Control method and system for electric skateboard

Abstract

The invention provides a control method and system for an electric skateboard, and is applied to the field of control data processing. The forward acceleration and backward acceleration of the electric skateboard can be adjusted in real time by collecting the gravity center data of the user on the pedal, so that the skateboard can automatically adjust the motion state when the user walks up and down without manual intervention of the user, meanwhile, the moving speed is automatically maintained, the speed fluctuation of the skateboard is reduced, and the user experience is improved. The user experience is more stable, the steering is smoother and more accurate due to the differential transmission and deceleration turning functions, and the gravity center data acquisition is temporarily shielded in the turning process to avoid misoperation caused by up-down walking, so that the stability of the skateboard is kept, that is, the user does not need to frequently adjust the setting of the skateboard when walking up and down, and the user experience is improved. The system can automatically adapt to the dynamic changes, and smoother sliding experience is provided.

Description

Technical Field

[0001] The present invention relates to the field of control data processing, and in particular to a control method and system for an electric skateboard. Background Art

[0002] With the development of science and technology and the continuous improvement of people's living standards, the pace of work is accelerating, and various types of vehicles have gradually become people's means of transportation for work or entertainment. In particular, electric scooters are deeply favored by young people.

[0003] Currently, electric skateboards can only be turned on manually by the user to provide power to generate acceleration for sliding forward. If the user frequently walks up and down on the pedals of the electric skateboard, the user needs to turn the electric skateboard on and off frequently, which is very inconvenient for the user's practicality. In addition, frequently turning the electric skateboard on and off will also damage the battery life. Summary of the invention

[0004] The present invention aims to solve the problem that when a user frequently walks up and down on the pedal of an electric skateboard, the user needs to frequently turn the electric skateboard on and off, and provides a control method and system for the electric skateboard.

[0005] The present invention adopts the following technical means to solve the technical problem:

[0006] The present invention provides a control method for an electric skateboard, comprising:

[0007] Based on the preset pressure sensor of the electric skateboard, the force information on the pedal is collected;

[0008] Determining whether the force information matches a preset force of the user;

[0009] If yes, activate the preset power setting of the electric skateboard, collect the center of gravity data of the user on the pedal, control the electric skateboard to output the change acceleration according to the center of gravity data, and detect the speed output instruction received by the electric skateboard in real time, wherein the center of gravity data specifically includes the forward inclination of the center of gravity and the backward inclination of the center of gravity, and the change acceleration specifically includes the forward acceleration and the reverse acceleration;

[0010] Determining whether the speed output instruction changes within a preset time period;

[0011] If not, the moving speed of the electric skateboard is maintained in a direction, and based on the steering command output by the user, the pulleys of the electric skateboard are controlled to perform differential transmission, and the moving speed is correspondingly reduced according to the transmission efficiency of the differential transmission. After the differential transmission and the moving speed meet the preset steering conditions, the steering command is executed to control the electric skateboard to perform a deceleration turn, and the center of gravity data collection of the electric skateboard is temporarily shielded during the deceleration turn.

[0012] Furthermore, the step of activating the preset power setting of the electric skateboard and collecting the center of gravity data of the user on the pedal further includes:

[0013] Based on a capacitive sensor preset on the electric skateboard, the capacitance value data generated by the user on the pedal is collected in real time;

[0014] Determining whether the capacitance value data changes within a preset time period;

[0015] If not, stop collecting the capacitance value data, adaptively convert the electric skateboard to a standby state, detect the tilt parameter changes of the center of gravity data in real time, resume collecting the capacitance value data according to the tilt parameter changes, wake up the electric skateboard, and call back the standby state to an active state.

[0016] Furthermore, after the step of controlling the electric skateboard to output a change acceleration according to the center of gravity data and detecting the speed output instruction received by the electric skateboard in real time, the method further includes:

[0017] Based on a gyroscope preset on the electric skateboard, measuring acceleration data of the electric skateboard in various directions, generating motion state data of the electric skateboard in a virtual environment according to the acceleration data, and establishing posture information of the user according to the motion state data;

[0018] Determining whether the posture information matches the posture data pre-recorded by the electric skateboard;

[0019] If not, the tilt state of the electric skateboard is detected, and the corresponding posture deviation is identified from the posture information based on the tilt state, and a preset proportional integral differential algorithm is applied to adjust the motor output of the electric skateboard, and the posture deviation is continuously balanced through the motor output until the electric skateboard is monitored to recover from the tilt state to a stable state, wherein the motor output specifically includes output power and rotation speed.

[0020] Furthermore, the step of directionally maintaining the moving speed of the electric skateboard and controlling the pulleys of the electric skateboard to perform differential transmission based on the steering instruction output by the user further includes:

[0021] Based on the moving route preset by the user for the electric skateboard, detecting in real time the required turning distance of the moving route;

[0022] Determining whether the required turning distance reaches a preset distance threshold of the electric skateboard;

[0023] If so, the moving speed is linearly slowed down according to the required turning distance and the distance between the electric skateboard and the moving speed, and the turning instruction output by the user for the driving direction is collected. After monitoring that the electric skateboard has completed the corresponding turning, the moving speed is reset, redirected and maintained.

[0024] Furthermore, the step of determining whether the force information matches the preset force of the user further includes:

[0025] Based on the front sensor and the rear sensor preset on the electric skateboard, synchronously collecting the pressure surface generated by the user stepping on the electric skateboard;

[0026] Determining whether the pressure surface matches a preset area of ​​the electric skateboard;

[0027] If so, the electric skateboard is turned on according to the pedaling action preset by the user on the electric skateboard, and the moving speed threshold of the electric skateboard is limited according to the driving scene selected by the user on the electric skateboard, wherein the driving scene specifically includes urban driving, off-road driving and ramp driving.

[0028] Furthermore, the step of determining whether the speed output instruction changes within a preset period of time further includes:

[0029] Based on the accelerometer preset in the electric skateboard, collecting acceleration parameters generated when the electric skateboard does not receive the speed output instruction;

[0030] Determining whether the acceleration parameter reaches a preset rate;

[0031] If so, the kinetic energy data of the electric skateboard when going downhill is calculated according to the acceleration parameters, the recoverable data of the electric skateboard is generated according to the kinetic energy data, the recoverable data is merged with the current remaining kinetic energy of the electric skateboard, and the total kinetic energy of the electric skateboard is comprehensively presented on a preset interface, wherein the recoverable data specifically includes battery power and recovery power.

[0032] Furthermore, the step of collecting the force information on the pedal based on the preset pressure sensor of the electric skateboard includes:

[0033] Based on the conductivity sensor preset on the electric skateboard, detecting conductivity data on the electric skateboard;

[0034] Determining whether the conductivity data exceeds a preset conductivity threshold of the electric skateboard;

[0035] If so, the user is restricted from lighting up the electric skateboard, and a preset light on the pedal surface of the electric skateboard is activated. The pedal surface is illuminated by the light to generate the moisture position on the pedal surface. The moisture is monitored in real time until the moisture disappears, and the user's permission to light up the electric skateboard is restored.

[0036] The present invention also provides a control system for an electric skateboard, comprising:

[0037] A collection module, used for collecting force information on the pedal based on a preset pressure sensor of the electric skateboard;

[0038] A judging module, used to judge whether the force information matches a preset force of the user;

[0039] an execution module, configured to, if yes, activate a preset power setting of the electric skateboard, collect the center of gravity data of the user on the pedal, control the electric skateboard to output a change acceleration according to the center of gravity data, and detect in real time the speed output instruction received by the electric skateboard, wherein the center of gravity data specifically includes a forward tilt of the center of gravity and a backward tilt of the center of gravity, and the change acceleration specifically includes a forward acceleration and a reverse acceleration;

[0040] A second judgment module is used to judge whether the speed output instruction changes within a preset time period;

[0041] The second execution module is used to directionally maintain the moving speed of the electric skateboard if not, control the pulleys of the electric skateboard to perform differential transmission based on the steering command output by the user, and reduce the moving speed accordingly according to the transmission efficiency of the differential transmission. After the differential transmission and the moving speed meet the preset steering conditions, execute the steering command to control the electric skateboard to decelerate and turn, and temporarily shield the center of gravity data collection of the electric skateboard during the deceleration turn.

[0042] Furthermore, the execution module also includes:

[0043] A collection unit, used for collecting capacitance value data generated by the user on the pedal in real time based on a capacitance sensor preset on the electric skateboard;

[0044] A judging unit, used to judge whether the capacitance value data changes within a preset time period;

[0045] The execution unit is used to stop collecting the capacitance value data if no, adaptively convert the electric skateboard into a standby state, detect the tilt parameter change of the center of gravity data in real time, resume collecting the capacitance value data according to the tilt parameter change, wake up the electric skateboard at the same time, and call back the standby state to an active state.

[0046] Furthermore, it also includes:

[0047] A measurement module, configured to measure acceleration data of the electric skateboard in various directions based on a gyroscope preset on the electric skateboard, generate motion state data of the electric skateboard in a virtual environment according to the acceleration data, and establish posture information of the user according to the motion state data;

[0048] A third judgment module is used to judge whether the posture information conforms to the posture data pre-recorded by the electric skateboard;

[0049] The third execution module is used to detect the tilt state of the electric skateboard if not, identify the corresponding posture deviation from the posture information based on the tilt state, apply a preset proportional integral differential algorithm to adjust the motor output of the electric skateboard, and continuously balance the posture deviation through the motor output until the electric skateboard is monitored to recover from the tilt state to a stable state, wherein the motor output specifically includes output power and rotation speed.

[0050] The present invention provides a control method and system for an electric skateboard, which has the following beneficial effects:

[0051] The present invention can adjust the forward acceleration and reverse acceleration of the electric skateboard in real time by collecting the center of gravity data of the user on the pedal, so as to ensure that the skateboard can automatically adjust the movement state when the user walks up and down without manual intervention of the user. At the same time, the automatic maintenance of the moving speed reduces the speed fluctuation of the skateboard, making the user experience more stable, and the differential transmission and deceleration turning functions make the steering smoother and more precise, and temporarily shielding the center of gravity data collection during the turning process avoids misoperation caused by up and down walking, thereby maintaining the stability of the skateboard, that is, the user does not need to frequently adjust the skateboard settings when walking up and down, and the system will automatically adapt to these dynamic changes to provide a smoother sliding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic flow chart of an embodiment of a control method for an electric skateboard according to the present invention;

[0053] Figure 2 The structure block diagram of an embodiment of the control system for an electric skateboard of the present invention. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The implementation of the objectives, functional features and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Reference Figure 1 , is a control method for an electric skateboard in an embodiment of the present invention, comprising:

[0057] S1: Based on the preset pressure sensor of the electric skateboard, the force information on the pedal is collected;

[0058] S2: Determine whether the force information matches the preset force of the user;

[0059] S3: If yes, activate the preset power setting of the electric skateboard, collect the center of gravity data of the user on the pedal, control the electric skateboard to output the change acceleration according to the center of gravity data, and detect the speed output instruction received by the electric skateboard in real time, wherein the center of gravity data specifically includes the forward inclination of the center of gravity and the backward inclination of the center of gravity, and the change acceleration specifically includes the forward acceleration and the reverse acceleration;

[0060] S4: determining whether the speed output instruction changes within a preset period of time;

[0061] S5: If not, the moving speed of the electric skateboard is maintained in a direction, and based on the steering command output by the user, the pulleys of the electric skateboard are controlled to perform differential transmission, and the moving speed is correspondingly reduced according to the transmission efficiency of the differential transmission. After the differential transmission and the moving speed meet the preset steering conditions, the steering command is executed to control the electric skateboard to perform a deceleration turn, and the center of gravity data collection of the electric skateboard is temporarily shielded during the deceleration turn.

[0062] In this embodiment, the system collects force information borne on the pedal of the electric skateboard based on the pressure sensor pre-installed in the electric skateboard, and then the system determines whether the force information matches the force size pre-set by the user to execute the corresponding steps; for example, when the system determines that the force information borne on the pedal cannot match the force size pre-set by the user, the system will believe that the user may not stand completely in the preset position or has not applied enough force. The system will issue a sound prompt through the built-in speaker of the skateboard, and display information on the display screen of the skateboard or the connected mobile device to prompt the user how to stand correctly. At the same time, the user is prompted to check and clean foreign objects on the surface of the pedal, such as soil, stones or other debris, to remind the user to ensure that the pedal is used on a flat road. When using a skateboard, the user is prevented from standing on an uneven ground. The built-in self-check program of the skateboard regularly checks the status of the sensor, including sensor connection, voltage and signal. When the self-check finds that the sensor is abnormal, the user is prompted to repair or replace the sensor. For example, when the system determines that the force information on the pedal can match the force preset by the user, the system will consider that the user's standing posture on the electric skateboard is correct, and the system will activate the pre-set power setting of the electric skateboard, collect the user's center of gravity data on the pedal, the center of gravity data specifically includes the forward inclination of the center of gravity and the backward inclination of the center of gravity, and control the electric skateboard to output a change acceleration according to different center of gravity data. The change acceleration specifically includes forward acceleration and reverse acceleration, and real-time detection The system measures the speed output instructions received by the electric skateboard; the system ensures that the power setting is activated only after the user stands firmly to avoid the risk of accidental start-up. By collecting the user's center of gravity data, the acceleration of the skateboard is adjusted in real time to maintain the balance and stability of the skateboard. At the same time, the user only needs to lean forward or backward to control the forward and backward movement of the skateboard. The operation is more intuitive and natural. Intelligent acceleration and deceleration provide a smooth gliding experience and reduce abrupt speed changes. The precise center of gravity data collection and acceleration control ensure that the movement of the skateboard is highly consistent with the user's intention. That is, the system can quickly respond to the user's center of gravity changes, adjust the skateboard's movement state in time, and improve the accuracy and flexibility of the operation; then the system determines whether these speed output instructions are in the pre-set whether there is a change within a time period to execute the corresponding steps; for example, when the system determines that the speed output instruction received by the electric skateboard has changed within a preset time period, the system will consider that the user's current driving section requires long-term speed output control, and the system will set a constant speed value according to the user's speed output instruction and the current speed data, that is, automatically adjust the power output of the skateboard to maintain the set constant speed, and at the same time detect the slope change of the road surface through a gyroscope or accelerometer, automatically adjust the power output according to the slope data, increase the power when going uphill, and reduce the power when going downhill, and monitor the speed data of the skateboard in real time to ensure that it is maintained within the set constant speed range, and feedback the current speed and road condition information through sound, vibration or display screen;For example, when the system determines that the speed output instruction received by the electric skateboard has not changed within a preset time period, the system will deem that the user's current driving section does not require long-term speed output control, and the system will enable the pre-set cruise control of the electric skateboard to directionally maintain the moving speed of the electric skateboard. Based on the steering instruction output by the user, the pulleys of the electric skateboard are controlled to rotate differentially, and the moving speed is correspondingly reduced according to the transmission efficiency of the differential transmission. After the differential rotation and the moving speed meet the preset steering conditions, the steering instruction is executed to control the electric skateboard to decelerate and turn. When the electric skateboard is in the deceleration turn, the center of gravity data collection from the user is temporarily blocked; when the user's current driving section does not require long-term speed output control, the system automatically enables cruise control to maintain a constant speed, that is, the user No need to continuously adjust the speed, reducing fatigue from long-term gliding. Cruise control provides smooth speed control to ensure smooth gliding. At the same time, the system controls the skateboard pulleys to perform differential rotation according to the steering command output by the user to achieve precise steering. Through differential transmission technology, the accuracy and flexibility of the steering process are ensured, and the moving speed is automatically lowered according to the transmission efficiency of the differential transmission to ensure stability and safety during steering. When executing the steering command, the system will first slow down to ensure the safety of the turning process. During the turning process, the change of the user's center of gravity may cause the system to misjudge, so shielding the center of gravity data can avoid this situation. Shielding the center of gravity data can ensure that the system maintains stable control when turning, without being disturbed by the change of the user's center of gravity, ensuring that the steering operation is safer and more reliable. ;

[0063] In this embodiment, the step S3 of activating the preset power setting of the electric skateboard and collecting the center of gravity data of the user on the pedal further includes:

[0064] S31: Based on a capacitive sensor preset on the electric skateboard, collecting capacitance value data generated by the user on the pedal in real time;

[0065] S32: Determine whether the capacitance value data changes within a preset time period;

[0066] S33: If not, stop collecting the capacitance value data, adaptively convert the electric skateboard to a standby state, detect the tilt parameter change of the center of gravity data in real time, resume collecting the capacitance value data according to the tilt parameter change, wake up the electric skateboard, and call back the standby state to an active state.

[0067] In this embodiment, the system collects the capacitance value data generated by the user on the pedal in real time based on the capacitance sensor pre-installed on the electric skateboard, and then the system determines whether these capacitance value data change within a preset time period to execute the corresponding steps; for example, when the system determines that the capacitance value data generated by the user on the pedal has changed within a preset time period, the system will consider that the position of the user's foot moving from the pedal or the center of gravity has changed multiple times over a long period of time. When the system detects the user's posture change (such as center of gravity movement, foot position change), it adjusts the control parameters of the skateboard to ensure safety and stability, ensure that the skateboard can respond to the user's posture changes in real time, provide a better operating experience, and prevent loss of control due to posture changes. or falls, and when it detects that the user is getting on or off the skateboard, it automatically performs corresponding operations to ensure the user's safety, that is, when the capacitance value change matches the user's standing mode, the skateboard is started, and when the capacitance value change matches the user's leaving mode, the skateboard is turned off or enters standby mode. When environmental interference is detected, appropriate measures are taken to ensure the normal operation of the skateboard, avoid misoperation caused by environmental interference, protect user safety, and prevent moisture and other damage to the internal electronic components of the skateboard; for example, when the system determines that the capacitance value data generated by the user on the pedal has not changed within a preset time period, the system will think that the user has been gliding on the electric skateboard for a long time without stopping, and the system will stop collecting capacitance value data and adaptively convert the electric skateboard into standby mode. The system detects the tilt parameter changes of the center of gravity data in real time, and resumes the collection of the capacitance value data according to these tilt parameter changes, wakes up the electric skateboard at the same time, and calls back the standby state to the active state; when the system detects that the user has been gliding for a long time and the capacitance value has not changed, it automatically enters the standby state. The power consumption of the skateboard in the standby state is significantly reduced, which helps to extend the battery life. Because long-term uninterrupted data collection will accelerate the wear of the sensor, by stopping data collection when necessary, the service life of the sensor can be extended. By reducing the continuous operation time of the capacitance sensor and other electronic components, the failure rate is reduced, the life of the equipment is extended, and the maintenance and replacement costs are reduced. At the same time, the system can intelligently judge the user status and Automatically manage the standby and activation states of the skateboard without manual intervention by the user, that is, the user does not need to manually adjust the skateboard state, the system automatically handles it, and improves ease of use. When the tilt parameters of the user's center of gravity data change, the skateboard automatically recovers from the standby state to ensure the continuity of sliding, and by automatically entering the standby state and reactivating, the risk of misoperation is reduced, especially when the user stops but forgets to turn off the skateboard, because if the user accidentally stops operating or leaves the skateboard, the system will automatically standby to prevent the skateboard from losing control. When a change in the center of gravity is detected, the skateboard quickly returns to the activation state to ensure that the user can control the skateboard in time, that is, the skateboard can adaptively adjust according to the user's actions and status, providing a more intelligent and humanized experience.

[0068] In this embodiment, after the step S3 of controlling the electric skateboard to output a change acceleration according to the center of gravity data and detecting the speed output instruction received by the electric skateboard in real time, the method further includes:

[0069] S301: Based on a gyroscope preset on the electric skateboard, measuring acceleration data of the electric skateboard in various directions, generating motion state data of the electric skateboard in a virtual environment according to the acceleration data, and establishing posture information of the user according to the motion state data;

[0070] S302: Determine whether the posture information matches the posture data pre-recorded by the electric skateboard;

[0071] S303: If not, detecting the tilt state of the electric skateboard, identifying the corresponding posture deviation from the posture information based on the tilt state, applying a preset proportional integral differential algorithm to adjust the motor output of the electric skateboard, and continuously balancing the posture deviation through the motor output until monitoring that the electric skateboard recovers from the tilt state to a stable state, wherein the motor output specifically includes output power and rotation speed.

[0072] In this embodiment, the system measures the acceleration data of the electric skateboard in various directions based on the gyroscope pre-installed on the electric skateboard, generates the motion state data of the electric skateboard in the virtual environment according to the acceleration data, establishes the user's posture information according to different motion state data, and then the system determines whether the posture information is consistent with the posture data pre-recorded by the electric skateboard to execute the corresponding steps; for example, when the system determines that the user's posture information can be consistent with the posture data pre-recorded by the electric skateboard, the system will consider that the user's posture is consistent with the preset data, indicating that the control system of the skateboard can correctly interpret the user's input, that is, the motion state of the skateboard is consistent with the user's intention. Figure 1The system will optimize the acceleration, deceleration and steering control of the skateboard according to the user's posture information to provide a smooth gliding experience. It will adjust the power output of the electric skateboard to ensure that the acceleration, speed and braking response of the skateboard meet the user's expectations. At the same time, it will continuously monitor the user's posture information to ensure that the user slides in the correct posture to prevent accidents caused by incorrect posture. If the user's posture information is about to deviate from the preset data, the system will prompt the user to adjust the posture through sound or visual, and adaptively adjust the feedback mechanism of the skateboard according to the user's posture information, such as vibration feedback and sound prompts, to enhance the user's perceptual experience, and record the user's posture data and gliding behavior for subsequent data analysis. For example, when the system determines that the user's posture information cannot match the posture data pre-recorded by the electric skateboard, the system will believe that the electric skateboard cannot interpret the user's posture. The system will detect the tilt state of the electric skateboard and based on the user's posture information, the system will detect the tilt state of the electric skateboard and adjust the posture based on the user's posture information. Different tilt states identify corresponding posture deviations from posture information, and use a pre-set proportional-integral-differential algorithm to adjust the motor output of the electric skateboard. The motor output specifically includes output power and speed. The posture deviation is continuously balanced through the motor output until the electric skateboard is monitored to recover from the tilt state to the stable state; the system ensures that the skateboard can maintain stability in various postures, allowing users to control the skateboard more easily, reducing the loss of control or instability caused by the tilt of the skateboard, and improving the stability and safety of sliding. At the same time, it ensures that when the user slides in an undesirable posture, the skateboard can automatically adjust to protect the user's safety, reduce the risk of accidents caused by posture deviations, improve sliding safety, and achieve balanced adjustment of the motor output, so that the skateboard can maintain optimal performance in various postures, because the proportional-integral-differential (PID) algorithm can accurately adjust the output power and speed of the motor according to different posture deviations.

[0073] It should be noted that the preset proportional integral differential algorithm is applied to adjust the motor output of the electric skateboard, and the specific example is as follows:

[0074] Assume that the electric skateboard is running and detects that the skateboard is tilted 5 degrees to the right, while the user's posture is horizontal (0 degrees). That is, the tilt angle of the electric skateboard is 5 degrees, and the target value is 0 degrees. The error is 5 degrees. At this time, the PID algorithm will be used to adjust the motor output to restore the skateboard to a horizontal state. The proportional control formula is: , the formula for integral control is , the formula for differential control is , and the total control output formula is ;

[0075] The proportional control is:

[0076] Error: 5 degrees;

[0077] Proportional Gain : 2;

[0078] Proportional control output: 2×5=10;

[0079] The integral control is:

[0080] Error accumulation: 30 degrees·second;

[0081] Integral gain :0.1;

[0082] Integral control output: 0.1×30=30;

[0083] That is, the differential control is:

[0084] Error change rate: 2 degrees / second;

[0085] Differential Gain : 1;

[0086] Differential control output: 1×2=2;

[0087] Finally, the total control output is calculated as: 10+3+2=15;

[0088] The system adjusts the power and speed of the motor according to the total control output 15 calculated by the PID algorithm, so that the electric skateboard gradually returns to a horizontal state. The specific operations include increasing the motor power to offset the tilt, or adjusting the speed to balance the skateboard. In summary, the application of the PID algorithm to adjust the motor output of the electric skateboard can achieve efficient posture control and help the skateboard maintain stability under various posture deviations. By accurately controlling the power and speed of the motor, the PID algorithm can adjust the balance state of the skateboard in real time, thereby improving the safety and comfort of sliding.

[0089] In this embodiment, the step S5 of directionally maintaining the moving speed of the electric skateboard and controlling the pulleys of the electric skateboard to perform differential transmission based on the steering instruction output by the user further includes:

[0090] S51: Based on the moving route preset by the user for the electric skateboard, detecting in real time the required turning distance of the moving route;

[0091] S52: Determine whether the required turning distance reaches a preset distance threshold of the electric skateboard;

[0092] S53: If so, the moving speed is linearly slowed down according to the required turning distance and the distance between the electric skateboard and the moving skateboard, and the turning instruction output by the user for the driving direction is collected. After monitoring that the electric skateboard has completed the corresponding turning, the moving speed is reset, redirected and maintained.

[0093] In this embodiment, the system detects the required turning distance of the moving route in real time based on the moving route pre-set by the user for the electric skateboard, and then the system determines whether the required turning distance reaches the distance threshold pre-set by the electric skateboard to execute the corresponding steps; for example, when the system determines that the required turning distance of the moving route does not reach the distance threshold pre-set by the electric skateboard, the system will consider that during the current sliding process, the intersection where the user needs to turn has not yet been reached, and the system will maintain the electric skateboard in the current driving state, cruise until the required turning distance of the turning point is reached, to ensure the smooth operation of the skateboard before reaching the turning point, and at the same time continue to detect the change in the distance between the skateboard and the target turning point to ensure that the situation of reaching the turning point is captured in time, and the distance between the current position of the skateboard and the turning point is tracked in real time by using sensors in conjunction with GPS data, and when the skateboard approaches the turning point, the action of preparing for turning is initiated, including adjusting the speed and changing the lane, and when it is detected that the distance is about to approach the threshold, the system will start the turning preparation operation, including deceleration or adjusting the angle; for example, when the system determines that the required turning distance of the moving route reaches the distance threshold pre-set by the electric skateboard, the system will consider that the electric skateboard needs to prepare for turning. For steering action, the system will linearly slow down the current moving speed of the electric skateboard according to the required turning distance and the distance between the electric skateboard and the skateboard, collect the steering instructions output by the user for the driving direction, reset the moving speed of the electric skateboard to record the cruise control after monitoring that the electric skateboard has completed the corresponding turning, and re-collect the corresponding moving speed of the cruise control required for directional maintenance; the system gradually slows down the speed to reduce the vibration and discomfort caused by sharp turns and ensure smooth steering operations, because deceleration makes the electric skateboard easier to control when turning, reducing the risk of loss of control caused by high-speed turning, while ensuring that the system makes precise turns according to the user's actual steering instructions, enhancing the control of steering operations, and improving the user's control experience and satisfaction with the electric skateboard by accurately responding to the user's instructions. After the turning is completed, the cruise control is resumed, which helps to restore a stable driving speed and improve the comfort of sliding. By resetting the cruising speed, the electric skateboard can maintain the best speed control in the new driving state and optimize the driving efficiency. By dynamically adjusting the speed and direction, the adaptability and safety of the electric skateboard under various road conditions are enhanced, so that the system can flexibly respond to different driving conditions and user needs and provide real-time dynamic adjustment response.

[0094] In this embodiment, the step S2 of determining whether the force information matches the preset force of the user further includes:

[0095] S21: synchronously collecting a pressure surface generated by the user stepping on the electric skateboard based on a front sensor and a rear sensor preset on the electric skateboard;

[0096] S22: Determine whether the pressure surface matches a preset area of ​​the electric skateboard;

[0097] S23: If yes, then according to the pedaling action preset by the user on the electric skateboard, the electric skateboard is lit up, and according to the driving scene selected by the user on the electric skateboard, the moving speed threshold of the electric skateboard is limited, wherein the driving scene specifically includes urban driving, off-road driving and ramp driving.

[0098] In this embodiment, the system synchronously collects the pressure surface generated by the user stepping on the electric skateboard based on the front sensor and the rear sensor pre-set on the electric skateboard, and then the system determines whether these pressure surfaces match the pre-set stepping area on the electric skateboard to execute the corresponding steps; for example, when the system determines that the pressure surface generated by the user stepping on the electric skateboard does not match the pre-set stepping area on the electric skateboard, the system will consider that the position of the user's foot stepping on the electric skateboard is offset, resulting in an unstable center of gravity when standing, and the system will provide visual or auditory prompts through the display panel and voice device of the electric skateboard to guide the user to adjust the standing posture and ensure the correct foot position, use a real-time feedback mechanism to help the user find the correct standing position, and self-check whether there is a fault in the sensor, such as insufficient battery power and dirty sensor surface, to ensure that the sensor is working properly, provide accurate stepping pressure data, and allow the user to adjust the stepping area setting according to their actual situation, and adjust the preset stepping area according to the actual user's stepping data; for example, when the system determines that the pressure surface generated by the user stepping on the electric skateboard can match When the user's pedaling area is pre-set on the electric skateboard, the system will think that the user can slide correctly on the electric skateboard. The system will light up the electric skateboard to activate the power setting of the electric skateboard according to the user's pre-set pedaling action on the electric skateboard, and limit the moving rate threshold of the electric skateboard according to the driving scene selected by the user on the electric skateboard, which specifically includes urban driving, off-road driving and ramp driving. The system reduces the risk of accidents caused by high-speed or inappropriate pedaling by matching the correct pedaling area and the limiting rate threshold, adjusts the rate in different driving scenes, ensures the stability of the skateboard in various environments, and reduces potential dangers during sliding. At the same time, the system can automatically sense the user's pedaling situation and the selected driving scene, so as to intelligently adjust the behavior of the skateboard, improve control accuracy, and reduce the complexity of the user's need to manually adjust the settings, making the skateboard easier to use and improving user satisfaction. It is also optimized for different environmental requirements to ensure that it can provide good performance in various terrains and scenes, so that the electric skateboard can provide the best performance in different environments and enhance the applicability of the skateboard.

[0099] In this embodiment, the step S4 of determining whether the speed output instruction changes within a preset period of time further includes:

[0100] S41: Based on an accelerometer preset in the electric skateboard, collecting acceleration parameters generated when the electric skateboard does not receive the speed output instruction;

[0101] S42: Determine whether the acceleration parameter reaches a preset rate;

[0102] S43: If so, the kinetic energy data of the electric skateboard when going downhill is calculated according to the acceleration parameters, the recoverable data of the electric skateboard is generated according to the kinetic energy data, the recoverable data is combined with the current remaining kinetic energy of the electric skateboard, and the total kinetic energy of the electric skateboard is comprehensively presented on a preset interface, wherein the recoverable data specifically includes the battery power and the recovery power.

[0103] In this embodiment, the system collects acceleration parameters generated by inertia when the electric skateboard does not receive a speed output instruction based on an accelerometer pre-installed on the electric skateboard, and then the system determines whether these acceleration parameters reach a preset rate to execute corresponding steps; for example, when the system determines that the acceleration parameters generated by inertia when the electric skateboard does not receive a speed output instruction do not reach a preset rate, the system will consider that the current electric skateboard is sliding on a downhill section. When the travel of the downhill section is too short to be used for the electric skateboard to recover kinetic energy, the system will reduce or suspend kinetic energy recovery in the short downhill section and wait for a sufficient downhill section to be reached. The recovery function is enabled after the user has traveled a certain distance. By recording the length and slope of the downhill section, the data is used to optimize the subsequent energy management strategy, reduce the gliding discomfort caused by too frequent kinetic energy recovery, and provide a smoother gliding experience. At the same time, when it is detected that the downhill section is too short, the system will prompt the user of the current road condition and system status through the display or voice, so that the user can understand the current road condition and system status, and help him make more appropriate gliding decisions. The acceleration threshold is dynamically adjusted according to the actual situation to adapt to downhill sections of different lengths. The kinetic energy recovery strategy is monitored and adjusted in real time during the gliding process to ensure effective use of the downhill section. For example, when the system When it is determined that the acceleration parameter generated by inertia when the electric skateboard has not received the speed output command has reached a preset rate, the system will consider that the current electric skateboard is sliding downhill, and the downhill section is sufficient for the electric skateboard to recover kinetic energy. The system will calculate the kinetic energy data of the electric skateboard when it is sliding downhill according to the acceleration parameters, and generate the recoverable data of the electric skateboard based on these kinetic energy data. The recoverable data specifically includes the battery power and the recovery power. The recoverable data is combined with the current remaining kinetic energy of the electric skateboard, and the total kinetic energy of the electric skateboard is comprehensively presented on a preset display interface; the system accurately calculates the kinetic energy generated by the downhill, and It is converted into battery power and recovery power, which helps to maximize energy recovery. By effectively recovering kinetic energy during downhill, the battery charging efficiency and the overall energy efficiency of the skateboard are improved. At the same time, users can view the effect of kinetic energy recovery in real time, including battery power and recovery power, understand the energy status of the electric skateboard, provide clear energy information, and help users make more reasonable gliding decisions, such as adjusting the gliding method or planning the charging time. The system can intelligently adjust the recovery function according to the actual acceleration and kinetic energy data to achieve more efficient energy management. By automatically calculating and adjusting the kinetic energy recovery settings, it ensures the best energy utilization in different gliding environments.

[0104] In this embodiment, the step S1 of collecting the force information on the pedal based on the preset pressure sensor of the electric skateboard includes:

[0105] S11: Detecting conductivity data on the electric skateboard based on a conductivity sensor preset on the electric skateboard;

[0106] S12: Determine whether the conductivity data exceeds a preset conductivity threshold of the electric skateboard;

[0107] S13: If so, restrict the user from lighting up the electric skateboard, activate the preset light on the pedal surface of the electric skateboard, illuminate the pedal surface with the light, generate the moisture position on the pedal surface, monitor in real time until the moisture disappears, and restore the user's permission to light up the electric skateboard.

[0108] In this embodiment, the system detects the conductivity data on the electric skateboard based on the conductivity sensor pre-installed on the electric skateboard, and then the system determines whether the conductivity data exceeds the conductivity threshold pre-set for the electric skateboard to execute the corresponding steps; for example, when the system determines that the conductivity data on the electric skateboard does not exceed the conductivity threshold pre-set for the electric skateboard, the system will deem that there is no residual moisture on the pedal of the electric skateboard, and the system will wait for the user to activate the electric skateboard to operate in normal mode after confirming that there is no residual moisture, to ensure that the electric skateboard operates stably in the absence of moisture and provide a smooth gliding experience, while continuing to monitor the conductivity data in real time to ensure that there will be no moisture problems in subsequent use, to ensure that all functions operate under normal conditions, to improve the user's convenience, and to perform trend analysis on the conductivity data to understand the performance of the electric skateboard under different conditions, and to record the conductivity data for subsequent analysis and reference; for example, when the system determines that the conductivity data on the electric skateboard exceeds the conductivity threshold pre-set for the electric skateboard value, the system will think that there is residual moisture on the pedal of the electric skateboard, the system will restrict the user from lighting the electric skateboard, activate the pre-set light on the pedal surface of the electric skateboard, and illuminate the pedal surface with the light to generate the moisture position on the pedal surface. The system will monitor in real time until the residual moisture disappears, and then restore the user's permission to light up the electric skateboard; the system generates the moisture position through the light and monitors the disappearance of the moisture to ensure that all residual moisture is completely removed, avoid operating the electric skateboard when moisture exists, reduce the risk of electrical failures and safety hazards, prevent electric shock or other safety problems caused by moisture, ensure the safety of users when using it, and ensure that the equipment operates without moisture interference, reduce equipment failures caused by moisture, and automatically restore the user's permission to light up after the moisture is completely dry. By automatically restoring the permission to light up, the user's operation interruption due to moisture treatment is reduced, and the moisture condition is monitored and fed back in real time to ensure that the electric skateboard operates in the best condition and is used in a dry state, thereby improving the overall effect of equipment maintenance.

[0109] Reference Figure 2 , is a control system for an electric skateboard in one embodiment of the present invention, comprising:

[0110] The acquisition module 10 is used to collect the force information on the pedal based on the preset pressure sensor of the electric skateboard;

[0111] A judging module 20, used to judge whether the force information matches the preset force of the user;

[0112] an execution module 30, configured to, if yes, activate a preset power setting of the electric skateboard, collect the center of gravity data of the user on the pedal, control the electric skateboard to output a change acceleration according to the center of gravity data, and detect in real time the speed output instruction received by the electric skateboard, wherein the center of gravity data specifically includes a forward center of gravity tilt and a backward center of gravity tilt, and the change acceleration specifically includes a forward acceleration and a reverse acceleration;

[0113] A second judgment module 40 is used to judge whether the speed output instruction changes within a preset period of time;

[0114] The second execution module 50 is used to directionally maintain the moving speed of the electric skateboard if not, control the pulleys of the electric skateboard to perform differential transmission based on the steering command output by the user, and reduce the moving speed accordingly according to the transmission efficiency of the differential transmission. After the differential transmission and the moving speed meet the preset steering conditions, execute the steering command to control the electric skateboard to decelerate and turn, and temporarily shield the center of gravity data collection of the electric skateboard during the deceleration turn.

[0115] In this embodiment, the acquisition module 10 acquires the force information borne on the pedal of the electric skateboard based on the pressure sensor pre-set by the electric skateboard, and then the judgment module 20 judges whether the force information matches the force size pre-set by the user to execute the corresponding steps; for example, when the system determines that the force information borne on the pedal cannot match the force size pre-set by the user, the system will think that the user may not stand completely in the preset position or not apply enough force, and the system will issue a sound prompt through the built-in speaker of the skateboard, and display information on the display screen of the skateboard or the connected mobile device to prompt the user how to stand correctly, and at the same time prompt the user to check and clean foreign objects on the surface of the pedal, such as soil, stones or other debris, reminding the user to ensure that the skateboard is used on a flat road surface to avoid the user standing on the electric skateboard when the ground is uneven, and the built-in self-check program of the skateboard regularly checks the status of the sensor, including sensor connection, voltage and signal, and when the self-check finds that the sensor is abnormal, the user is prompted to repair or replace the sensor; for example, when the system determines that the force information borne on the pedal can match the force size pre-set by the user, the execution module 30 The system will consider that the user's standing posture on the electric skateboard is correct, and will activate the power setting pre-set for the electric skateboard, collect the center of gravity data of the user on the pedal, the center of gravity data specifically includes the forward tilt of the center of gravity and the backward tilt of the center of gravity, and control the electric skateboard to output the change acceleration according to different center of gravity data, the change acceleration specifically includes the forward acceleration and the backward acceleration, and detect the speed output instruction received by the electric skateboard in real time; the system ensures that the power setting is activated only after the user stands firmly, avoiding the risk caused by accidental start, and by collecting the user's center of gravity data, adjusting the acceleration of the skateboard in real time to maintain the balance and stability of the skateboard. At the same time, the user only needs to control the forward and backward movement of the skateboard by leaning forward or backward, and the operation is more intuitive and natural. Intelligent acceleration and deceleration provide a smooth gliding experience, reduce abrupt speed changes, and accurate center of gravity data collection and acceleration control ensure that the movement of the skateboard is highly consistent with the user's intention, that is, the system can quickly respond to the user's center of gravity changes, adjust the movement state of the skateboard in time, and improve the accuracy and flexibility of the operation; then the second judgment module 40 determines whether these speed output instructions change within a preset time period to execute the corresponding steps;For example, when the system determines that the speed output instruction received by the electric skateboard has changed within a preset period of time, the system will consider that the current driving section of the user requires long-term speed output control, and the system will set a constant speed value according to the speed output instruction of the user and the current speed data, that is, automatically adjust the power output of the skateboard to maintain the set constant speed, and at the same time detect the slope change of the road surface through a gyroscope or an accelerometer, and automatically adjust the power output according to the slope data, increase the power when going uphill, and reduce the power when going downhill, and monitor the speed data of the skateboard in real time to ensure that it is maintained within the set constant speed range, and feedback the current speed and road condition information through sound, vibration or display screen; for example, when the system determines that the speed output instruction received by the electric skateboard has not changed within a preset period of time, at this time, the second execution module 50 will consider that the current driving section of the user does not require long-term speed output control, and the system will activate the cruise control pre-set on the electric skateboard, directionally maintain the moving speed of the electric skateboard, and control the pulleys of the electric skateboard to perform differential rotation based on the steering instruction output by the user, and adjust the moving speed accordingly according to the transmission efficiency of the differential transmission. Speed, after the differential rotation and moving speed meet the pre-set steering conditions, the steering command is executed to control the electric skateboard to decelerate and turn, and the center of gravity data collection from the user is temporarily shielded when the electric skateboard is in deceleration and turning; when the user does not need to control the speed output for a long time on the current driving section, the system automatically enables cruise control to maintain a constant speed, that is, the user does not need to continuously adjust the speed, reducing the fatigue of long-term sliding. Cruise control provides smooth speed control to ensure smooth sliding. At the same time, the system controls the skateboard pulley to perform differential rotation according to the steering command output by the user to achieve precise steering. Through differential transmission technology, the accuracy and flexibility of the steering process are ensured, and the moving speed is automatically lowered according to the transmission efficiency of the differential transmission to ensure the stability and safety of the steering. When executing the steering command, the system will first decelerate to ensure the safety of the turning process. During the turning process, the change of the user's center of gravity may cause the system to misjudge, so shielding the center of gravity data can avoid this situation. Shielding the center of gravity data can ensure that the system maintains stable control when turning, and is not disturbed by the change of the user's center of gravity, ensuring that the steering operation is safer and more reliable. ;

[0116] In this embodiment, the execution module further includes:

[0117] A collection unit, used for collecting capacitance value data generated by the user on the pedal in real time based on a capacitance sensor preset on the electric skateboard;

[0118] A judging unit, used to judge whether the capacitance value data changes within a preset time period;

[0119] The execution unit is used to stop collecting the capacitance value data if no, adaptively convert the electric skateboard into a standby state, detect the tilt parameter change of the center of gravity data in real time, resume collecting the capacitance value data according to the tilt parameter change, wake up the electric skateboard at the same time, and call back the standby state to an active state.

[0120] In this embodiment, the system collects the capacitance value data generated by the user on the pedal in real time based on the capacitance sensor pre-installed on the electric skateboard, and then the system determines whether these capacitance value data change within a preset time period to execute the corresponding steps; for example, when the system determines that the capacitance value data generated by the user on the pedal has changed within a preset time period, the system will consider that the position of the user's foot moving from the pedal or the center of gravity has changed multiple times over a long period of time. When the system detects the user's posture change (such as center of gravity movement, foot position change), it adjusts the control parameters of the skateboard to ensure safety and stability, ensure that the skateboard can respond to the user's posture changes in real time, provide a better operating experience, and prevent loss of control due to posture changes. or falls, and when it detects that the user is getting on or off the skateboard, it automatically performs corresponding operations to ensure the user's safety, that is, when the capacitance value change matches the user's standing mode, the skateboard is started, and when the capacitance value change matches the user's leaving mode, the skateboard is turned off or enters standby mode. When environmental interference is detected, appropriate measures are taken to ensure the normal operation of the skateboard, avoid misoperation caused by environmental interference, protect user safety, and prevent moisture and other damage to the internal electronic components of the skateboard; for example, when the system determines that the capacitance value data generated by the user on the pedal has not changed within a preset time period, the system will think that the user has been gliding on the electric skateboard for a long time without stopping, and the system will stop collecting capacitance value data and adaptively convert the electric skateboard into standby mode. The system detects the tilt parameter changes of the center of gravity data in real time, and resumes the collection of the capacitance value data according to these tilt parameter changes, wakes up the electric skateboard at the same time, and calls back the standby state to the active state; when the system detects that the user has been gliding for a long time and the capacitance value has not changed, it automatically enters the standby state. The power consumption of the skateboard in the standby state is significantly reduced, which helps to extend the battery life. Because long-term uninterrupted data collection will accelerate the wear of the sensor, by stopping data collection when necessary, the service life of the sensor can be extended. By reducing the continuous operation time of the capacitance sensor and other electronic components, the failure rate is reduced, the life of the equipment is extended, and the maintenance and replacement costs are reduced. At the same time, the system can intelligently judge the user status and Automatically manage the standby and activation states of the skateboard without manual intervention by the user, that is, the user does not need to manually adjust the skateboard state, the system automatically handles it, and improves ease of use. When the tilt parameters of the user's center of gravity data change, the skateboard automatically recovers from the standby state to ensure the continuity of sliding, and by automatically entering the standby state and reactivating, the risk of misoperation is reduced, especially when the user stops but forgets to turn off the skateboard, because if the user accidentally stops operating or leaves the skateboard, the system will automatically standby to prevent the skateboard from losing control. When a change in the center of gravity is detected, the skateboard quickly returns to the activation state to ensure that the user can control the skateboard in time, that is, the skateboard can adaptively adjust according to the user's actions and status, providing a more intelligent and humanized experience.

[0121] In this embodiment, it also includes:

[0122] A measurement module, configured to measure acceleration data of the electric skateboard in various directions based on a gyroscope preset on the electric skateboard, generate motion state data of the electric skateboard in a virtual environment according to the acceleration data, and establish posture information of the user according to the motion state data;

[0123] A third judgment module is used to judge whether the posture information conforms to the posture data pre-recorded by the electric skateboard;

[0124] The third execution module is used to detect the tilt state of the electric skateboard if not, identify the corresponding posture deviation from the posture information based on the tilt state, apply a preset proportional integral differential algorithm to adjust the motor output of the electric skateboard, and continuously balance the posture deviation through the motor output until the electric skateboard is monitored to recover from the tilt state to a stable state, wherein the motor output specifically includes output power and rotation speed.

[0125] In this embodiment, the system measures the acceleration data of the electric skateboard in various directions based on the gyroscope pre-installed on the electric skateboard, generates the motion state data of the electric skateboard in the virtual environment according to the acceleration data, establishes the user's posture information according to different motion state data, and then the system determines whether the posture information is consistent with the posture data pre-recorded by the electric skateboard to execute the corresponding steps; for example, when the system determines that the user's posture information can be consistent with the posture data pre-recorded by the electric skateboard, the system will consider that the user's posture is consistent with the preset data, indicating that the control system of the skateboard can correctly interpret the user's input, that is, the motion state of the skateboard is consistent with the user's intention. Figure 1The system will optimize the acceleration, deceleration and steering control of the skateboard according to the user's posture information to provide a smooth gliding experience. It will adjust the power output of the electric skateboard to ensure that the acceleration, speed and braking response of the skateboard meet the user's expectations. At the same time, it will continuously monitor the user's posture information to ensure that the user slides in the correct posture to prevent accidents caused by incorrect posture. If the user's posture information is about to deviate from the preset data, the system will prompt the user to adjust the posture through sound or visual, and adaptively adjust the feedback mechanism of the skateboard according to the user's posture information, such as vibration feedback and sound prompts, to enhance the user's perceptual experience, and record the user's posture data and gliding behavior for subsequent data analysis. For example, when the system determines that the user's posture information cannot match the posture data pre-recorded by the electric skateboard, the system will believe that the electric skateboard cannot interpret the user's posture. The system will detect the tilt state of the electric skateboard and based on the user's posture information, the system will detect the tilt state of the electric skateboard and adjust the posture based on the user's posture information. Different tilt states identify corresponding posture deviations from posture information, and use a pre-set proportional-integral-differential algorithm to adjust the motor output of the electric skateboard. The motor output specifically includes output power and speed. The posture deviation is continuously balanced through the motor output until the electric skateboard is monitored to recover from the tilt state to the stable state; the system ensures that the skateboard can maintain stability in various postures, allowing users to control the skateboard more easily, reducing the loss of control or instability caused by the tilt of the skateboard, and improving the stability and safety of sliding. At the same time, it ensures that when the user slides in an undesirable posture, the skateboard can automatically adjust to protect the user's safety, reduce the risk of accidents caused by posture deviations, improve sliding safety, and achieve balanced adjustment of the motor output, so that the skateboard can maintain optimal performance in various postures, because the proportional-integral-differential (PID) algorithm can accurately adjust the output power and speed of the motor according to different posture deviations.

[0126] In this embodiment, the second execution module further includes:

[0127] A detection unit, configured to detect in real time the required turning distance of the moving route based on the moving route preset by the user for the electric skateboard;

[0128] A second judgment unit, used to judge whether the required turning distance reaches a preset distance threshold of the electric skateboard;

[0129] The second execution unit is used to linearly slow down the moving speed according to the required turning distance and the distance between the electric skateboard and collect the turning instructions output by the user for the driving direction. After monitoring that the electric skateboard has completed the corresponding turning, the moving speed is reset, redirected and maintained.

[0130] In this embodiment, the system detects the required turning distance of the moving route in real time based on the moving route pre-set by the user for the electric skateboard, and then the system determines whether the required turning distance reaches the distance threshold pre-set by the electric skateboard to execute the corresponding steps; for example, when the system determines that the required turning distance of the moving route does not reach the distance threshold pre-set by the electric skateboard, the system will consider that during the current sliding process, the intersection where the user needs to turn has not yet been reached, and the system will maintain the electric skateboard in the current driving state, cruise until the required turning distance of the turning point is reached, to ensure the smooth operation of the skateboard before reaching the turning point, and at the same time continue to detect the change in the distance between the skateboard and the target turning point to ensure that the situation of reaching the turning point is captured in time, and the distance between the current position of the skateboard and the turning point is tracked in real time by using sensors in conjunction with GPS data, and when the skateboard approaches the turning point, the action of preparing for turning is initiated, including adjusting the speed and changing the lane, and when it is detected that the distance is about to approach the threshold, the system will start the turning preparation operation, including deceleration or adjusting the angle; for example, when the system determines that the required turning distance of the moving route reaches the distance threshold pre-set by the electric skateboard, the system will consider that the electric skateboard needs to prepare for turning. For steering action, the system will linearly slow down the current moving speed of the electric skateboard according to the required turning distance and the distance between the electric skateboard and the skateboard, collect the steering instructions output by the user for the driving direction, reset the moving speed of the electric skateboard to record the cruise control after monitoring that the electric skateboard has completed the corresponding turning, and re-collect the corresponding moving speed of the cruise control required for directional maintenance; the system gradually slows down the speed to reduce the vibration and discomfort caused by sharp turns and ensure smooth steering operations, because deceleration makes the electric skateboard easier to control when turning, reducing the risk of loss of control caused by high-speed turning, while ensuring that the system makes precise turns according to the user's actual steering instructions, enhancing the control of steering operations, and improving the user's control experience and satisfaction with the electric skateboard by accurately responding to the user's instructions. After the turning is completed, the cruise control is resumed, which helps to restore a stable driving speed and improve the comfort of sliding. By resetting the cruising speed, the electric skateboard can maintain the best speed control in the new driving state and optimize the driving efficiency. By dynamically adjusting the speed and direction, the adaptability and safety of the electric skateboard under various road conditions are enhanced, so that the system can flexibly respond to different driving conditions and user needs and provide real-time dynamic adjustment response.

[0131] In this embodiment, the second determination module further includes:

[0132] A second acquisition unit is used to synchronously acquire a pressure surface generated by the user stepping on the electric skateboard based on a front sensor and a rear sensor preset on the electric skateboard;

[0133] A third judgment unit, used to judge whether the pressure surface matches a preset area of ​​the electric skateboard;

[0134] The third execution unit is used to light up the electric skateboard according to the pedaling action preset by the user on the electric skateboard, and limit the moving speed threshold of the electric skateboard according to the driving scene selected by the user on the electric skateboard, wherein the driving scene specifically includes urban driving, off-road driving and ramp driving.

[0135] In this embodiment, the system synchronously collects the pressure surface generated by the user stepping on the electric skateboard based on the front sensor and the rear sensor pre-set on the electric skateboard, and then the system determines whether these pressure surfaces match the pre-set stepping area on the electric skateboard to execute the corresponding steps; for example, when the system determines that the pressure surface generated by the user stepping on the electric skateboard does not match the pre-set stepping area on the electric skateboard, the system will consider that the position of the user's foot stepping on the electric skateboard is offset, resulting in an unstable center of gravity when standing, and the system will provide visual or auditory prompts through the display panel and voice device of the electric skateboard to guide the user to adjust the standing posture and ensure the correct foot position, use a real-time feedback mechanism to help the user find the correct standing position, and self-check whether there is a fault in the sensor, such as insufficient battery power and dirty sensor surface, to ensure that the sensor is working properly, provide accurate stepping pressure data, and allow the user to adjust the stepping area setting according to their actual situation, and adjust the preset stepping area according to the actual user's stepping data; for example, when the system determines that the pressure surface generated by the user stepping on the electric skateboard can match When the user's pedaling area is pre-set on the electric skateboard, the system will think that the user can slide correctly on the electric skateboard. The system will light up the electric skateboard to activate the power setting of the electric skateboard according to the user's pre-set pedaling action on the electric skateboard, and limit the moving rate threshold of the electric skateboard according to the driving scene selected by the user on the electric skateboard, which specifically includes urban driving, off-road driving and ramp driving. The system reduces the risk of accidents caused by high-speed or inappropriate pedaling by matching the correct pedaling area and the limiting rate threshold, adjusts the rate in different driving scenes, ensures the stability of the skateboard in various environments, and reduces potential dangers during sliding. At the same time, the system can automatically sense the user's pedaling situation and the selected driving scene, so as to intelligently adjust the behavior of the skateboard, improve control accuracy, and reduce the complexity of the user's need to manually adjust the settings, making the skateboard easier to use and improving user satisfaction. It is also optimized for different environmental requirements to ensure that it can provide good performance in various terrains and scenes, so that the electric skateboard can provide the best performance in different environments and enhance the applicability of the skateboard.

[0136] In this embodiment, the second determination module further includes:

[0137] A third acquisition unit, configured to acquire acceleration parameters generated when the electric skateboard does not receive the speed output instruction based on an accelerometer preset in the electric skateboard;

[0138] A fourth determination unit, used to determine whether the acceleration parameter reaches a preset rate;

[0139] The fourth execution unit is used to calculate the kinetic energy data of the electric skateboard when going downhill according to the acceleration parameters, generate recoverable data of the electric skateboard according to the kinetic energy data, merge the recoverable data with the current remaining kinetic energy of the electric skateboard, and comprehensively present the total kinetic energy of the electric skateboard on a preset interface, wherein the recoverable data specifically includes battery power and recovery power.

[0140] In this embodiment, the system collects acceleration parameters generated by inertia when the electric skateboard does not receive a speed output instruction based on an accelerometer pre-installed on the electric skateboard, and then the system determines whether these acceleration parameters reach a preset rate to execute corresponding steps; for example, when the system determines that the acceleration parameters generated by inertia when the electric skateboard does not receive a speed output instruction do not reach a preset rate, the system will consider that the current electric skateboard is sliding on a downhill section. When the travel of the downhill section is too short to be used for the electric skateboard to recover kinetic energy, the system will reduce or suspend kinetic energy recovery in the short downhill section and wait for a sufficient downhill section to be reached. The recovery function is enabled after the user has traveled a certain distance. By recording the length and slope of the downhill section, the data is used to optimize the subsequent energy management strategy, reduce the gliding discomfort caused by too frequent kinetic energy recovery, and provide a smoother gliding experience. At the same time, when it is detected that the downhill section is too short, the system will prompt the user of the current road condition and system status through the display or voice, so that the user can understand the current road condition and system status, and help him make more appropriate gliding decisions. The acceleration threshold is dynamically adjusted according to the actual situation to adapt to downhill sections of different lengths. The kinetic energy recovery strategy is monitored and adjusted in real time during the gliding process to ensure effective use of the downhill section. For example, when the system When it is determined that the acceleration parameter generated by inertia when the electric skateboard has not received the speed output command has reached a preset rate, the system will consider that the current electric skateboard is sliding downhill, and the downhill section is sufficient for the electric skateboard to recover kinetic energy. The system will calculate the kinetic energy data of the electric skateboard when it is sliding downhill according to the acceleration parameters, and generate the recoverable data of the electric skateboard based on these kinetic energy data. The recoverable data specifically includes the battery power and the recovery power. The recoverable data is combined with the current remaining kinetic energy of the electric skateboard, and the total kinetic energy of the electric skateboard is comprehensively presented on a preset display interface; the system accurately calculates the kinetic energy generated by the downhill, and It is converted into battery power and recovery power, which helps to maximize energy recovery. By effectively recovering kinetic energy during downhill, the battery charging efficiency and the overall energy efficiency of the skateboard are improved. At the same time, users can view the effect of kinetic energy recovery in real time, including battery power and recovery power, understand the energy status of the electric skateboard, provide clear energy information, and help users make more reasonable gliding decisions, such as adjusting the gliding method or planning the charging time. The system can intelligently adjust the recovery function according to the actual acceleration and kinetic energy data to achieve more efficient energy management. By automatically calculating and adjusting the kinetic energy recovery settings, it ensures the best energy utilization in different gliding environments.

[0141] In this embodiment, the acquisition module further includes:

[0142] A second detection unit, configured to detect conductivity data on the electric skateboard based on a conductivity sensor preset on the electric skateboard;

[0143] a fifth determination unit, configured to determine whether the conductivity data exceeds a preset conductivity threshold of the electric skateboard;

[0144] The fifth execution unit is used to, if yes, restrict the user from lighting up the electric skateboard, activate the preset light on the pedal surface of the electric skateboard, illuminate the pedal surface with the light, generate the moisture position on the pedal surface, monitor in real time until the moisture disappears, and restore the user's permission to light up the electric skateboard.

[0145] In this embodiment, the system detects the conductivity data on the electric skateboard based on the conductivity sensor pre-installed on the electric skateboard, and then the system determines whether the conductivity data exceeds the conductivity threshold pre-set for the electric skateboard to execute the corresponding steps; for example, when the system determines that the conductivity data on the electric skateboard does not exceed the conductivity threshold pre-set for the electric skateboard, the system will deem that there is no residual moisture on the pedal of the electric skateboard, and the system will wait for the user to activate the electric skateboard to operate in normal mode after confirming that there is no residual moisture, to ensure that the electric skateboard operates stably in the absence of moisture and provide a smooth gliding experience, while continuing to monitor the conductivity data in real time to ensure that there will be no moisture problems in subsequent use, to ensure that all functions operate under normal conditions, to improve the user's convenience, and to perform trend analysis on the conductivity data to understand the performance of the electric skateboard under different conditions, and to record the conductivity data for subsequent analysis and reference; for example, when the system determines that the conductivity data on the electric skateboard exceeds the conductivity threshold pre-set for the electric skateboard value, the system will think that there is residual moisture on the pedal of the electric skateboard, the system will restrict the user from lighting the electric skateboard, activate the pre-set light on the pedal surface of the electric skateboard, and illuminate the pedal surface with the light to generate the moisture position on the pedal surface. The system will monitor in real time until the residual moisture disappears, and then restore the user's permission to light up the electric skateboard; the system generates the moisture position through the light and monitors the disappearance of the moisture to ensure that all residual moisture is completely removed, avoid operating the electric skateboard when moisture exists, reduce the risk of electrical failures and safety hazards, prevent electric shock or other safety problems caused by moisture, ensure the safety of users when using it, and ensure that the equipment operates without moisture interference, reduce equipment failures caused by moisture, and automatically restore the user's permission to light up after the moisture is completely dry. By automatically restoring the permission to light up, the user's operation interruption due to moisture treatment is reduced, and the moisture condition is monitored and fed back in real time to ensure that the electric skateboard operates in the best condition and is used in a dry state, thereby improving the overall effect of equipment maintenance.

[0146] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling an electric skateboard, characterized in that: The following steps are involved: Based on the preset pressure sensor of the electric skateboard, the force information on the pedal is collected; Determining whether the force information matches a preset force of the user; If yes, activate the preset power setting of the electric skateboard, collect the center of gravity data of the user on the pedal, control the electric skateboard to output the change acceleration according to the center of gravity data, and detect the speed output instruction received by the electric skateboard in real time, wherein the center of gravity data specifically includes the forward inclination of the center of gravity and the backward inclination of the center of gravity, and the change acceleration specifically includes the forward acceleration and the reverse acceleration; Determining whether the speed output instruction changes within a preset time period; If not, the moving speed of the electric skateboard is maintained in a direction, and based on the steering command output by the user, the pulleys of the electric skateboard are controlled to perform differential transmission, and the moving speed is correspondingly reduced according to the transmission efficiency of the differential transmission. After the differential transmission and the moving speed meet the preset steering conditions, the steering command is executed to control the electric skateboard to perform a deceleration turn, and the center of gravity data collection of the electric skateboard is temporarily shielded during the deceleration turn.

2. The control method for an electric skateboard according to claim 1, characterized in that: The step of activating the preset power setting of the electric skateboard and collecting the center of gravity data of the user on the pedal further includes: Based on a capacitive sensor preset on the electric skateboard, the capacitance value data generated by the user on the pedal is collected in real time; Determining whether the capacitance value data changes within a preset time period; If not, stop collecting the capacitance value data, adaptively convert the electric skateboard to a standby state, detect the tilt parameter changes of the center of gravity data in real time, resume collecting the capacitance value data according to the tilt parameter changes, wake up the electric skateboard, and call back the standby state to an active state.

3. The control method for an electric skateboard according to claim 1, characterized in that: After the step of controlling the electric skateboard to output a change acceleration according to the center of gravity data and detecting the speed output instruction received by the electric skateboard in real time, the method further includes: Based on a gyroscope preset on the electric skateboard, measuring acceleration data of the electric skateboard in various directions, generating motion state data of the electric skateboard in a virtual environment according to the acceleration data, and establishing posture information of the user according to the motion state data; Determining whether the posture information matches the posture data pre-recorded by the electric skateboard; If not, the tilt state of the electric skateboard is detected, and the corresponding posture deviation is identified from the posture information based on the tilt state, and a preset proportional integral differential algorithm is applied to adjust the motor output of the electric skateboard, and the posture deviation is continuously balanced through the motor output until the electric skateboard is monitored to recover from the tilt state to a stable state, wherein the motor output specifically includes output power and rotation speed.

4. The control method for an electric skateboard according to claim 1, characterized in that: The step of directionally maintaining the moving speed of the electric skateboard and controlling the pulleys of the electric skateboard to perform differential transmission based on the steering instruction output by the user further includes: Based on the moving route preset by the user for the electric skateboard, detecting in real time the required turning distance of the moving route; Determining whether the required turning distance reaches a preset distance threshold of the electric skateboard; If so, the moving speed is linearly slowed down according to the required turning distance and the distance between the electric skateboard and the moving speed, and the turning instruction output by the user for the driving direction is collected. After monitoring that the electric skateboard has completed the corresponding turning, the moving speed is reset, redirected and maintained.

5. The control method for an electric skateboard according to claim 1, characterized in that: The step of determining whether the force information matches the preset force of the user further includes: Based on the front sensor and the rear sensor preset on the electric skateboard, synchronously collecting the pressure surface generated by the user stepping on the electric skateboard; Determining whether the pressure surface matches a preset area of ​​the electric skateboard; If so, the electric skateboard is turned on according to the pedaling action preset by the user on the electric skateboard, and the moving speed threshold of the electric skateboard is limited according to the driving scene selected by the user on the electric skateboard, wherein the driving scene specifically includes urban driving, off-road driving and ramp driving.

6. The control method for an electric skateboard according to claim 1, characterized in that: The step of determining whether the speed output instruction changes within a preset period of time also includes: Based on the accelerometer preset in the electric skateboard, collecting acceleration parameters generated when the electric skateboard does not receive the speed output instruction; Determining whether the acceleration parameter reaches a preset rate; If so, the kinetic energy data of the electric skateboard when going downhill is calculated according to the acceleration parameters, the recoverable data of the electric skateboard is generated according to the kinetic energy data, the recoverable data is merged with the current remaining kinetic energy of the electric skateboard, and the total kinetic energy of the electric skateboard is comprehensively presented on a preset interface, wherein the recoverable data specifically includes battery power and recovery power.

7. The control method for an electric skateboard according to claim 1, characterized in that: The step of collecting the force information on the pedal based on the preset pressure sensor of the electric skateboard includes: Based on the conductivity sensor preset on the electric skateboard, detecting conductivity data on the electric skateboard; Determining whether the conductivity data exceeds a preset conductivity threshold of the electric skateboard; If so, the user is restricted from lighting up the electric skateboard, and a preset light on the pedal surface of the electric skateboard is activated. The pedal surface is illuminated by the light to generate the moisture position on the pedal surface. The moisture is monitored in real time until the moisture disappears, and the user's permission to light up the electric skateboard is restored.

8. A control system for an electric skateboard, characterized in that: include: A collection module, used for collecting force information on the pedal based on a preset pressure sensor of the electric skateboard; A judging module, used to judge whether the force information matches a preset force of the user; an execution module, configured to, if yes, activate a preset power setting of the electric skateboard, collect the center of gravity data of the user on the pedal, control the electric skateboard to output a change acceleration according to the center of gravity data, and detect in real time the speed output instruction received by the electric skateboard, wherein the center of gravity data specifically includes a forward tilt of the center of gravity and a backward tilt of the center of gravity, and the change acceleration specifically includes a forward acceleration and a reverse acceleration; A second judgment module is used to judge whether the speed output instruction changes within a preset time period; The second execution module is used to directionally maintain the moving speed of the electric skateboard if not, control the pulleys of the electric skateboard to perform differential transmission based on the steering command output by the user, and reduce the moving speed accordingly according to the transmission efficiency of the differential transmission. After the differential transmission and the moving speed meet the preset steering conditions, execute the steering command to control the electric skateboard to decelerate and turn, and temporarily shield the center of gravity data collection of the electric skateboard during the deceleration turn.

9. The control system for an electric skateboard according to claim 8, characterized in that: The execution module also includes: A collection unit, used for collecting capacitance value data generated by the user on the pedal in real time based on a capacitance sensor preset on the electric skateboard; A judging unit, used to judge whether the capacitance value data changes within a preset time period; The execution unit is used to stop collecting the capacitance value data if no, adaptively convert the electric skateboard into a standby state, detect the tilt parameter change of the center of gravity data in real time, resume collecting the capacitance value data according to the tilt parameter change, wake up the electric skateboard at the same time, and call back the standby state to an active state.

10. The control system for an electric skateboard according to claim 8, characterized in that: Also includes: A measurement module, configured to measure acceleration data of the electric skateboard in various directions based on a gyroscope preset on the electric skateboard, generate motion state data of the electric skateboard in a virtual environment according to the acceleration data, and establish posture information of the user according to the motion state data; A third judgment module is used to judge whether the posture information conforms to the posture data pre-recorded by the electric skateboard; The third execution module is used to detect the tilt state of the electric skateboard if not, identify the corresponding posture deviation from the posture information based on the tilt state, apply a preset proportional integral differential algorithm to adjust the motor output of the electric skateboard, and continuously balance the posture deviation through the motor output until the electric skateboard is monitored to recover from the tilt state to a stable state, wherein the motor output specifically includes output power and rotation speed.

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