Control system of electric scooter and electric scooter

Abstract

The invention discloses a control system of an electric scooter and an electric scooter, belonging to the field of scooters. The technical scheme thereof mainly comprises: the control system of the electric scooter comprises an MCU module, the MCU module is electrically connected to a lithium battery CAN module via a CAN signal processing module, and the lithium battery CAN module is used to be electrically connected to a control module of the lithium battery; the MCU module is electrically connected to a left turn signal lamp, a right turn signal lamp, a tail light, an instrument display and a motor controller module via a digital signal processing module; the invention can perform commutation control and speed regulation control, and the use of a double closed-loop system can enhance the anti-interference performance of the system, and the double closed-loop system increases feedback control of current, which can reduce overshoot and oversaturation of current, obtain a better control effect, and can improve the running stability of the electric scooter; the MCU module of the invention is connected to an anti-lock braking system, which can achieve a good anti-lock braking effect and a good anti-lock braking function.

Description

Technical Field

[0001] The present invention relates to the technical field of electric scooters, and in particular to a control system of an electric scooter and an electric scooter. Background Art

[0002] The control method of electric scooters is the same as that of traditional electric bicycles, which is easy for drivers to learn. They are equipped with detachable and foldable seats. Compared with traditional electric bicycles, they are simpler in structure, smaller in wheels, lighter and more convenient, and can save a lot of social resources. In recent years, the rapid development of lithium battery electric scooters has given rise to new demands and trends.

[0003] Early electric scooters used lead-acid batteries, iron frames, external brushed motors and belt drives. Although they were lighter and smaller than electric bicycles, they were not portable. Their important advancement was the combination of folding, lightness and compactness. After evolving into compact and light folding electric scooters, they attracted widespread attention from urban users and began to grow rapidly.

[0004] The control system of an electric skateboard usually consists of three parts: a controller, a motor, and a battery. The controller is the core of the system, responsible for controlling the operation of the motor and the power supply of the battery, thereby realizing the motion control of the skateboard. The motor is the power source of the skateboard, which rotates through the instructions of the controller, thereby driving the skateboard forward. The battery provides energy for the motor to ensure the normal operation of the system.

[0005] The controller is the core component of the entire electric skateboard control system. Its function is to control the operation of the motor, thereby realizing the acceleration, deceleration and braking of the skateboard. The controller detects the speed, acceleration and steering information of the skateboard, performs calculations and judgments, and issues corresponding instructions to control the speed and direction of the motor, thereby realizing the motion control of the skateboard.

[0006] Deficiencies of existing technology: The APP of the control system of an ordinary scooter does not participate in the system control of the whole vehicle. It is just hung on the instrument and cannot participate in most of the work of the whole vehicle system. It is just an expansion of the control or display of an instrument, and most of the work can only be done by the instrument.

[0007] Currently, no effective solution has been proposed for the problems in the related technologies. Summary of the invention

[0008] In view of the problems in the related art, the present invention proposes a control system for an electric scooter and an electric scooter to overcome the above technical problems existing in the existing related art.

[0009] To this end, the specific technical solution adopted by the present invention is as follows: The control system of the electric scooter includes an MCU module, the MCU module is electrically connected to the lithium battery CAN module through the CAN signal processing module, and the lithium battery CAN module is used to be electrically connected to the control module of the lithium battery; The MCU module is electrically connected to the left turn signal, the right turn signal, the tail light, the instrument display and the motor controller module through the digital signal processing module. The digital signal processing module is used to transmit the data information of the left turn signal, the right turn signal, the tail light, the instrument display and the motor controller module to the MCU module for analysis and processing. An electronic switch module is electrically connected between the digital signal processing module and the left turn signal, the right turn signal and the tail light, respectively. The electronic switch module is used to control the left turn signal, the right turn signal and the tail light, and one of the electronic switch modules is electrically connected to the tail light and the motor controller module. The tail light is controlled and adjusted by controlling the motor controller module, that is, the tail light is lit when the motor controller module brakes. The digital signal processing module and the CAN signal processing module are used to process the collected data information; the MCU module is connected to the drive circuit through the gate drive circuit, and the drive circuit is connected to the power motor. The power motor, the drive circuit and the MCU module form a parallel circuit with the current sensor, the speed sensor and the Hall sensor respectively. The Hall sensor is used to sense the current position of the power motor. The current sensor and the speed sensor form a double closed-loop control system to control the power motor. When the power motor is started, the Hall sensor senses the current position of the power motor and converts the position signal of the rotor magnetic pole into an electrical signal, providing commutation information for the electronic commutation circuit of the power motor and controlling the switching state of the power switch tube in the electronic commutation circuit, and feeding back the data to the MCU module; The MCU module is also connected to an anti-lock braking system, which includes a wheel speed sensor, which is connected to the MCU module, and detects the wheel speed. The wheel speed sensor detects the wheel speed and the brake pressure, and adjusts the braking force through the control unit ECU; The MCU module is connected to a vehicle GPS positioning and navigation system for positioning the electric scooter. The vehicle GPS positioning and navigation system includes a positioning module and a path sharing module. The positioning module is used to locate the location of the scooter. The path sharing module is used to record the driving route of the vehicle and share the driving route record of the scooter with other users, so that other users can directly obtain the shared driving route and navigate along the driving route. The path sharing module includes a path generation unit, a path database, a path acquisition unit, and a communication interaction unit. The path generation unit generates a driving path of each scooter from the starting target to the end target, and transmits the path to the path database through the communication interaction unit. The path database classifies the path according to classification parameters. The classification parameters include: distance, number of obstacles, environmental distribution and time. The controller on the scooter obtains the path information of the path database by clicking the path acquisition unit.

[0010] As a preferred embodiment: the MCU module is electrically connected to an LDO module, the LDO module is electrically connected to two DC / DC modules, the two DC / DC modules are electrically connected, one of the DC / DC modules is electrically connected to two electronic switch modules, and one of the electronic switch modules is electrically connected to an RGB colored light.

[0011] As a preferred embodiment: another electronic switch module is used to be electrically connected to the lithium battery and the DC / DC module, and is used to control the lithium battery to supply power. The DC / DC module electrically connected to the electronic switch module is used to reduce the lithium battery voltage to DC-12V, and the DC / DC module electrically connected to the LDO module is used to reduce the DC 12V voltage to DC-5V.

[0012] As a preferred embodiment: the LDO module is used to reduce the DC 5V voltage to DC-3.3V, and the DC voltage is reduced by two stages of the DC / DC modules and one stage of the LDO module, so that the MCU module can achieve stable operation and facilitate the control and adjustment of the electric scooter.

[0013] As a preferred embodiment: the MCU module is electrically connected to an EEROM module, the EEROM module is used to store data information of the MCU module, and the EEROM module erases the stored data under electrical conditions to facilitate updating and modification, and the stored data can be maintained even in a power-off state.

[0014] As a preferred embodiment: the digital signal processing module is also electrically connected to a Bluetooth transceiver, and the system also includes an RS232 signal processing module, the Bluetooth transceiver is used for the driver to connect to the mobile phone, which is convenient for the mobile phone app to control and adjust the electric scooter, and it is easy to adjust the lights, and the RS232 signal processing module is used to analyze and process the collected data information, and the digital signal processing module and the CAN signal processing module both realize the reception, conversion, filtering and cleaning of the data information.

[0015] As a preferred embodiment: the calculation formula for filtering data information by the digital signal processing module, the CAN signal processing module and the RS232 signal processing module is as follows: , Among them, α is the smoothing factor, which adaptively affects the ratio of current value to historical value. Represented as the smoothed value or predicted value at the current moment, It is represented as the historical observation value at the current moment n, k represents the number of steps back from the current moment, N represents the window size, represents the number of historical data points involved in the calculation, and the weight factor, It decays as k increases and is used to represent the weight of historical observations, with more recent observations having larger weights and more distant observations having smaller weights.

[0016] As a preferred embodiment: the digital signal processing module, the CAN signal processing module and the RS232 signal processing module include the following calculation formulas for cleaning data information; The data information is normalized and mapped between [0,1]: ,in, is the data information after mapping, is the original data information, is the maximum value in the original data information, is the minimum value in the original data information; After normalization, the data information is tested for outliers, and the test formula is as follows: , where μ is the mean, σ is the standard deviation, and X is the original data information; The excluded data are filled by the mean, and the calculation formula of the mean is as follows: ,in, is the data information, and n is the total number of data information.

[0017] As a preferred embodiment: the digital signal processing module, the CAN signal processing module and the RS232 signal processing module calculate the mean, median and variance for feature extraction of data information; The mean is calculated as follows: ; in, is the calculated mean value of the data information, is the weight of each data information. Usually the latest data has a greater weight. is the data information in the time series, is the noise error, is the moving average coefficient of the weight; The median is calculated as follows: ; in, is the calculation formula for odd number of data information, is the calculation formula for an even number of data, and n is the total number of data, and is the noise error; The formula for calculating variance is as follows: The variance of the updated data information is calculated, and the total number is ; The mean is ,in, is the mean after updating the data information, is the mean of the existing data information, ,in, is the variance after updating the data information, is the variance of the existing data information; The final variance calculation formula is as follows: ; The distance between the data information and the mean is calculated by Euclidean distance: , in, is the weight value of the data information, For data information, is the mean value after updating the data information; Perform single linkage on the calculated distances: , in, are hierarchical clustering, and They are the data points in the hierarchical clustering, and the classification of data information features is determined by the minimum distance; Fault prediction is achieved based on feature classification; ; in, is the predicted value at the current moment, which is calculated based on the historical distance difference and the corresponding weight. is the total number of historical distance values, The actual distance value at the current moment, usually the most recently collected distance value, The distance value from the i-th history at the current time t, The weight of the jth historical distance value, as time goes by, the weight of earlier distance values ​​gradually decreases; Adaptively update weights; ; in, Attenuation factor controls the degree of influence of historical data on current predictions. The value is between 0 and 1. The larger the value, the greater the Make the most recent data points more important; By introducing the distance value between the outlier and the mean , to predict the distance value of subsequent data , predicting the use failure of electric scooters; When the mean, median and variance calculated for the features of the data information exceed the preset values, the information of the digital signal processing module, the CAN signal processing module and the RS232 signal processing module are filtered and cleaned for the second time until the mean, median and variance calculated for the features are lower than the preset values.

[0018] An electric scooter and a control system applied to the electric scooter include an electric scooter and a control system of the electric scooter.

[0019] The beneficial effects of the present invention are: The present invention realizes separate diagnosis of accessory faults through the MCU module, which is accurate and clear; and the vehicle intelligent lighting control center controls and adjusts the vehicle lighting, and the vehicle surrounds the colored lights, which can indicate different states according to the vehicle, such as stationary, driving (different speeds), steering, braking, fault, and charging. The lights have multiple function indications, and various lighting modes can be DIY; The instrument of the present invention is also a central control platform, with multiple data real-time monitoring, simple and convenient settings for all vehicle menus (first level and second level), intelligent display of working status, working current, temperature light, and energy recovery kinetic energy visualization collection system; the present invention can realize intelligent management of battery cells, multiple sensors monitor battery cell data in real time, and quickly prompt faults, which is safer, smarter, and more secure; the information collection center can realize statistics of product faults and remote diagnosis through background data; it can count regional sales data and provide data analysis for sales; The power motor, drive circuit and MCU module of the present invention respectively form a parallel circuit with the current sensor, speed sensor and Hall sensor. The present invention can perform commutation control and speed regulation control. The use of a double closed-loop system can enhance the anti-interference performance of the system. The double closed-loop system increases the feedback control of the current, which can reduce the overshoot and oversaturation of the current, obtain a better control effect, and improve the stability of the operation of the electric scooter. The MCU module of the present invention is connected to an anti-lock braking system, which can achieve a good anti-lock braking effect. The wheel speed sensor in the anti-lock braking system can detect the wheel speed and braking pressure, and calculate the braking strategy through the control unit ECU, adjust the braking force, and achieve a good anti-lock braking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic structural diagram of a control system of an electric scooter according to an embodiment of the present invention; Figure 2 is a system control diagram of the present invention; Figure 3 1 is a schematic diagram of a control flow of a control system of an electric scooter according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention and are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in the field should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0023] According to an embodiment of the present invention, a control system of an electric scooter and an electric scooter are provided.

[0024] The present invention is further described with reference to the accompanying drawings and specific embodiments. Figure 1-3 As shown, the control system of the electric scooter according to the embodiment of the present invention includes an MCU module, the MCU module is electrically connected to the lithium battery CAN module through the CAN signal processing module, and the lithium battery CAN module is used to electrically connect to the control module of the lithium battery to realize monitoring and safety protection of the operating status of the lithium battery, and monitor the voltage, temperature, capacity and charge and discharge status of the battery in real time to ensure that the battery operates within a safe range; balance and regulate each battery cell in the battery pack to ensure that the power of each cell is consistent and extend the battery life; prevent overcharging, overdischarging, short circuit and overheating to ensure the safe use of the battery; record battery usage data and communicate with external devices for user monitoring and management; detect and report fault information in time to facilitate maintenance and troubleshooting.

[0025] like Figure 1-3 As shown, in order to achieve a good lighting indication effect, the MCU module is electrically connected to the left turn signal, the right turn signal, the tail light, the instrument display and the motor controller module through the digital signal processing module. The digital signal processing module is used to transmit the data information of the left turn signal, the right turn signal, the tail light, the instrument display and the motor controller module to the MCU module for analysis and processing. The digital signal processing module and the left turn signal, the right turn signal and the tail light are respectively electrically connected with an electronic switch module. The electronic switch module is used to control the left turn signal, the right turn signal and the tail light, and one of the electronic switch modules is electrically connected to the tail light and the motor controller module. The tail light is controlled and adjusted by controlling the motor controller module, that is, the tail light is turned on when the motor controller module brakes. like Figure 1-3 As shown, in order to process the collected data information, the digital signal processing module and the CAN signal processing module are used to process the collected data information and improve the accuracy of the data information. The digital signal processing module and the CAN signal processing module are used to receive, convert, filter and clean the collected data information, and the receiving module is used to obtain and receive the data information, the converting module is used to perform analog-to-digital conversion on the data information, the filtering module is used to filter out clutter from the data information, and the cleaning module is used to remove abnormal data in the data information and supplement the removed vacancies; like Figure 1-3As shown, in order to enable the electric scooter to have positioning navigation and exchange location information with nearby electric scooters, a vehicle GPS positioning and navigation system for positioning the electric scooter is connected to the MCU module. The vehicle GPS positioning and navigation system includes a positioning module and a path sharing module. The positioning module is used to locate the location of the scooter. The path sharing module is used to record the driving route of the vehicle and share the driving route record of the scooter with other users, so that other users can directly obtain the shared driving route and navigate along this driving route; the path sharing module includes a path generation unit, a path database, a path acquisition unit, and a communication interaction unit; the path generation unit generates the driving path of each scooter from the starting target to the end target, and transmits the path to the path database through the communication interaction unit. The path database classifies the path according to the classification parameters, and the classification parameters include: distance, number of obstacles, environmental distribution and time length. The controller on the scooter obtains the path information of the path database by clicking the path acquisition unit. By utilizing the above-mentioned path interaction, the driving path of the scooter can be intelligently planned, and path interaction can be realized, so that the scooter user has more path choices.

[0026] like Figure 1-3 As shown, the MCU module is electrically connected to the LDO module, the LDO module is electrically connected to two DC / DC modules, the two DC / DC modules are electrically connected, one of the DC / DC modules is electrically connected to two electronic switch modules, and one of the electronic switch modules is electrically connected to an RGB colored light; the other electronic switch module is used to be electrically connected to the lithium battery and the DC / DC module, and is used to control the lithium battery to supply power, the DC / DC module electrically connected to the electronic switch module is used to reduce the lithium battery voltage to DC-12V, and the DC / DC module electrically connected to the LDO module is used to reduce the DC 12V voltage to DC-5V; the LDO module is used to reduce the DC 5V voltage to DC-3.3V, and the DC voltage is reduced by two-stage DC / DC modules and one-stage LDO module, so that the MCU module can achieve stable operation and is convenient for controlling and adjusting the electric scooter; It should be noted that the MCU module is powered by the LDO module and two DC / DC modules, and the voltage is adjusted to maintain the stable power supply of the system.

[0027] like Figure 1-3As shown, the MCU module is electrically connected to an EEROM module, the EEROM module is used to store data information of the MCU module, and the EEROM module erases the stored data under electrical conditions, which is convenient for updating and modification, and the stored data can be maintained in a power-off state; it should be noted that the data information is stored through the EEROM module, which is convenient for subsequent retrieval of the data information and then analysis and processing.

[0028] like Figure 1-3 As shown, the digital signal processing module is also electrically connected to a Bluetooth transceiver, and the system also includes an RS232 signal processing module. The Bluetooth transceiver is used for the driver to connect to the mobile phone, which is convenient for the mobile phone app to control and adjust the electric scooter, and is convenient for adjusting the light. The RS232 signal processing module is used to analyze and process the collected data information, and the digital signal processing module and the CAN signal processing module are used to receive, convert, filter and clean the data information; the calculation formulas for the filtering processing of the data information by the digital signal processing module, the CAN signal processing module and the RS232 signal processing module are as follows: , Among them, α is the smoothing factor, which adaptively affects the ratio of current value to historical value. Represented as the smoothed value or predicted value at the current moment, It is represented as the historical observation value at the current moment n, k represents the number of steps back from the current moment, N represents the window size, represents the number of historical data points involved in the calculation, and the weight factor, It decays as k increases and is used to represent the weight of historical observations, with more recent observations having greater weights and more distant observations having smaller weights; The digital signal processing module, CAN signal processing module and RS232 signal processing module include the following calculation formulas for cleaning data information: The data information is normalized and mapped between [0,1]: ,in, is the data information after mapping, is the original data information, is the maximum value in the original data information, is the minimum value in the original data information; After normalization, the data information is tested for outliers, and the test formula is as follows: , where μ is the mean, σ is the standard deviation, and X is the original data information; The excluded data are filled by the mean, and the calculation formula of the mean is as follows: ,in, is the data information, and n is the total number of data information.

[0029] The digital signal processing module, CAN signal processing module and RS232 signal processing module calculate the mean, median and variance for feature extraction of data information; The mean is calculated as follows: ; in, is the calculated mean value of the data information, is the weight of each data information. Usually the latest data has a greater weight. is the data information in the time series, is the noise error, is the moving average coefficient of the weight; The median is calculated as follows: ; in, is the calculation formula for odd number of data information, is the calculation formula for an even number of data, and n is the total number of data, and is the noise error; The formula for calculating variance is as follows: The variance of the updated data information is calculated, and the total number is ; The mean is ,in, is the mean after updating the data information, is the mean of the existing data information, ,in, is the variance after updating the data information, is the variance of the existing data information; The final variance calculation formula is as follows: ; The distance between the data information and the mean is calculated by Euclidean distance: , in, is the weight value of the data information, For data information, is the mean value after updating the data information; Perform single linkage on the calculated distances: , in, are hierarchical clustering, and They are the data points in the hierarchical clustering, and the classification of data information features is determined by the minimum distance; Fault prediction is achieved based on feature classification; ; in, is the predicted value at the current moment, which is calculated based on the historical distance difference and the corresponding weight. is the total number of historical distance values, The actual distance value at the current moment, usually the most recently collected distance value, The distance value from the i-th history at the current time t, The weight of the jth historical distance value, as time goes by, the weight of earlier distance values ​​gradually decreases; Adaptively update weights; ; in, Attenuation factor controls the degree of influence of historical data on current predictions. The value is between 0 and 1. The larger the value, the greater the Make the most recent data points more important; By introducing the distance value between the outlier and the mean , to predict the distance value of subsequent data , predicting the use failure of electric scooters; It should be noted that the data information is analyzed and processed to improve the accuracy of the data information, and the fault of the electric scooter is predicted and processed according to the characteristics of the data information; When the mean, median and variance calculated for the features of the data information exceed the preset values, the information of the digital signal processing module, the CAN signal processing module and the RS232 signal processing module are filtered and cleaned for the second time until the mean, median and variance calculated for the features are lower than the preset values.

[0030] An electric scooter and a control system for an electric scooter include an electric scooter and a control system for the electric scooter.

[0031] Fault information: When braking or when there is a brake failure, the brake indicator light will come on; Front motor failure, icon turns yellow (Hall failure), icon turns red (motor phase failure), fault code 1 / 2; If the rear motor fails, the icon turns yellow (Hall fault), the icon turns red (motor phase fault), and the fault code is 1 / 2; Throttle accelerator failure, fault code 4; When the battery voltage is low, the icon turns red and the fault code is 3 / 5; Front control fault, icon turns red, fault code 6; If the rear control fails, the icon turns red and the fault code is 6; The instrument fails, the icon turns red, and the fault code is 7; When the controller temperature is too high, the icon turns red and the fault code is 8; When the battery temperature is too high, the icon turns yellow, and turns red when the battery fails, with fault code 9; Lighting Control: When the left turn button is turned on, the icon turns green and flashes; When the right turn button is turned on, the icon turns green and flashes; When the left or right turn button is turned on, the left and right arrow icons turn green and flash; When the headlight button is turned on, the icon turns green; Speed ​​Control: Speedometer dial, data synchronization with LED display; Speed ​​unit switch, kilometers / hour; miles / hour (click the small downward arrow, 2 options); Speed ​​gear: ECON, 1, 2, 3, 4, 5; highest gear is 5; Average speed of a single ride, kilometers per hour; miles per hour (optional); Maximum speed of a single ride, kilometers per hour; miles per hour (optional); Advanced settings: Speed ​​Limit, the default is 100; Motor pole number, default value is 30; Cruise, automatic / manual / off; ABS, when activated, will vibrate when braking; Non-zero Kick Start is off by default; The default value of the system temperature protection setting is 120; Exit mode Gate Out, after activation, forces the speed limit to 25km / h and non-zero start (can only be changed after deactivation); Anti-theft Mode: After starting, when you restart the device after shutting down, it will not work if you do not connect the Bluetooth of your mobile phone, and the accelerator motor will not work. Assist Parameter, 5 speed gears with customized default parameter 5 (the default 5th gear is the highest speed); LED color light control: After powering on, the default lighting mode is automatic (when in automatic mode, the lighting will change according to the vehicle status when the vehicle is stationary, turning, braking, accelerating, malfunctioning, or charging); Acceleration - As the speed changes, the mode and frequency change, and it is divided into 3 sections: low speed section, medium speed section, and high speed section.

[0032] Charging-the light is not fully charged and is in partial flow mode (the color changes according to the power level, low power area: red, medium power area: yellow, high power area: blue). For example, when the power is 50%, half of the light strip will be on, and the other half will be flowing to indicate charging.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The control system of the electric scooter is characterized by: It includes an MCU module, the MCU module is electrically connected to a lithium battery CAN module via a CAN signal processing module, and the lithium battery CAN module is used to be electrically connected to a lithium battery control module; The MCU module is electrically connected to the left turn signal, the right turn signal, the tail light, the instrument display and the motor controller module through the digital signal processing module, and the digital signal processing module is used to transmit data information of the left turn signal, the right turn signal, the tail light, the instrument display and the motor controller module to the MCU module for analysis and processing; The digital signal processing module and the CAN signal processing module are used to process the collected data information; the MCU module is connected to the drive circuit through the gate drive circuit, the drive circuit is connected to the power motor, the power motor, the drive circuit and the MCU module form a parallel circuit with the current sensor, the speed sensor and the Hall sensor respectively, the Hall sensor is used to sense the current position of the power motor, and the current sensor and the speed sensor form a double closed-loop control system to control the power motor; The MCU module is also connected to an anti-lock braking system, which includes a wheel speed sensor, which is connected to the MCU module, and detects the wheel speed. The wheel speed sensor detects the wheel speed and the brake pressure, and adjusts the braking force through the control unit ECU; The MCU module is connected to a vehicle-mounted GPS positioning and navigation system for positioning the electric scooter. The vehicle-mounted GPS positioning and navigation system includes a positioning module and a path sharing module. The positioning module is used to locate the position of the scooter. The path sharing module is used to record the driving route of the vehicle-mounted GPS and share the driving route record of the scooter with other users, so that other users can directly obtain the shared driving route and navigate along this driving route.

2. The control system of the electric scooter according to claim 1, characterized in that: An electronic switch module is electrically connected between the digital signal processing module and the left turn signal, the right turn signal and the tail light, respectively. The electronic switch module is used to control the left turn signal, the right turn signal and the tail light, and one of the electronic switch modules is electrically connected to the tail light and the motor controller module. The tail light is controlled and adjusted by controlling the motor controller module, that is, the tail light is turned on when the motor controller module brakes; when the power motor is started, the Hall sensor senses the current position of the power motor and converts the position signal of the rotor pole into an electrical signal, which is the electronic commutation of the power motor. The circuit provides commutation information and controls the switching state of the power switch tube in the electronic commutation circuit, and feeds back the data to the MCU module at the same time; the path sharing module includes a path generation unit, a path database, a path acquisition unit, and a communication interaction unit; the path generation unit generates a driving path of each scooter from a starting target to an end target, and transmits the path to the path database through the communication interaction unit, and the path database classifies the path according to classification parameters, and the classification parameters include: distance, number of obstacles, environmental distribution and duration, and the controller on the scooter obtains the path information of the path database by clicking the path acquisition unit.

3. The control system of the electric scooter according to claim 2, characterized in that: The MCU module is electrically connected to the LDO module, the LDO module is electrically connected to two DC / DC modules, the two DC / DC modules are electrically connected, one of the DC / DC modules is electrically connected to two electronic switch modules, and one of the electronic switch modules is electrically connected to an RGB colored light.

4. The control system of the electric scooter according to claim 3, characterized in that: The other electronic switch module is used to be electrically connected to the lithium battery and the DC / DC module, and is used to control the lithium battery to supply power. The DC / DC module electrically connected to the electronic switch module is used to reduce the lithium battery voltage to DC-12V, and the DC / DC module electrically connected to the LDO module is used to reduce the DC 12V voltage to DC-5V.

5. The control system of the electric scooter according to claim 1, characterized in that: The MCU module is electrically connected to an EEROM module, which is used to store data information of the MCU module. The EEROM module erases the stored data under electrical conditions to facilitate updating and modification, and the stored data can be maintained even in a power-off state.

6. The control system of the electric scooter according to claim 1, characterized in that: The digital signal processing module is also electrically connected to a Bluetooth transceiver, and the system also includes an RS232 signal processing module. The Bluetooth transceiver is used for the driver to connect to a mobile phone, which is convenient for the mobile phone app to control and adjust the electric scooter, and to adjust the lights. The RS232 signal processing module is used to analyze and process the collected data information, and the digital signal processing module and the CAN signal processing module both realize the reception, conversion, filtering and cleaning of the data information.

7. The control system of the electric scooter according to claim 6, characterized in that: The calculation formulas for filtering data information by the digital signal processing module, the CAN signal processing module and the RS232 signal processing module are as follows: ， Among them, α is the smoothing factor, which adaptively affects the ratio of current value to historical value. Represented as the smoothed value or predicted value at the current moment, It is represented as the historical observation value at the current moment n, k represents the number of steps back from the current moment, N represents the window size, represents the number of historical data points involved in the calculation, and the weight factor, It decays as k increases and is used to represent the weight of historical observations, with more recent observations having larger weights and more distant observations having smaller weights.

8. The control system of the electric scooter according to claim 7, characterized in that: The digital signal processing module, the CAN signal processing module and the RS232 signal processing module include the following calculation formulas for cleaning data information; The data information is normalized and mapped between [0,1]: ,in, is the data information after mapping, is the original data information, is the maximum value in the original data information, is the minimum value in the original data information; After normalization, the data information is tested for outliers, and the test formula is as follows: , where μ is the mean, σ is the standard deviation, and X is the original data information; The excluded data are filled by the mean, and the calculation formula of the mean is as follows: ,in, is the data information, and n is the total number of data information.

9. The control system of the electric scooter according to claim 8, characterized in that: The digital signal processing module, the CAN signal processing module and the RS232 signal processing module calculate the feature extraction of data information by means of mean, median and variance; The mean is calculated as follows: ； in, is the calculated mean value of the data information, is the weight of each data information. Usually the latest data has a greater weight. is the data information in the time series, is the noise error, is the moving average coefficient of the weight; The median is calculated as follows: ； in, is the calculation formula for odd number of data information, is the calculation formula for an even number of data, and n is the total number of data, and is the noise error; The formula for calculating variance is as follows: The variance of the updated data information is calculated, and the total number is ; The mean is ,in, is the mean after updating the data information, is the mean of the existing data information, ,in, is the variance after updating the data information, is the variance of the existing data information; The final variance calculation formula is as follows: ； The distance between the data information and the mean is calculated by Euclidean distance: ， in, is the weight value of the data information, For data information, is the mean after updating the data information; Perform single linkage on the calculated distances: ， in, are hierarchical clustering, and They are the data points in the hierarchical clustering, and the classification of data information features is determined by the minimum distance; Fault prediction is achieved based on feature classification; ； in, is the predicted value at the current moment, which is calculated based on the historical distance difference and the corresponding weight. is the total number of historical distance values, The actual distance value at the current moment, usually the most recently collected distance value, The distance value from the i-th history at the current time t, The weight of the jth historical distance value, as time goes by, the weight of earlier distance values ​​gradually decreases; Adaptively update weights; ； in, Attenuation factor controls the degree of influence of historical data on current predictions. The value is between 0 and 1. The larger the value, the greater the Make the most recent data points more important; By introducing the distance value between the outlier and the mean , to predict the distance value of subsequent data , predicting the use failure of electric scooters; When the mean, median and variance calculated for the features of the data information exceed the preset values, the information of the digital signal processing module, the CAN signal processing module and the RS232 signal processing module are filtered and cleaned for the second time until the mean, median and variance calculated for the features are lower than the preset values.

10. An electric scooter, applied to a control system of the electric scooter according to any one of claims 1 to 9, characterized in that: The invention comprises an electric scooter and a control system of the electric scooter.

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