Child electric motorcycle remote control method and system based on Internet of Things

Abstract

The invention discloses a child electric motorcycle remote control method and system based on the Internet of Things, and particularly relates to the field of child electric motorcycle remote control, and the system comprises a user terminal, a vehicle control terminal, a sensor module, an information processing unit, a communication module and a cloud server. Operation data of the child electric motorcycle are collected in multiple directions through the sensor module; a user sends a remote control instruction through an operation interface on a user terminal according to the real-time running state of a vehicle, the user terminal sends the control instruction to a cloud server, and after the cloud server verifies and analyzes the instruction, the instruction is forwarded to a vehicle control terminal through a communication module; through the Internet of Things technology and multi-angle data acquisition, a user can remotely and accurately control the electric motorcycle for children, the distance limitation of a traditional remote control mode is broken through, parents can operate the motorcycle at a farther distance, and the riding safety of children is effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of remote control of children's electric motorcycles, and more specifically, the present invention relates to a method and system for remote control of children's electric motorcycles based on the Internet of Things. Background Art

[0002] With the development of technology and the improvement of living standards, children's electric motorcycles, as a common children's toy, are loved by many parents and children. Traditional children's electric motorcycles usually adopt a short-range wireless remote control method, with a limited control distance and unable to obtain real-time vehicle operation status information. During the process of children riding, it is difficult for parents to effectively control and supervise the vehicle at a relatively long distance, posing certain safety hazards.

[0003] Although there are some children's electric motorcycles with remote control functions on the market currently, most of them have problems such as single function, low control accuracy, and poor stability. Some products only achieve simple remote start and stop functions, and it is difficult to precisely control key parameters such as the speed and steering of the vehicle, which is difficult to meet the needs of parents for children's riding safety and diverse experiences, affecting the user experience.

[0004] Therefore, there is an urgent need for a method for remote control of children's electric motorcycles based on the Internet of Things to achieve remote precise control of children's electric motorcycles through Internet of Things technology, obtain real-time vehicle operation status information, and be able to make intelligent adjustments according to the actual situation. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a method and system for remote control of children's electric motorcycles based on the Internet of Things, through the following solutions to solve the problems raised in the above background art.

[0006] To achieve the above object, the present invention provides the following technical solution: A method for remote control of children's electric motorcycles based on the Internet of Things, including: a user terminal, a vehicle control terminal, a sensor module, an information processing unit, a communication module, and a cloud server, wherein the sensor module and the communication module are both integrated on the vehicle control terminal of the children's electric motorcycle, and specifically includes the following steps:

[0007] S1. The sensor module collects operation data of the children's electric motorcycle in multiple directions;

[0008] S2. The user sends a remote control instruction through the operation interface on the user terminal according to the real-time operation status of the vehicle. The user terminal sends the control instruction to the cloud server. After the cloud server verifies and analyzes the instruction, it forwards the instruction to the vehicle control terminal through the communication module;

[0009] S3. After the vehicle control terminal receives the control instruction, it performs corresponding control operations on the vehicle according to the instruction type;

[0010] S4. The user terminal conducts safety monitoring, and the information processing unit establishes a safety speed threshold V def , a low battery warning threshold SoC def , a motor temperature threshold T def . When it is detected that the control operation is abnormal, the status is adjusted through the vehicle control terminal.

[0011] Preferably, the operating data includes vehicle speed monitoring: A high-precision Hall sensor is installed on the wheel hub, and its sampling frequency is set to 100 Hz. According to the number of magnetic field change times N detected by the Hall sensor within time t, the vehicle speed is calculated where 2πr is the wheel circumference, and the Kalman filtering algorithm is used to optimize the vehicle speed data, controlling the measurement error within ±1 km / h.

[0012] Preferably, the operating data includes: Pressure sensors are installed at the connection parts between the vehicle chassis and the wheels, one for each wheel. The pressure sensors convert the pressure signals into electrical signals, which are transmitted to the vehicle control terminal after amplification, filtering, and analog-to-digital conversion. The vehicle control terminal calculates the vehicle load according to the sum of the measured values of each sensor where F i represents the measured value of the i-th pressure sensor, and g is the acceleration due to gravity.

[0013] Preferably, the operating data includes precise measurement of the remaining battery power: A dedicated chip with a power monitoring function is used to collect the battery voltage U, current I, battery internal resistance R, battery temperature Tb, self-discharge rate α, and temperature coefficient β, and an improved ampere-hour integration method is used to calculate the remaining battery power

[0014] , where SoC0 represents the initial battery power, C total represents the total battery capacity, U nom represents the nominal voltage, T ref represents the battery temperature threshold.

[0015] Preferably, the operating data includes motor temperature monitoring: A thermistor is embedded in the key heat-generating parts of the motor, and the motor temperature is calculated based on the resistance-temperature characteristic curve of the thermistor and by measuring the resistance value where R T represents the resistance value of the thermistor at temperature T, B represents the material constant, T0 represents the standard reference temperature, and represents the thermistor at temperature T0.

[0016] Preferably, the operating data includes precise acquisition of the steering angle: a high-precision angle sensor is installed in the steering system, with a resolution of 0.1°. The analog signal output by the angle sensor is converted into a digital signal S through ADC, and the steering angle θ = kS + b is calculated, where k and b represent calibration coefficients.

[0017] Preferably, the control operations include:

[0018] (1) When an acceleration instruction is received, the vehicle control terminal calculates the target motor speed n according to the current vehicle speed V, the remaining battery power SoC, and the vehicle load m, and uses the fuzzy control algorithm target-1 = f(V, T(n), SoC, m), where f represents the fuzzy control calculation function. The motor controller adjusts the motor output power according to the target speed n target-1 to achieve smooth acceleration;

[0019] (2) When a deceleration instruction is received, if the battery power is lower than 10%, braking is preferentially used; if the power is higher than 80%, the energy recovery system is started to convert part of the kinetic energy into electrical energy for storage, and the target motor speed n is calculated target-2 = g(V, η), where g is the comprehensive counting function, V represents the vehicle speed, and η represents the energy recovery efficiency; the motor controller reduces the motor output power according to the target motor speed n target-2 to achieve vehicle deceleration;

[0020] (3) When a steering control instruction is received, based on the steering instruction and the current steering angle, combined with the vehicle turning radius r, vehicle speed V, and steering angle θ, the Ackermann steering geometry principle and the vehicle dynamics model are used to calculate the target steering angle θ of the steering motor target = h(V, θ, r), and precise vehicle steering is achieved by controlling the rotation of the steering motor;

[0021] (4) When a parking instruction is received, the vehicle control terminal immediately stops the motor output, starts the braking system using the optimal braking strategy to make the vehicle stop smoothly; at the same time, updates the vehicle status information to the parking state and uploads it to the cloud server.

[0022] Preferably, the safety monitoring includes:

[0023] (2) When the vehicle speed exceeds the preset safety threshold V def , the vehicle control terminal automatically starts the deceleration program and calculates the appropriate deceleration according to the friction coefficient μ, vehicle body weight m, and gravitational acceleration g and reduces the vehicle speed according to this deceleration; at the same time, sends an overspeed alarm message to the user terminal, including the current vehicle speed, overspeed value, and recommended deceleration operation;

[0024] (2) When the battery power is lower than the warning threshold SoC def, the vehicle control terminal reduces the maximum speed limit of the vehicle according to the current speed V to reduce energy consumption, where SoC full represents the battery charge when it is full; at the same time, it sends a low battery alarm to the user terminal to prompt the remaining battery level; when the battery level is lower than 5%, the vehicle is forced to stop;

[0025] (3) When the motor temperature exceeds the threshold T def , the vehicle control terminal reduces the motor output power and calculates the power reduction ratio according to the motor heat dissipation model where T represents the motor temperature, and T nor represents the normal operating temperature of the motor, and at the same time starts the cooling fan; if the temperature continues to be too high, the motor operation is stopped, and an overheat alarm is sent to the user terminal.

[0026] Preferably, a remote control system for a children's electric motorcycle based on the Internet of Things includes: a user terminal, a vehicle control terminal, a sensor module, an information processing unit, a communication module, and a cloud server, where the sensor module and the communication module are both integrated on the vehicle control terminal of the children's electric motorcycle, and specifically include:

[0027] Data acquisition module: The sensor module multi-directionally acquires the operation data of the children's electric motorcycle;

[0028] Data transmission module: The user sends a remote control instruction through the operation interface according to the real-time operation state of the vehicle on the user terminal. The user terminal sends the control instruction to the cloud server. After the cloud server verifies and parses the instruction, it forwards the instruction to the vehicle control terminal through the communication module;

[0029] Terminal operation module: After the vehicle control terminal receives the control instruction, it performs corresponding control operations on the vehicle according to the instruction type;

[0030] Real-time adjustment module: The user terminal performs safety monitoring, and the information processing unit establishes a safety speed threshold V def , a low battery warning threshold SoC def , a motor temperature threshold T def , and when it is detected that the control operation is abnormal, the state is adjusted through the vehicle control terminal.

[0031] The technical effects and advantages of the present invention:

[0032] 1. Through the Internet of Things technology and multi-angle data acquisition, the present invention realizes the precise control of the children's electric motorcycle by the user remotely, breaks through the distance limitation of the traditional remote control method, and parents can operate the vehicle at a farther distance, effectively ensuring the safety of children's riding;

[0033] 2. Through the safety monitoring and exception handling mechanism, the present invention can take timely measures when abnormal situations occur in the vehicle, automatically make corresponding adjustments or parking operations, and maximize the riding safety of children. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic structural diagram of the method of the present invention.

[0035] Figure 2 It is a schematic structural diagram of the system of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0037] As shown in the attached Figure 1 A method for remote control of a children's electric motorcycle based on the Internet of Things includes a user terminal, a vehicle control terminal, a sensor module, an information processing unit, a communication module, and a cloud server. Among them, the sensor module and the communication module are both integrated on the vehicle control terminal of the children's electric motorcycle, and specifically include the following steps:

[0038] S1. The sensor module collects the operation data of the children's electric motorcycle from multiple directions;

[0039] In this embodiment, it should be specifically noted that: the operation data includes vehicle speed monitoring: a high-precision Hall sensor is installed on the wheel hub, and its sampling frequency is set to 100Hz. According to the number of magnetic field change times N detected by the Hall sensor within time t, the vehicle speed is calculated where 2πr is the wheel circumference, and the Kalman filter algorithm is used to optimize the vehicle speed data, and the measurement error is controlled within ±1 km / h; the operation data includes: pressure sensors are installed at the connection part between the vehicle chassis and the wheels, one for each wheel. The pressure sensors convert the pressure signals into electrical signals, which are transmitted to the vehicle control terminal after amplification, filtering, and analog-to-digital conversion. The vehicle control terminal calculates the vehicle load according to the sum of the measurement values of each sensor where F i represents the measurement value of the i-th pressure sensor, and g is the acceleration due to gravity; the operation data includes accurate measurement of the remaining battery power: a dedicated chip with a power monitoring function is used to collect the battery voltage U, current I, battery internal resistance R, battery temperature Tb, self-discharge rate α, and temperature coefficient β, and an improved ampere-hour integration method is used to calculate the remaining battery power

[0040] , where SoC0 represents the initial battery charge, C total represents the total battery capacity, U nom represents the nominal voltage, T ref represents the battery temperature threshold; the operating data includes motor temperature monitoring: a thermistor is embedded in the key heat - generating parts of the motor, and the motor temperature is calculated based on the resistance - temperature characteristic curve of the thermistor and by measuring the resistance value where R T represents the resistance value of the thermistor at temperature T, B represents the material constant, T0 represents the standard reference temperature, represents the thermistor at temperature T0; the operating data includes precise steering angle acquisition: a high - precision angle sensor is installed in the steering system with a resolution of 0.1°. The analog signal output by the angle sensor is converted into a digital signal S by an ADC, and the steering angle θ = kS + b is calculated, where k and b represent calibration coefficients.

[0041] S2. The user sends a remote control instruction through the operation interface on the user terminal according to the real - time operating state of the vehicle. The user terminal sends the control instruction to the cloud server. After the cloud server verifies and parses the instruction, it forwards the instruction to the vehicle control terminal through the communication module;

[0042] S3. After receiving the control instruction, the vehicle control terminal performs corresponding control operations on the vehicle according to the instruction type;

[0043] In this embodiment, specifically, it should be noted that: the control operations include:

[0044] (1) When receiving an acceleration instruction, the vehicle control terminal calculates the target motor speed n target-1 = f(V, T(n), SoC, m) according to the current vehicle speed V, the remaining battery charge SoC, and the vehicle load m, where f represents the fuzzy control calculation function. The motor controller adjusts the motor output power according to the target speed n target-1 to achieve smooth acceleration;

[0045] (2) When receiving a deceleration instruction, if the battery charge is less than 10%, braking is preferentially used; if the charge is higher than 80%, the energy recovery system is started to convert part of the kinetic energy into electrical energy for storage, and the target motor speed n target-2 = g(V, η) is calculated, where g is the comprehensive counting function, V represents the vehicle speed, and η represents the energy recovery efficiency; the motor controller reduces the motor output power according to the target motor speed n target-2 to achieve vehicle deceleration;

[0046] (3) When receiving a steering control instruction, based on the steering instruction and the current steering angle, combined with the vehicle steering radius r, vehicle speed V, and steering angle θ, the target steering angle θ of the steering motor is calculated using the Ackermann steering geometry principle and the vehicle dynamics model target = h(V, θ, r), and by controlling the rotation of the steering motor, precise vehicle steering is achieved;

[0047] (4) When receiving a parking instruction, the vehicle control terminal immediately stops the motor output, starts the braking system using the optimal braking strategy to make the vehicle stop smoothly; meanwhile, updates the vehicle status information to the parking state and uploads it to the cloud server.

[0048] S4. The user terminal performs safety monitoring, and the information processing unit establishes a safety speed threshold V def , a low battery warning threshold SoC def , and a motor temperature threshold T def . When it is detected that the control operation is abnormal, the status is adjusted through the vehicle control terminal.

[0049] In this embodiment, specifically, it should be noted that the safety monitoring includes:

[0050] (3) When the vehicle speed exceeds the preset safety threshold V def , the vehicle control terminal automatically starts a deceleration program, and calculates an appropriate deceleration based on the friction coefficient μ, vehicle body weight m, and gravitational acceleration g and reduces the vehicle speed according to this deceleration; meanwhile, sends an overspeed alarm message to the user terminal, including the current vehicle speed, overspeed value, and recommended deceleration operation;

[0051] (2) When the battery power is lower than the warning threshold SoC def , the vehicle control terminal reduces the maximum vehicle speed according to the current vehicle speed V to reduce energy consumption, where SoC full represents the battery full charge; meanwhile, sends a low battery alarm to the user terminal to prompt the remaining battery power; when the power is lower than 5%, the vehicle is forced to stop;

[0052] (3) When the motor temperature exceeds the threshold T def , the vehicle control terminal reduces the motor output power, and calculates the power reduction ratio according to the motor heat dissipation model where T represents the motor temperature, and T nor represents the normal operating temperature of the motor, and at the same time starts the cooling fan; if the temperature continues to be too high, stops the motor operation and sends an overheat alarm to the user terminal.

[0053] Based on the above scheme and appendix Figure 2, embodiments of the present application also disclose a remote control system for a children's electric motorcycle based on the Internet of Things, including a user terminal, a vehicle control terminal, a sensor module, an information processing unit, a communication module, and a cloud server. Among them, the sensor module and the communication module are both integrated on the vehicle control terminal of the children's electric motorcycle, specifically including:

[0054] Data acquisition module: The sensor module collects the operation data of the children's electric motorcycle from multiple directions;

[0055] Data transmission module: The user sends a remote control instruction through the operation interface on the user terminal according to the real-time operation state of the vehicle. The user terminal sends the control instruction to the cloud server. After the cloud server verifies and parses the instruction, it forwards the instruction to the vehicle control terminal through the communication module;

[0056] Terminal operation module: After the vehicle control terminal receives the control instruction, it performs corresponding control operations on the vehicle according to the instruction type;

[0057] Real-time adjustment module: The user terminal performs safety monitoring, and the information processing unit establishes a safety speed threshold V def , a low battery warning threshold SoC def , a motor temperature threshold T def . When it is detected that the control operation is abnormal, the state is adjusted through the vehicle control terminal.

[0058] Secondly: In the accompanying drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments of the present disclosure are involved. For other structures, reference can be made to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0059] Finally: The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A remote control method for a children's electric motorcycle based on the Internet of Things, characterized in that: include: A user terminal, a vehicle control terminal, a sensor module, an information processing unit, a communication module and a cloud server, wherein the sensor module and the communication module are integrated on the vehicle control terminal of the children's electric motorcycle, specifically including the following steps: S1, the sensor module collects the operating data of the children's electric motorcycle from all directions; S2. The user sends a remote control command through the operation interface on the user terminal according to the real-time running status of the vehicle. The user terminal sends the control command to the cloud server. After the cloud server verifies and analyzes the command, it forwards the command to the vehicle control terminal through the communication module. S3. After receiving the control command, the vehicle control terminal performs corresponding control operations on the vehicle according to the command type; S4. The user terminal performs security monitoring, and the information processing unit establishes a security speed threshold V def , low battery warning threshold SoC def , Motor temperature threshold T def ,When an abnormal control operation is detected, the status is adjusted through the vehicle control terminal.

2. The remote control method for a children's electric motorcycle based on the Internet of Things according to claim 1 is characterized in that: The operating data includes vehicle speed monitoring: a high-precision Hall sensor is installed on the wheel hub, and its sampling frequency is set to 100 Hz. The vehicle speed is calculated based on the number of magnetic field changes N detected by the Hall sensor within a time t. Among them, 2πr is the circumference of the wheel, and the Kalman filter algorithm is used to optimize the vehicle speed data to control the measurement error within ±1km / h.

3. The remote control method for a children's electric motorcycle based on the Internet of Things according to claim 1 is characterized in that: The operation data includes: installing pressure sensors at the connection between the vehicle chassis and the wheels, one for each wheel, the pressure sensor converts the pressure signal into an electrical signal, which is transmitted to the vehicle control terminal after amplification, filtering and analog-to-digital conversion, and the vehicle control terminal calculates the vehicle load based on the sum of the measured values ​​of each sensor Among them, F i represents the measurement value of the i-th pressure sensor, and g is the acceleration due to gravity.

4. The remote control method for a children's electric motorcycle based on the Internet of Things according to claim 1 is characterized in that: The operating data includes accurate measurement of the remaining battery power: using a dedicated chip with power monitoring function to collect battery voltage U, current I, battery internal resistance R, battery temperature Tb, self-discharge rate α and temperature coefficient β, and using the improved ampere-hour integration method to calculate the remaining battery power Among them, SoC0 represents the initial power, C total Indicates the total battery capacity, U nom Indicates the nominal voltage, T ref Indicates the battery temperature threshold.

5. The remote control method for a children's electric motorcycle based on the Internet of Things according to claim 1 is characterized in that: The operating data includes motor temperature monitoring: embedding thermistors in key heating parts of the motor, calculating the motor temperature by measuring the resistance value based on the resistance-temperature characteristic curve of the thermistor Among them, R T It represents the resistance value of the thermistor at temperature T, B represents the material constant, T0 represents the standard reference temperature, R T0 Represents the thermistor resistance at temperature T0.

6. The remote control method for a children's electric motorcycle based on the Internet of Things according to claim 1 is characterized in that: The operating data includes accurate collection of steering angles: a high-precision angle sensor with a resolution of 0.1° is installed in the steering system, the analog signal output by the angle sensor is converted into a digital signal S by ADC, and the steering angle θ=kS+b is calculated, where k and b represent calibration coefficients.

7. The remote control method for a children's electric motorcycle based on the Internet of Things according to claim 1 is characterized in that: The control operation includes: (1) When receiving the acceleration command, the vehicle control terminal calculates the motor target speed n based on the current vehicle speed V, the remaining battery power SoC, and the vehicle load m using the fuzzy control algorithm target-1 =f(V, T(n), SoC, m), where f represents the fuzzy control calculation function. The motor controller is based on the target speed n target-1 Adjust motor output power to achieve smooth acceleration; (2) When receiving a deceleration command, if the battery power is less than 10%, braking is preferred; if the battery power is higher than 80%, the energy recovery system is activated to convert part of the kinetic energy into electrical energy storage and calculate the motor target speed n target-2 =g(V,η), where g is the comprehensive counting function, V represents the vehicle speed, and η represents the energy recovery efficiency; the motor controller is based on the motor target speed n target-2 Reduce motor output power to achieve vehicle deceleration; (3) When a steering control command is received, the steering motor target steering angle θ is calculated based on the steering command and the current steering angle, combined with the vehicle steering radius r, vehicle speed V, and steering angle θ using the Ackerman steering geometry principle and vehicle dynamics model. target =h(V, θ, r), by controlling the rotation of the steering motor, the vehicle can be precisely steered; (4) When receiving a parking command, the vehicle control terminal immediately stops the motor output and activates the braking system using the optimal braking strategy to bring the vehicle to a smooth stop; at the same time, the vehicle status information is updated to the parking status and uploaded to the cloud server.

8. The remote control method for a children's electric motorcycle based on the Internet of Things according to claim 1, characterized in that: The safety monitoring includes: (1) The vehicle speed exceeds the preset safety threshold V def When the vehicle control terminal automatically starts the deceleration program, and calculates the appropriate deceleration according to the friction coefficient μ, vehicle weight m and gravity acceleration g. The vehicle speed is reduced according to the deceleration rate; at the same time, an overspeed alarm message is sent to the user terminal, including the current vehicle speed, overspeed value and recommended deceleration operation; (2) When the battery level is lower than the warning threshold SoC def The vehicle control terminal reduces the maximum speed limit of the vehicle according to the current vehicle speed V To reduce energy consumption, SoC full Indicates the battery power when fully charged; sends a low battery alarm to the user terminal to indicate the remaining power; when the battery power is less than 5%, the vehicle is forced to stop; (3) When the motor temperature exceeds the threshold T def The vehicle control terminal reduces the motor output power and calculates the power reduction ratio based on the motor heat dissipation model. Where, T represents the motor temperature, T nor Indicates the normal operating temperature of the motor and starts the cooling fan at the same time; if the temperature continues to be too high, the motor will stop running and an overheating alarm will be sent to the user terminal.

9. A remote control system for electric motorcycles for children based on the Internet of Things, used to implement a remote control method for electric motorcycles for children based on the Internet of Things as described in any one of claims 1 to 8, characterized in that: include: A user terminal, a vehicle control terminal, a sensor module, an information processing unit, a communication module and a cloud server, wherein the sensor module and the communication module are integrated on the vehicle control terminal of the children's electric motorcycle, specifically including: Data acquisition module: The sensor module collects the operating data of the children's electric motorcycle from all directions; Data transmission module: The user sends remote control instructions through the operation interface on the user terminal according to the real-time operating status of the vehicle. The user terminal sends the control instructions to the cloud server. After the cloud server verifies and analyzes the instructions, it forwards the instructions to the vehicle control terminal through the communication module; Terminal operation module: After receiving the control command, the vehicle control terminal performs corresponding control operations on the vehicle according to the command type; Real-time adjustment module: The user terminal performs security monitoring, and the information processing unit establishes a safe speed threshold V def , low battery warning threshold SoC def , Motor temperature threshold T def ,When an abnormal control operation is detected, the status is adjusted through the vehicle control terminal.

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