s, the assist acceleration a = 0.2 × (v - 1) m / s²; when the real-time speed v is greater than 4 m / s and less than 6 m / s, the assist acceleration a = 0.3 × (6 - v) m / s²; and when the real-time speed v is greater than 6 m / s, the assist acceleration a = 0 m / s².

[0087] In beginner mode, for example, when the real-time speed v is less than 1 m / s, the assist acceleration a = 0 m / s²; when the real-time speed v is greater than 1 m / s and less than 2 m / s, the assist acceleration a = 0.1 × (2 - v) m / s²; when the real-time speed v is greater than 2 m / s and less than 3 m / s, the assist acceleration a = 0.2 × (3 - v) m / s²; and when the real-time speed v is greater than 3 m / s, the assist acceleration a = 0 m / s.

[0088] Therefore, the maximum speed threshold set in Advanced Mode (e.g., 6 m / s) is greater than that set in Beginner Mode. This means that Advanced Mode generates a larger acceleration value at the higher maximum speed threshold, providing a stronger assist, while Beginner Mode generates a smaller acceleration value at the lower maximum speed threshold, providing a gentler assist. This allows for dynamic adjustment of the assist level based on the user's needs and skill level, providing different gliding experiences and giving each glider free control. Furthermore, regardless of whether it's Advanced or Beginner Mode, once the real-time speed reaches a certain level, the motor stops providing assistance; the user's speed increase relies on the frequency of manual gliding. That is, as the real-time speed gradually approaches the set maximum speed threshold, the motor-generated assist gradually decreases to zero, achieving a stable attainment of maximum speed.

[0089] The maximum speed threshold refers to the maximum speed that can be reached only under the action of the motor driving force. When the speed reaches the maximum speed limit, the motor drive stops outputting signals. At this time, the speed can be increased by human twisting drive.

[0090] In some implementations, one of the paired electric-assisted roller skates is designated as the master, and the other as the slave. When the master skate is powered on, it sends an angle coordinate system query command to the slave. The slave skate reads its current angle coordinate system and transmits it to the master skate via the wireless communication module 104. Upon receiving a successful response, the master skate displays a corresponding "beep" success message. If no response is received from the slave skate after, for example, 5 minutes, the skate can enter a power-off state.

[0091] In some implementations, after the host receives the angular coordinate system from the slave, both the host and slave set this angular coordinate system as the reference coordinate system, thereby calculating the relative horizontal angle of the left and right feet based on this angular coordinate system. That is, after placing the left and right electric-assisted roller skates at a uniform parallel angle, the currently acquired angle is saved, and then the current horizontal angle of each skate is transmitted through the wireless communication module. The horizontal angle can then be calculated using the difference in horizontal angle between the left and right electric-assisted roller skates.

[0092] In some implementations, the device can be shut down if communication is not responded to for, for example, 2 minutes, or if the pressure acquisition module remains off the ground for, for example, 5 minutes.

[0093] It should be understood that the electric-assisted roller skates are used in pairs, that is, the left and right electric-assisted roller skates work together. Each electric-assisted roller skate includes the mode switching module 101, the angle acquisition module 102, the pressure acquisition module 103, the wireless communication module 104, the control unit module 105, the speed acquisition module 106, the motor driver module 107, and the power supply module 108. The left and right electric-assisted roller skates interact with each other via the wireless communication module and are controlled independently. The assist control process executed by each electric-assisted roller skate requires consideration of the status of the other electric-assisted roller skate to make an accurate judgment.

[0094] Compared to existing electric roller skates that require hand and foot coordination and a handheld remote control for assistance, this application uses angle and pressure acquisition modules to determine whether assistance conditions are met before providing assistance, eliminating the need for a handheld remote control and simplifying operation. Existing electric roller skates rely on remote control commands, resulting in continuous remote assistance. This application, however, provides assistance in stages after identifying when assistance conditions are met, eliminating the need for continuous operation and increasing battery life. While existing electric roller skates control assistance speed via a linear Hall effect switch on the remote control, this application controls the assistance acceleration based on the user-selected operating mode and the current real-time speed, thus controlling the strength of the assistance. This makes skating more effortless and safer, and more closely resembles traditional roller skating, providing a better user experience.

[0095] Figure 7 This is a flowchart of the electric-assisted roller skate control method provided in an embodiment of the present invention.

[0096] The electric-assisted roller skate control method is executed by the electric-assisted roller skate, which needs to be used in conjunction with another electric-assisted roller skate. This embodiment can use the electric-assisted roller skate described in the previous embodiment to execute the electric-assisted roller skate control method. The electric-assisted roller skate control method specifically includes the following steps; the order of the steps in this flowchart can be changed or some can be omitted depending on different requirements.

[0097] S71, select the working mode corresponding to the working mode key command triggered by the user.

[0098] The working modes may include a beginner mode and an advanced mode. The beginner mode is suitable for novice users, and the assistance effect and the maximum speed setting are relatively smaller than those in the advanced mode. The advanced mode is set by default.

[0099] Users (skators) can trigger the working mode switching by pressing or touching the mode switching module to activate the button command. For example, users can switch the working mode of the electric-assisted roller skates 1 to beginner mode by long-pressing the mode switching button or the mode switching virtual icon for a preset time period (e.g., 3 seconds).

[0100] S72, obtain the angle between the first electric-assisted roller skate and the second electric-assisted roller skate.

[0101] For ease of description, one of the pair of electric-assisted roller skates used together will be defined as the first electric-assisted roller skate, and the other will be defined as the second electric-assisted roller skate.

[0102] The angle between the first electric-assisted roller skate and the second electric-assisted roller skate refers to the angle difference between the first electric-assisted roller skate and the second electric-assisted roller skate in the current horizontal direction.

[0103] The angle of the first electric-assisted roller skate can be obtained through its angle acquisition module, and the angle of the second electric-assisted roller skate can be obtained through its own angle acquisition module. After the second electric-assisted roller skate acquires its angle, it transmits the angle to the first electric-assisted roller skate via its wireless communication module. This allows the first electric-assisted roller skate to calculate the angle difference based on the angle of the second electric-assisted roller skate and its own angle.

[0104] Similarly, after the first electric-assisted roller skate acquires the angle through its own angle acquisition module, it sends the angle to the second electric-assisted roller skate through its own wireless communication module, so that the second electric-assisted roller skate can calculate the angle difference based on the angle of the first electric-assisted roller skate and its own angle.

[0105] In an optional implementation, obtaining the angle between the first electric-assisted roller skate and the second electric-assisted roller skate includes:

[0106] Send an angle coordinate system query command to the second electric-assisted roller skate;

[0107] Receive the angle coordinate system sent by the second electric-assisted roller skate in response to the angle coordinate system query command;

[0108] The angle between the first electric-assisted roller skate and the second electric-assisted roller skate is calculated based on the angular coordinate system.

[0109] If the first electric-assisted roller skate is defined as the main unit, then the second electric-assisted roller skate is the auxiliary unit. When the main unit is powered on, it can send an angle coordinate system query command to the auxiliary unit. After the auxiliary unit reads its current angle coordinate system, it transmits it to the main unit's wireless communication module via the wireless communication module.

[0110] After the host receives the angular coordinate system from the slave, both the host and the slave set this angular coordinate system as the reference coordinate system, and then calculate the relative angle of the left and right feet in the horizontal direction based on this angular coordinate system.

[0111] In practice, the two electric-assisted roller skates can be placed at a uniform parallel angle and the current angle can be saved. Then, the current horizontal angle of each skate can be sent through the wireless communication module. The horizontal angle can be calculated by using the difference in horizontal angle between the two electric-assisted roller skates.

[0112] For example, the first electric-assisted roller skate is the left-foot roller skate, and the second electric-assisted roller skate is the right-foot roller skate. The second electric-assisted roller skate sends an angular coordinate system to the first electric-assisted roller skate. The first and second electric-assisted roller skates perform angle calibration according to the same angular coordinate system. The angle acquisition module of the right-foot roller skate acquires an angle of 25°. When the right-foot roller skate sends the angle (25°) to the left-foot roller skate, the left-foot roller skate determines its own horizontal angle as -30° according to the angular coordinate system, thereby calculating the angle between the left-foot roller skate and the right-foot roller skate as 125°.

[0113] S73, determine the force state of the first electric-assisted roller skate and the second electric-assisted roller skate based on the first pressure on the first electric-assisted roller skate and the second pressure on the second electric-assisted roller skate.

[0114] The first pressure on the first electric-assisted roller skate is obtained through the pressure acquisition module of the first electric-assisted roller skate, and the second pressure on the second electric-assisted roller skate is obtained through the pressure acquisition module of the second electric-assisted roller skate.

[0115] After the second electric-assisted roller skate acquires the second pressure through its own pressure acquisition module, it transmits the second pressure to the first electric-assisted roller skate via its own wireless communication module. Upon receiving the second pressure transmitted from the second electric-assisted roller skate, the first electric-assisted roller skate, in conjunction with its own first pressure, determines the force state of both the first and second electric-assisted roller skates.

[0116] Similarly, after the first electric-assisted roller skate acquires the first pressure through its own pressure acquisition module, it transmits the first pressure to the second electric-assisted roller skate via its own wireless communication module. Upon receiving the first pressure from the first electric-assisted roller skate, the second electric-assisted roller skate, combined with its own second pressure, determines the force state of both the first and second electric-assisted roller skates.

[0117] In an optional implementation, determining the force state of the first and second electric-assisted roller skates includes:

[0118] Determine whether both the first pressure and the second pressure are greater than a preset pressure threshold;

[0119] When both the first pressure and the second pressure are greater than the preset pressure threshold, the force state is determined to be that both the first electric-assisted roller skate and the second electric-assisted roller skate are under force.

[0120] When the first pressure is greater than the preset pressure threshold and the second pressure is less than the preset pressure threshold, the force state is determined to be that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force.

[0121] When the first pressure is less than the preset pressure threshold and the second pressure is greater than the preset pressure threshold, the force state is determined to be that the first electric-assisted roller skate is not under force and the second electric-assisted roller skate is under force.

[0122] When both the first pressure and the second pressure are less than the preset pressure threshold, the force state is determined to be that neither the first electric-assisted roller skate nor the second electric-assisted roller skate is under any force.

[0123] The first electric-assisted roller skate determines the force state of the first and second electric-assisted roller skates based on the first and second pressures, thereby identifying the current state of the user's feet being suspended in the air. In specific implementation, the user can be determined to be in a suspended or grounded state by comparing the first and second pressures with preset pressure thresholds.

[0124] When the pressure exceeds or equals the preset pressure threshold, the electric-assisted roller skates are considered to be under sufficient pressure, indicating that the electric-assisted roller skates are in a stressed state and the user's foot is on the ground. When the pressure is lower than the preset pressure threshold, the electric-assisted roller skates are considered to be under insufficient pressure, indicating that the electric-assisted roller skates are in an unstressed state and the user's foot is suspended in the air.

[0125] When both the first pressure of the first electric-assisted roller skate and the second pressure of the second electric-assisted roller skate reach the preset pressure threshold, it indicates that the user's current state is with both feet on the ground, and the force state is that both the first and second electric-assisted roller skates are under force. When both the first and second pressures are less than the preset pressure threshold, it indicates that the user's current state is with both feet suspended in the air, and the force state is that neither the first nor the second electric-assisted roller skates are under force. When the first pressure is greater than the preset pressure threshold and the second pressure is less than the preset pressure threshold, it indicates that the user's current state is with the first electric-assisted roller skate on the ground and the second electric-assisted roller skate suspended in the air, and the force state is that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force. When the first pressure is less than the preset pressure threshold and the second pressure is greater than the preset pressure threshold, it indicates that the user's current state is with the first electric-assisted roller skate suspended in the air and the second electric-assisted roller skate on the ground, and the force state is that the first electric-assisted roller skate is not under force and the second electric-assisted roller skate is under force.

[0126] S74, obtain the real-time speed of the first electric-assisted roller skate.

[0127] The real-time speed of the first electric-assisted roller skate can be obtained through the speed acquisition module of the first electric-assisted roller skate.

[0128] S75, based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate, determine whether it is necessary to provide assistance to the first electric-assisted roller skate.

[0129] The first electric-assisted roller skate determines whether assistance is needed based on three factors: the angle, the force state, and its own real-time speed.

[0130] Similarly, the second electric-assisted roller skate determines the assistance conditions based on the three factors of the angle, the force state, and its own real-time speed, thereby determining whether assistance is needed for the second electric-assisted roller skate.

[0131] See also Figure 8 As shown, the method for determining whether to provide assistance to the first electric-assisted roller skate based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate includes:

[0132] S751, determine whether the real-time speed of the first electric-assisted roller skate is within the preset speed range.

[0133] When it is determined that the real-time speed of the first electric-assisted roller skate is within the preset speed range, S752 is executed; when it is determined that the real-time speed of the first electric-assisted roller skate is not within the preset speed range, S755 is executed.

[0134] Assistance Condition 1: Determine if the electric-assisted roller skate has an initial velocity. That is, determine if the current real-time speed of the electric-assisted roller skate 1 is within a preset speed range (e.g., 1 m / s - 6 m / s). If the current real-time speed of the electric-assisted roller skate 1 is not within the preset speed range, the assistance condition is not met, and assistance is canceled. If the current real-time speed of the electric-assisted roller skate 1 is within the preset speed range, the assistance condition is met, and the process continues to determine Condition 2.

[0135] S752, determine whether the angle is within the preset angle range.

[0136] When it is determined that the angle is within the preset angle range, S753 is executed; when it is determined that the angle is not within the preset angle range, S755 is executed.

[0137] Assistance Condition Two: Determine whether the outward V-angle formed by the two electric-assisted roller skates is within a preset angle range (e.g., 30°-120°). If the outward V-angle formed by the two electric-assisted roller skates is not within the preset angle range, the assistance condition is not met, and assistance is canceled. If the outward V-angle formed by the two electric-assisted roller skates is within the preset angle range, the assistance condition is met, and the process continues to determine Condition Three.

[0138] S753, determine whether the force state is that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force.

[0139] When the force state is that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force, execute S754; when the force state is not that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force, execute S755.

[0140] Assistance Condition 3: Determine if both electric-assisted roller skates are under force simultaneously. This means determining if both of the user's feet (already wearing electric-assisted roller skates) are on the ground at the same time. If both feet are on the ground simultaneously, the assistance condition is not met, and assistance is canceled. When one foot is suspended in the air and the other is on the ground, the assistance condition is met, and assistance mode is applied to the foot on the ground.

[0141] Specifically, if both the first and second electric-assisted roller skates are under force, it indicates that the user is in a stable state with both feet on the ground and does not need assistance from the first electric-assisted roller skates; if neither the first nor the second electric-assisted roller skates are under force, it indicates that the user is in a state with both feet suspended in the air and does not need assistance from the first electric-assisted roller skates; if the first electric-assisted roller skate is not under force and the second electric-assisted roller skate is under force, it indicates that the first electric-assisted roller skate is in a state of suspension and does not need assistance from the first electric-assisted roller skate; if the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force, it indicates that the first electric-assisted roller skate is on the ground and needs assistance from the first electric-assisted roller skate.

[0142] S754, It is determined that assistance needs to be provided to the first electric-assisted roller skate.

[0143] When all three assistance conditions are met: the real-time speed of the first electric-assisted roller skate is within a preset speed range; the angle between the first and second electric-assisted roller skates is within a preset angle range; and the first electric-assisted roller skate is under force while the second electric-assisted roller skate is not under force, assistance needs to be provided to the first electric-assisted roller skate.

[0144] S755, it is determined that no assistance is needed for the first electric-assisted roller skate.

[0145] If any of the three assist conditions are not met, the assist to the first electric-assisted roller skate is canceled.

[0146] In an optional implementation, when the working mode is the beginner mode, before determining whether to provide assistance to the first electric-assisted roller skate based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate, the method further includes:

[0147] Determine whether the real-time speed is less than a preset maximum speed threshold, wherein the preset maximum speed threshold is within the preset speed range;

[0148] When the real-time speed is less than the preset maximum speed threshold, the process of determining whether to provide assistance to the first electric-assisted roller skate based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate is executed; when the real-time speed is greater than the preset maximum speed threshold, it is determined that no assistance is needed for the first electric-assisted roller skate.

[0149] Since the assist effect and maximum speed setting in beginner mode are both lower than in advanced mode, before determining whether to apply assistance to the first electric-assisted roller skate based on the angle, force state, and real-time speed of the first electric-assisted roller skate, a maximum speed threshold can be determined according to the operating mode. Then, by combining the maximum speed threshold, angle, force state, and real-time speed of the first electric-assisted roller skate, a decision can be made as to whether assistance is needed. The maximum speed threshold corresponding to beginner mode is lower than that corresponding to advanced mode. Both the maximum speed thresholds for beginner mode and advanced mode are within the preset speed range.

[0150] For example, the preset speed range is [1m / s, 6m / s], the maximum speed threshold corresponding to beginner mode is 3m / s, and the maximum speed threshold corresponding to advanced mode is 6m / s.

[0151] In the above optional implementation, for users who have selected the beginner mode, under the premise that all three assistance conditions are met, it is also determined whether the first electric-assisted roller skate needs to be assisted by judging whether the real-time speed is less than the preset maximum speed threshold. This restricts the first electric-assisted roller skate to be assisted at the maximum speed threshold, which can effectively ensure the safety of beginner users.

[0152] In other embodiments, a maximum speed threshold can be determined first based on the operating mode. When the real-time speed of the first electric-assisted roller skate is less than the maximum speed threshold, it is then determined whether the real-time speed is within a preset speed range, whether the angle is within a preset angle range, and whether the force state is that the first electric-assisted roller skate is under force while the second electric-assisted roller skate is not under force. This application does not impose any restrictions on the order of judging the assistance conditions, as long as the four elements of the maximum speed threshold, real-time speed, angle, and force state are combined to judge the assistance conditions.

[0153] S76, when it is determined that assistance needs to be provided to the first electric-assisted roller skate, the assistance acceleration is obtained according to the working mode and the real-time speed.

[0154] After acquiring the real-time acceleration of the motor, the first electric-assisted roller skate adjusts the PWM drive signal based on the current real-time speed feedback. Then, the PWM drive signal is transmitted to the motor driver module to realize the proportional adjustment of the acceleration generated by the motor assistance, thereby controlling the motor speed to achieve a smooth control effect at maximum speed and ensure safety.

[0155] In an optional implementation, obtaining the assist acceleration based on the operating mode and the real-time speed includes:

[0156] When the working mode is the beginner mode, a first preset calculation formula corresponding to the real-time speed is determined, and the assist acceleration is calculated based on the real-time speed using the first preset calculation formula.

[0157] When the working mode is the advanced mode, a second preset calculation formula corresponding to the real-time speed is determined, and the assist acceleration is calculated based on the real-time speed using the second preset calculation formula.

[0158] Different operating modes correspond to different calculation formulas. Even within the same operating mode, different real-time speeds correspond to different calculation formulas.

[0159] In beginner mode, the assist acceleration value is calculated using the preset first formula group based on the real-time speed; in advanced mode, the assist acceleration value is calculated using the preset second formula group based on the real-time speed, and the upper limit threshold of the first preset formula group is less than the upper limit threshold of the second preset formula group.

[0160] For example, in beginner mode, the first set of preset formulas is as follows: when the real-time speed v is less than 1 m / s, the assist acceleration a = 0 m / s²; when the real-time speed v is greater than 1 m / s and less than 2 m / s, the assist acceleration a = 0.1 × (2 - v) m / s²; when the real-time speed v is greater than 2 m / s and less than 3 m / s, the assist acceleration a = 0.2 × (3 - v) m / s²; when the real-time speed v is greater than 3 m / s, the assist acceleration a = 0 m / s.

[0161] For example, in advanced mode, the preset second set of formulas is as follows: when the real-time speed v is less than 1 m / s, the assist acceleration a = 0 m / s²; when the real-time speed v is greater than 1 m / s and less than 4 m / s, the assist acceleration a = 0.2 × (v-1) m / s²; when the real-time speed v is greater than 4 m / s and less than 6 m / s, the assist acceleration a = 0.3 × (6-v) m / s²; when the real-time speed v is greater than 6 m / s, the assist acceleration a = 0 m / s².

[0162] As can be seen, the maximum speed threshold set in Advanced Mode (e.g., 6 m / s) is greater than that set in Beginner Mode. This means that Advanced Mode generates a larger acceleration value at the higher maximum speed threshold, providing a stronger assist, while Beginner Mode generates a smaller acceleration value at the lower maximum speed threshold, providing a gentler assist. In this way, the assist level can be dynamically adjusted according to the user's needs and skill level, providing different gliding experiences and allowing each glider to have free control. Furthermore, regardless of whether it's Advanced or Beginner Mode, once the real-time speed reaches a certain level, the motor stops providing assistance; the user's speed increase depends on the frequency of manual gliding. That is, as the real-time speed gradually approaches the set maximum speed threshold, the motor-generated assist acceleration gradually decreases to 0, achieving the goal of stably reaching the maximum speed.

[0163] S77, control the drive motor of the first electric-assisted roller skate to drive the first electric-assisted roller skate to run according to the assist acceleration.

[0164] The drive motor rotates according to the assist acceleration, thereby driving the first electric-assisted roller skate to run faster.

[0165] In an optional implementation, before controlling the drive motor of the first electric-assisted roller skate to drive the first electric-assisted roller skate according to the assist acceleration, the method further includes:

[0166] Obtain the original acceleration of the drive motor of the first electric-assisted roller skate;

[0167] Determine whether the original acceleration is less than the assist acceleration;

[0168] When it is determined that the original acceleration is less than the assist acceleration, the drive motor of the first electric assist roller skate is controlled to drive the first electric assist roller skate to run according to the assist acceleration;

[0169] When it is determined that the original acceleration is greater than the assist acceleration, the drive motor of the first electric-assisted roller skate is not controlled to drive the first electric-assisted roller skate to run according to the assist acceleration.

[0170] The original acceleration of the drive motor refers to the acceleration before the assist is applied; the original acceleration and the assist acceleration are relative terms.

[0171] The original acceleration includes the current acceleration of the drive motor and the real-time acceleration of the user. That is, the original acceleration is the combined effect of the electric drive force and the force applied manually. If the original acceleration is less than the assist acceleration, an assist operation is performed to provide additional power assistance to the first electric-assisted roller skate, making skating smoother and more efficient. If the original acceleration exceeds or equals the assist acceleration, the assist operation is canceled, and no additional power assistance is provided to the first electric-assisted roller skate to prevent excessive speed from causing the user to fall or other safety accidents.

[0172] In an optional implementation, the method further includes:

[0173] When it is determined that no assistance is needed for the first electric-assisted roller skate, the drive motor of the first electric-assisted roller skate is controlled to stop rotating.

[0174] When the first electric-assisted roller skate is no longer needed, the drive motor of the first electric-assisted roller skate stops rotating, thereby canceling the assistance.

[0175] In an optional implementation, the method further includes:

[0176] Obtain the performance parameters of the first electric-assisted roller skate;

[0177] The performance parameters are used to detect whether the first electric-assisted roller skate is abnormal.

[0178] When an abnormality is detected in the first electric-assisted roller skate, the fault indicator light will be activated to provide an alarm.

[0179] The performance parameters of the first electric-assisted roller skate may include battery charge, battery temperature, drive motor temperature, motor Hall signal, motor speed, etc.

[0180] The performance parameters can be used to detect anomalies in the first electric-assisted roller skate. If any parameter exceeds the set normal range or reaches an abnormal state, it can be determined that the first electric-assisted roller skate is malfunctioning. In practice, the anomaly can be determined by continuously monitoring whether each performance parameter decreases below its corresponding preset performance parameter threshold. When each performance parameter decreases below its corresponding preset performance parameter threshold, the anomaly is considered to have been resolved.

[0181] When an abnormality is detected in the first electric-assisted roller skate, an alarm can be triggered by controlling the fault indicator light, helping the user to promptly identify and address the problem, thus ensuring the performance and safety of the roller skate. For example, if the drive motor temperature is too high, it may cause a decrease in performance, damage, or even malfunction. Therefore, it is necessary to ensure that the drive motor temperature returns to below a preset drive motor temperature threshold before safe operation can continue.

[0182] In some implementations, the fault indicator light can be controlled to display different colors to provide alarm prompts based on different abnormal conditions. For example, assuming a battery temperature threshold of 60°C, when the battery temperature reaches 60°C or higher, the fault indicator light can display red and sound an alarm or directly output a voice prompt indicating that the battery temperature is too high. Assuming a drive motor temperature threshold of 60°C, when the drive motor temperature reaches 60°C or higher, the fault indicator light can display orange and sound an alarm or directly output a voice prompt indicating that the drive motor temperature is too high. Assuming a battery charge threshold of 20%, when the battery charge reaches 20% or lower, the fault indicator light can display yellow and sound an alarm or directly output a voice prompt indicating that the battery charge is low.

[0183] The optional implementation method ensures that users will not encounter any abnormal situations while using the electric-assisted roller skates, thereby improving the reliability and stability of the electric-assisted roller skates.

[0184] In an optional implementation, the method further includes:

[0185] Determine whether the time during which the drive motor is not continuously detected to rotate or the action is not continuously detected exceeds a preset time threshold.

[0186] If the drive motor is not detected to rotate or the action is not detected for a period of time exceeding the preset time threshold, the machine will be shut down.

[0187] A time threshold can be preset, and at least one timer or polling method can be used to detect the rotation or movement of the drive motor, and the preset time threshold is compared to determine whether a timeout has occurred. If the drive motor is not detected to rotate continuously or the duration of no movement exceeds the preset time threshold, the motor is shut down.

[0188] Compared to existing electric roller skates that require hand and foot coordination and a handheld remote control for assistance, this application uses angle and pressure acquisition modules to determine whether assistance conditions are met before providing assistance, eliminating the need for a handheld remote control and simplifying operation. Existing electric roller skates rely on remote control commands, resulting in continuous remote assistance. This application, however, provides assistance in stages after identifying when assistance conditions are met, eliminating the need for continuous operation and increasing battery life. While existing electric roller skates control assistance speed via a linear Hall effect switch on the remote control, this application controls the assistance acceleration based on the user-selected operating mode and the current real-time speed, thus controlling the strength of the assistance. This makes skating more effortless and safer, and more closely resembles traditional roller skating, providing a better user experience.

[0189] Furthermore, the two electric-assisted roller skates in this application communicate with each other via a wireless communication module and are controlled independently. The assist control process performed by each electric-assisted roller skate requires consideration of the status of the other electric-assisted roller skate to make an accurate judgment.

[0190] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to any or all possible combinations including one or more of the listed items. The terms “first” and “second” are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, “a plurality” means two or more.

[0191] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for an electric-assisted roller skate, applied to a first electric-assisted roller skate, characterized in that, The first and second electric-assisted roller skates are capable of communicating and interacting, and the method includes: Select the working mode corresponding to the user-triggered working mode key command; Obtain the angle between the first electric-assisted roller skate and the second electric-assisted roller skate, wherein the angle is the angle difference between the first electric-assisted roller skate and the second electric-assisted roller skate in the current horizontal direction; Based on the first pressure on the first electric-assisted roller skate and the second pressure on the second electric-assisted roller skate, determine the force state of the first electric-assisted roller skate and the second electric-assisted roller skate; Obtain the real-time speed of the first electric-assisted roller skate; Based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate, determine whether it is necessary to provide assistance to the first electric-assisted roller skate. When it is determined that assistance is needed for the first electric-assisted roller skate, the assistance acceleration is obtained according to the working mode and the real-time speed; The drive motor of the first electric-assisted roller skate drives the first electric-assisted roller skate to run according to the assist acceleration; The step of determining whether to provide assistance to the first electric-assisted roller skate based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate includes: Determine whether the real-time speed of the first electric-assisted roller skate is within a preset speed range, wherein the preset speed range is 1m / s-6m / s; When it is determined that the real-time speed of the first electric-assisted roller skate is within the preset speed range, it is determined whether the angle is within the preset angle range, wherein the preset angle range is 30°-120°; When the angle is determined to be within the preset angle range, it is determined whether the force state is that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force. When the force state is such that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force, it is determined that the first electric-assisted roller skate needs to be assisted. When the real-time speed of the first electric-assisted roller skate is not within the preset speed range, or the angle is not within the preset angle range, or the force state is not that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force, it is determined that no assistance is needed for the first electric-assisted roller skate. The working modes include: beginner mode and advanced mode. The process of obtaining the assist acceleration based on the working mode and the real-time speed includes: When the working mode is the beginner mode, a first preset calculation formula corresponding to the real-time speed is determined, and the assist acceleration is calculated based on the real-time speed using the first preset calculation formula. The first preset calculation formula is as follows: when the real-time speed v is less than 1 m / s, the acceleration a = 0 m / s; when the real-time speed v is greater than 1 m / s and less than 2 m / s, the assist acceleration a = 0.1 x (2 - v) m / s; when the real-time speed v is greater than 2 m / s and less than 3 m / s, the assist acceleration a = 0.2 x (3 - v) m / s; when the real-time speed v is greater than 3 m / s, the assist acceleration a = 0 m / s. When the working mode is the advanced mode, a second preset calculation formula corresponding to the real-time speed is determined, and the assist acceleration is calculated based on the real-time speed using the second preset calculation formula. The second preset calculation formula is as follows: when the real-time speed v is less than 1 m / s, the acceleration a = 0 m / s; when the real-time speed v is greater than 1 m / s and less than 4 m / s, the assist acceleration a = 0.2 x (v - 1) m / s; when the real-time speed v is greater than 4 m / s and less than 6 m / s, the assist acceleration a = 0.3 x (6 - v) m / s; when the real-time speed v is greater than 6 m / s, the assist acceleration a = 0 m / s.

2. The electric-assisted roller skate control method according to claim 1, characterized in that, Determining the force state of the first and second electric-assisted roller skates includes: Determine whether both the first pressure and the second pressure are greater than a preset pressure threshold; When both the first pressure and the second pressure are greater than the preset pressure threshold, the force state is determined to be that both the first electric-assisted roller skate and the second electric-assisted roller skate are under force. When the first pressure is greater than the preset pressure threshold and the second pressure is less than the preset pressure threshold, the force state is determined to be that the first electric-assisted roller skate is under force and the second electric-assisted roller skate is not under force. When the first pressure is less than the preset pressure threshold and the second pressure is greater than the preset pressure threshold, the force state is determined to be that the first electric-assisted roller skate is not under force and the second electric-assisted roller skate is under force. When both the first pressure and the second pressure are less than the preset pressure threshold, the force state is determined to be that neither the first electric-assisted roller skate nor the second electric-assisted roller skate is under any force.

3. The electric-assisted roller skate control method according to claim 1, characterized in that, When the working mode is the beginner mode, before determining whether to provide assistance to the first electric-assisted roller skate based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate, the method further includes: Determine whether the real-time speed is less than a preset maximum speed threshold, wherein the preset maximum speed threshold is within the preset speed range; When the real-time speed is less than the preset maximum speed threshold, the process of determining whether to provide assistance to the first electric-assisted roller skate based on the angle, the force state, and the real-time speed of the first electric-assisted roller skate is executed. When the real-time speed is greater than the preset maximum speed threshold, it is determined that no assistance is needed for the first electric-assisted roller skate.

4. The electric-assisted roller skate control method according to claim 3, characterized in that, The method further includes: The original acceleration of the drive motor of the first electric-assisted roller skate is obtained, wherein the original acceleration includes the current acceleration of the drive motor and the real-time acceleration of the user; Determine whether the original acceleration is less than the assist acceleration; When it is determined that the original acceleration is less than the assist acceleration, the drive motor of the first electric assist roller skate is controlled to drive the first electric assist roller skate to run according to the assist acceleration; When it is determined that the original acceleration is greater than the assist acceleration, the control of the drive motor of the first electric-assisted roller skate to drive the first electric-assisted roller skate to run according to the assist acceleration is not executed.

5. The electric-assisted roller skate control method according to claim 1, characterized in that, The step of obtaining the angle between the first electric-assisted roller skate and the second electric-assisted roller skate includes: Send an angle coordinate system query command to the second electric-assisted roller skate; Receive the angle coordinate system sent by the second electric-assisted roller skate in response to the angle coordinate system query command; The angle between the first electric-assisted roller skate and the second electric-assisted roller skate is calculated based on the angular coordinate system.

6. The electric-assisted roller skate control method according to claim 5, characterized in that, The method further includes: When it is determined that no assistance is needed for the first electric-assisted roller skate, the drive motor of the first electric-assisted roller skate is controlled to stop rotating.

7. The electric-assisted roller skate control method according to claim 1, characterized in that, After selecting the working mode corresponding to the user-triggered working mode key command, the method further includes: Obtain the performance parameters of the first electric-assisted roller skate; The performance parameters are used to detect whether the first electric-assisted roller skate is abnormal. When an abnormality is detected in the first electric-assisted roller skate, the fault indicator light will be activated to provide an alarm.

8. An electric-assisted roller skate, comprising a roller skate body, characterized in that, The roller skate body includes: The mode switching module is used to receive user-triggered working mode button commands; Angle acquisition module is used to acquire the angle and real-time acceleration of the electric-assisted roller skates; A pressure acquisition module is used to acquire the pressure on the electric-assisted roller skates; A wireless communication module is used to acquire the pressure and angle transmitted by the paired electric-assisted roller skates; The speed acquisition module is used to acquire the real-time speed of the electric-assisted roller skates; A control unit module connecting the mode switching module, the angle acquisition module, the pressure acquisition module, the wireless communication module, and the speed acquisition module is used to execute the steps of the electric-assisted roller skate control method according to any one of claims 1 to 7.

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