Control method and device of mobile equipment and related equipment

Abstract

The invention discloses a control method and device for mobile equipment and related equipment. The method comprises the steps that the moving speed of the mobile equipment is acquired; when the moving speed of the mobile equipment reaches a target moving speed, if the mobile equipment is in a power-off state, controlling the mobile equipment to enter a speed limiting mode; and in the speed limiting mode, controlling the speed of the movable equipment so as to enable the movable equipment to move safely. Therefore, in the shutdown state, if the moving speed of the mobile equipment is too high, the mobile equipment can enter the speed limiting mode in time, the speed of the mobile equipment can be controlled, the mobile equipment can move safely, and the situation that the mobile equipment slides on a slope, and consequently personnel injuries, economic losses and the like are caused can be effectively avoided.

Description

Technical Field

[0001] This application relates to the technical field of speed control, and particularly to a control method and device for a movable device, and related devices. Background Art

[0002] In order to achieve lightness, convenience, simple operation, and intelligence, etc., current low-speed mobility aids such as scooters and electric wheelchairs usually do not have a mechanical braking device. The user mainly controls the motor speed of the mobility aid through operation to achieve the braking and deceleration effect of the mobility aid.

[0003] However, in this way, when such low-speed mobility aids are on a downhill section and have been actively shut down or the battery runs out of power and shuts down, that is, when such low-speed mobility aids are in a shutdown state, they will not be able to effectively brake and decelerate, resulting in the mobility aid sliding down the slope, and thus it is easy to cause personal injury or other economic losses. Summary of the Invention

[0004] Based on the above deficiencies of the prior art, this application provides a control method and device for a movable device, and related devices, to solve the problem that the prior art cannot control the safe movement of a vehicle in a shutdown state.

[0005] To achieve the above object, this application provides the following technical solutions:

[0006] The first aspect of this application provides a control method for a movable device, including:

[0007] Obtain the moving speed of the movable device;

[0008] When the moving speed of the movable device reaches the target moving speed, if the movable device is in a shutdown state, control the movable device to enter a speed limit mode;

[0009] In the speed limit mode, control the speed of the movable device to enable the safe movement of the movable device.

[0010] Optionally, in the above control method for a movable device, the obtaining the moving speed of the movable device includes:

[0011] Obtain the voltage of the driving component of the movable device;

[0012] Determine the moving speed of the movable device according to the voltage of the driving component of the movable device.

[0013] Optionally, in the above control method for a movable device, the when the moving speed of the movable device reaches the target moving speed, if the movable device is in a shutdown state, control the movable device to enter a speed limit mode includes:

[0014] When it is detected that the moving speed of the movable device reaches the target moving speed, power is supplied to the control module of the movable device;

[0015] In the case where the target signal is not detected, the movable device is controlled to enter a speed limit mode, where the target signal is used to indicate that the movable device is in a powered-on state.

[0016] Optionally, in the above control method of the movable device, the supplying power to the control module of the movable device includes:

[0017] If the control module of the movable device is in a powered-off state, the electric energy generated by the back electromotive force of the driving component of the movable device is used to supply power to the control module of the movable device.

[0018] Optionally, in the above control method of the movable device, it further includes:

[0019] When it is detected that the moving speed of the movable device reaches the target moving speed, if the movable device is in a powered-on state, the movable device is controlled to enter a normal driving mode;

[0020] In the normal driving mode, the control module of the movable device responds to the user's operation in real time to control the speed of the movable device; where, when the movable device is powered on, the power battery is turned on to supply power to the whole vehicle.

[0021] Optionally, in the above control method of the movable device, the controlling the speed of the movable device in the speed limit mode to enable the movable device to move safely includes:

[0022] In the speed limit mode, monitor the phase line voltage of the driving component of the movable device;

[0023] According to the currently monitored phase line voltage of the driving component of the movable device, execute restricting the rotation speed of the driving component of the movable device to reduce the speed of the movable device.

[0024] Optionally, in the above control method of the movable device, the according to the currently monitored phase line voltage of the driving component of the movable device, execute restricting the rotation speed of the driving component of the movable device to reduce the speed of the movable device includes:

[0025] Monitor the phase line voltage of the driving component of the movable device;

[0026] If the phase line voltage of the driving component of the movable device currently monitored is less than the preset voltage threshold, the control module of the movable device restricts the driving component of the movable device to operate at a speed not exceeding the first speed.

[0027] Optionally, in the above control method of the movable device, it further includes:

[0028] If the phase line voltage of the driving component of the movable device currently monitored is greater than or equal to the preset voltage threshold, the control module of the movable device controls the driving component of the movable device to be short-circuited and lasts for a target duration.

[0029] Optionally, in the above control method of the movable device, it further includes:

[0030] When the moving speed of the movable device is lower than the target moving speed, the movable device is controlled to exit the speed limit mode.

[0031] The second aspect of the present application provides a control device for a movable device, including:

[0032] The first module is used to obtain the moving speed of the movable device;

[0033] The second module is used to control the movable device to enter the speed limit mode when the moving speed of the movable device reaches the target moving speed and the movable device is in the shutdown state;

[0034] The third module is used to execute controlling the speed of the movable device in the speed limit mode so that the movable device moves safely.

[0035] Optionally, in the above speed protection device in the shutdown state, when the first module executes the obtaining of the moving speed of the movable device, it is used for:

[0036] Obtain the voltage of the driving component of the movable device;

[0037] Determine the moving speed of the movable device according to the voltage of the driving component of the movable device.

[0038] Optionally, in the above speed protection device in the shutdown state, when the second module executes the control of the movable device to enter the speed limit mode when the moving speed of the movable device reaches the target moving speed and the movable device is in the shutdown state, it is used for:

[0039] When it is monitored that the moving speed of the movable device reaches the target moving speed, power is supplied to the control module of the movable device;

[0040] In the case where the target signal is not detected, control the movable device to enter the speed limit mode, where the target signal is used to indicate that the movable device is in the powered-on state.

[0041] Optionally, in the speed protection device in the above shutdown state, when the second module powers the control module of the movable device, it is used for:

[0042] If the control module of the movable device is in the powered-off state, use the electric energy generated by the back electromotive force of the driving component of the movable device to power the control module of the movable device.

[0043] Optionally, in the speed protection device in the above shutdown state, it further includes:

[0044] A fourth module, configured to, when it is monitored that the moving speed of the movable device reaches the target moving speed, if the movable device is in the powered-on state, control the movable device to enter the normal driving mode, and in the normal driving mode, respond to the user's operation in real time through the control module of the movable device to control the speed of the movable device; wherein, when the movable device is powered on, the power battery is turned on to supply power to the whole vehicle.

[0045] Optionally, in the speed protection device in the above shutdown state, when the third module controls the speed of the movable device to make the movable device move safely in the speed limit mode, it is used for:

[0046] Monitor the phase line voltage of the driving component of the movable device in the speed limit mode;

[0047] According to the currently monitored phase line voltage of the driving component of the movable device, limit the rotation speed of the driving component of the movable device to reduce the speed of the movable device.

[0048] Optionally, in the speed protection device in the above shutdown state, when the third module limits the rotation speed of the driving component of the movable device according to the currently monitored phase line voltage of the driving component of the movable device to reduce the speed of the movable device, it is used for:

[0049] Monitor the phase line voltage of the driving component of the movable device;

[0050] If the currently monitored phase line voltage of the driving component of the movable device is less than the preset voltage threshold, limit the driving component of the movable device to work at a speed not exceeding the first speed through the control module of the movable device.

[0051] Optionally, in the speed protection device in the above shutdown state, the third module is further configured to:

[0052] If the phase line voltage of the driving component of the movable device currently monitored is greater than or equal to a preset voltage threshold, then through the control module of the movable device, control the driving component of the movable device to be short-circuited and last for a target duration.

[0053] Optionally, in the speed protection device in the above shutdown state, the third module is further configured to:

[0054] When the moving speed of the movable device is lower than the target moving speed, control the movable device to exit the speed limit mode.

[0055] The third aspect of the present application provides a control device for a movable device, including:

[0056] A driving component, a control module, a power supply module, a first line, and a second line;

[0057] The phase line of the driving component is connected to the output end of the first line, and the signal port of the control module is connected to the output end of the first line;

[0058] The input end of the second line is connected to the phase line of the driving component, and the output end of the second line is connected to the input end of the power supply module;

[0059] The output end of the power supply module is connected to the power supply port of the control module.

[0060] Optionally, in the control device of the movable device described above, the power supply module obtains the moving speed of the movable device through the signal obtained by the second line, and when the moving speed of the movable device reaches the target moving speed, supplies power to the control module through the output end;

[0061] After the control module is powered on, if the movable device is in the shutdown state, control the movable device to enter the speed limit mode, and in the speed limit mode, control the driving component through the first line to control the safe movement of the movable device.

[0062] Optionally, in the control device of the movable device described above, the second line includes:

[0063] At least two voltage dividing lines and the same number of rectifying lines;

[0064] Wherein, one end of each voltage dividing line is respectively connected to a phase line of the driving component, the other end is grounded, and two resistors are respectively connected in series on each voltage dividing line to divide the voltage;

[0065] One end of each of the rectification circuits is respectively connected between two resistors on one of the voltage division circuits, the other end is connected to the ground and the power supply module, and a triode is respectively arranged on each of the rectification circuits, and a capacitor is arranged on the ground wire to convert the divided AC voltage into a DC voltage and transmit it to the power supply module.

[0066] Optionally, in the control device of the above-mentioned movable device, it further includes:

[0067] A power-on module connecting the control module and the power supply module; wherein, when the power-on module is turned on, it sends a target signal to the control module and the power supply module; the target signal is used to indicate that the movable device is in the power-on state;

[0068] When the power supply module receives the target signal, it supplies power to the control module through the power battery; when the control module is powered on, it determines whether the movable device is in the power-on state by detecting the target signal, and when the movable device is in the power-on state, it enters the normal driving mode; wherein, in the normal driving mode, the control module responds to the user's operation in real time and controls the rotation speed of the driving component of the movable device.

[0069] The fourth aspect of the present application provides a movable device, on which the control device described in any one of the above is provided. When the moving speed of the movable device reaches the target moving speed and it is in the shutdown state, the control device controls the speed of the movable device to make the movable device move safely.

[0070] The present application provides a control method for a movable device, which obtains the moving speed of the movable device. When the moving speed of the movable device reaches the target moving speed, if the movable device is in the shutdown state, it controls the movable device to enter the speed limit mode. In the speed limit mode, it controls the speed of the movable device to make the movable device move safely. Thus, when the movable device is in the shutdown state and its moving speed is too fast, it can enter the speed limit mode in time to control the speed of the movable device, so that the movable device moves safely, and it can effectively avoid the movable device from slipping, resulting in personal injuries and economic losses, etc. Description of the Drawings

[0071] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0072] Figure 1 Flowchart of a control method for a movable device provided by an embodiment of the present application;

[0073] Figure 2 Flowchart of a method for obtaining the moving speed of a movable device provided by an embodiment of the present application;

[0074] Figure 3 Flowchart of a method for controlling a movable device to enter a speed limit mode provided by an embodiment of the present application;

[0075] Figure 4 Flowchart of a method for controlling the speed of a movable device in a speed limit mode provided by an embodiment of the present application;

[0076] Figure 5 Schematic structural diagram of a control device for a movable device provided by an embodiment of the present application;

[0077] Figure 6 Schematic structural diagram of a control device for a movable device provided by an embodiment of the present application;

[0078] Figure 7 Schematic structural diagram of another control device for a movable device provided by another embodiment of the present application;

[0079] Figure 8 Schematic diagram of the structure of a movable device provided by an embodiment of the present application. Detailed implementation manners

[0080] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0081] In this application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0082] An embodiment of this application provides a control method for a movable device, as Figure 1 shown, including the following steps:

[0083] S101. Obtain the moving speed of the movable device.

[0084] Among them, the movable device can be a movable device such as a scooter, an electric wheelchair, etc.

[0085] In order to be able to control the moving speed of the movable device in a timely manner when the movable device is in a shutdown state and its moving speed is too high, to avoid accidents and risks, it is necessary to obtain the moving speed of the movable device to determine how fast it is moving. Optionally, the moving speed of the movable device can be obtained by means such as sensors.

[0086] In some embodiments, the moving speed of the movable device can be obtained in real time when the movable device is moving. Even when the movable device is shut down or the battery runs out and enters the shutdown state, the moving speed of the movable device can still be obtained.

[0087] Optionally, for a movable device driven by a motor, back electromotive force will be generated when it is moving, and then electric energy will be generated. Therefore, the electric energy generated by it can be used to supply energy to the module for obtaining the speed of the movable device. Thus, as long as the movable device is moving, real-time monitoring can be achieved and the moving speed of the movable device can be obtained. Therefore, in the case of shutdown or power outage, the speed protection can also be carried out in a timely manner when the movable device is moving. Of course, this is only one optional way, and an independent power supply or other methods can also be set for power supply, so that it can also be used for various types of movable devices.

[0088] Optionally, in another embodiment of this application, a specific implementation manner of step S101, as Figure 2 shown, includes:

[0089] S201. Obtain the voltage of the driving component of the movable device.

[0090] Among them, the driving component of the movable device can specifically be an electric driving device such as a motor.

[0091] It should be noted that even when the movable device is powered off, when the movable device moves, the rotation of its motor will generate a back electromotive force, so a phase line voltage will be generated. Moreover, the faster the movable device moves, the higher the generated phase line voltage. Therefore, in the embodiment of the present application, by obtaining the voltage of the driving component of the movable device, the speed of the movable device can be monitored. Furthermore, there is no need to install components such as speed sensors or obtain the moving speed of the movable device through other complex methods.

[0092] S202. Determine the moving speed of the movable device according to the voltage of the driving component of the movable device.

[0093] Since there is a corresponding relationship between the voltage of the driving component of the movable device and the moving speed of the movable device, the corresponding speed can be found according to the voltage of the driving component of the movable device, so as to obtain the moving speed of the movable device. For example, when the voltage of the driving component of the movable device is 9V, the corresponding moving speed can be found to be 1m / s.

[0094] S102. When the moving speed of the movable device reaches the target moving speed, if the movable device is in the shutdown state, control the movable device to enter the speed limit mode.

[0095] It should be noted that when the movable device is in the shutdown state or the battery is out of power, the user may still need to slowly move the movable device, and only when the moving speed of the movable device is relatively fast, there may be danger. Therefore, in order to avoid restricting the user from still being able to slowly move the movable device in the shutdown state, in the embodiment of the present application, a target moving speed is set, for example, it can be set to 1m / s. When the current speed of the movable device exceeds the target moving speed, speed limit control is performed on it.

[0096] However, considering that when the movable device is moving normally, its speed can also reach the target moving speed, but at this time the moving speed of the movable device is controlled by the driver. Therefore, in order to avoid affecting the normal driving of the driver, speed control is only performed when the movable device is in the shutdown state to avoid vehicle rollback. So when the moving speed of the movable device reaches the target moving speed and the movable device is in the shutdown state.

[0097] Optionally, specifically, it can be to compare the moving speed of the movable device with the target moving speed to determine whether the moving speed of the movable device reaches the target moving speed. It can also directly determine whether the moving speed of the movable device reaches the target moving speed by comparing whether the voltage of the driving component of the movable device reaches the voltage corresponding to the target moving speed.

[0098] When the moving speed of the movable device reaches the target moving speed and the movable device is in the shutdown state, it indicates that speed limit needs to be imposed on the movable device. Therefore, at this time, the movable device is controlled to enter the speed limit mode.

[0099] Optionally, in another embodiment of the present application, a specific implementation manner of step S102 is as Figure 3 shown, including:

[0100] S301. When it is monitored that the moving speed of the movable device reaches the target moving speed, power is supplied to the control module of the movable device.

[0101] Among them, the control module of the movable device is a module for controlling the speed of the movable device and determining whether the movable device is in the shutdown state. In the embodiment of the present application, it is a module with the function of checking whether it is a target signal. Therefore, when the driving component is a motor, the control module can specifically be the motor control board in the movable device.

[0102] When in the shutdown state or when the battery runs out of power, the control module is in the power-off state. Therefore, at this time, power needs to be supplied to the control module of the movable device so that step S302 can be executed through the control module. Of course, if the movable device is normally powered on and running, the motor control board has been automatically powered by the battery during startup, and at this time, step S302 can be directly executed.

[0103] Optionally, a specific implementation manner of supplying power to the control module of the movable device includes:

[0104] If the control module of the movable device is in the power-off state, the electric energy generated by the back electromotive force of the driving component of the movable device is used to supply power to the control module of the movable device.

[0105] For driving components such as motors, when they rotate, a counter electromotive force is generated, thus generating electrical energy. In addition, in the embodiment of the present application, in the case where the power battery of the movable device runs out of power and shuts down, in order to more simply supply power to the control module of the movable device when there is no power. Therefore, in the embodiment of the present application, the electrical energy generated by the counter electromotive force of the motor of the movable device is directly used to supply power to the motor control board of the movable device. Of course, an additional battery can also be set to supply power to it, but this method is relatively cumbersome, not only requiring power control, but also setting corresponding control modules and control logics. By directly supplying power through the counter electromotive force, power can be supplied to the control module as long as electrical energy is generated through corresponding circuit connections.

[0106] S302. When the target signal is not detected, control the movable device to enter the speed limit mode.

[0107] Among them, the target signal is used to indicate that the movable device is in the powered-on state. For example, a power-on signal, a sleep wake-up signal, a start signal, etc. Of course, these are only examples, and the target signal is not limited to this.

[0108] Therefore, when the control module of the movable device is powered on, it detects whether there is a target signal. When the target signal is not detected, it means that the movable device is not in the powered-on state, that is, the movable device is in the powered-off state. Therefore, at this time, the control module controls the movable device to enter the speed limit mode to control the speed of the movable device, so as to avoid the movable device from slipping and causing danger in the powered-off state.

[0109] Optionally, in order to enable the movable device to travel normally when powered on, in another embodiment of the present application, it further includes:

[0110] When it is monitored that the moving speed of the movable device reaches the target moving speed, if the movable device is in the powered-on state, control the movable device to enter the normal driving mode.

[0111] Among them, in the normal driving mode, the control module of the movable device responds to the user's operation in real time to control the speed of the movable device.

[0112] It should be noted that since the movable device is already powered on at this time, when the movable device is powered on, the power battery is turned on to supply power to the whole vehicle.

[0113] Therefore, in this application, by detecting whether the target signal is present, it is determined whether the movable device is in the powered-on state or the powered-off state. As a result, not only can the movable device enter the normal driving mode when it is in the normal powered-on state, allowing the driver to drive normally without affecting the normal driving function of the movable device. But also when it is in the powered-off state, it enters the speed limit mode for speed control to prevent the movable device from rolling down. It is no longer the current solution where when the target signal is detected, it powers on normally, that is, enters the normal driving mode, and when the target signal is not detected, no operation is performed.

[0114] S103. In the speed limit mode, control the speed of the movable device to enable the safe movement of the movable device.

[0115] Optionally, in the speed limit mode, specifically, the speed of the drive module of the movable device can be controlled, thereby controlling the deceleration of the movable device and reducing the speed of the movable device to be lower than the target moving speed, enabling the safe movement of the movable device. For example, specifically, the rotation speed of the motor of the movable device can be controlled to control the deceleration of the movable device. For example, the motor of the movable device can be controlled to rotate at a speed of 0.3 m / s, thereby reducing the speed of the movable device. Optionally, in order to prevent the speed of the movable device from decreasing too quickly, which may cause danger, the movable device can be controlled to decelerate at a certain rate. For example, the movable device can be controlled to decelerate at a rate of 0.05 m / s.

[0116] Optionally, in another embodiment of this application, a specific implementation manner of step S103 is as Figure 4 shown, including:

[0117] S401. In the speed limit mode, monitor the phase line voltage of the drive component of the movable device.

[0118] It should be noted that in order to enable the movable device to decelerate slowly rather than suddenly drop significantly, resulting in rollover or out-of-control situations. When the drive component decelerates, its phase line voltage will increase, so its phase line voltage can reflect its deceleration situation. Therefore, in the embodiment of this application, in the speed limit mode, the phase line voltage of the drive component of the movable device is monitored in real time to enable speed control based on the phase line voltage of the motor and prevent the speed of the movable device from dropping significantly.

[0119] S402. According to the currently monitored phase line voltage of the drive component of the movable device, limit the rotation speed of the drive component of the movable device to reduce the speed of the movable device.

[0120] Optionally, specifically when the phase line voltage of the drive component of the movable device currently monitored is relatively high, the rotation speed of the motor of the movable device can be reduced, and the higher the phase line voltage of the drive component of the movable device currently monitored, the greater the limitation on the rotation speed of the drive component of the movable device.

[0121] Optionally, in another embodiment of the present application, a specific implementation manner of step S402 includes:

[0122] Monitor the phase line voltage of the drive component of the movable device, and when the phase line voltage of the drive component of the movable device currently monitored is less than a preset voltage threshold, limit the drive component of the movable device to operate at a speed not exceeding a first speed through the control module of the movable device. For example, when the phase line voltage of the drive component of the movable device currently monitored is less than the preset voltage threshold, limit the drive component of the movable device to operate at a speed not exceeding the specified 0.3 m / s through the control module of the movable device.

[0123] It should be noted that when the phase line voltage of the drive component of the movable device currently monitored is less than the preset voltage threshold, it indicates that the speed of the movable device is not too fast at this time. Therefore, at this time, the drive component of the movable device can be limited to operate at a speed not exceeding the first speed through the control module of the movable device, so that it can move at a relatively safe speed.

[0124] Correspondingly, in order to avoid continuously controlling the speed of the movable device and causing its speed to decrease too much, thus resulting in danger, in another embodiment of the present application, it further includes:

[0125] If the phase line voltage of the drive component of the movable device currently monitored is greater than or equal to the preset voltage threshold, control the drive component of the movable device to be short-circuited through the control module of the movable device and last for a target duration.

[0126] Among them, the current target duration is determined according to the phase line voltage of the drive component of the movable device currently monitored. The greater the phase line voltage of the drive component of the movable device currently monitored, the longer the current target duration. Optionally, specifically, the phase line of the drive component can be short-circuited by means of PWM.

[0127] Optionally, in order to enable the movable device to still travel slowly after the speed of the movable device decreases and no longer limit the speed of the movable device, in another embodiment of the present application, it includes:

[0128] When the moving speed of the movable device is lower than the target moving speed, control the movable device to exit the speed limit mode.

[0129] Specifically, when the speed of the movable device decreases to the target moving speed, it is already at a relatively slow driving speed. Therefore, there is no need to control the speed of the movable device at this time. Thus, the speed limit mode can be exited, and the speed limit of the movable device can be stopped. Correspondingly, there is no need to supply power to the control module at this time. Therefore, the power supply to the control module of the movable device is stopped at this time.

[0130] An embodiment of the present application provides a control method for a movable device, which obtains the moving speed of the movable device. When the moving speed of the movable device reaches the target moving speed, if the movable device is in a shutdown state, the movable device is controlled to enter the speed limit mode. In the speed limit mode, the speed of the movable device is controlled to enable the movable device to move safely. Thus, when the movable device is in a shutdown state and its moving speed is too fast, it can enter the speed limit mode in time, control the speed of the movable device, and enable the movable device to move safely, effectively avoiding the movable device from slipping, resulting in personal injuries and economic losses, etc.

[0131] Another embodiment of the present application provides a control device for a movable device, as Figure 5 shown, including:

[0132] The first module 501 is used to obtain the moving speed of the movable device.

[0133] The second module 502 is used to control the movable device to enter the speed limit mode when the moving speed of the movable device reaches the target moving speed and the movable device is in a shutdown state.

[0134] The third module 503 is used to control the speed of the movable device in the speed limit mode to enable the movable device to move safely.

[0135] Optionally, in the speed protection device in the shutdown state provided by another embodiment of the present application, when the first module executes obtaining the moving speed of the movable device, it is used for:

[0136] Obtain the voltage of the driving component of the movable device.

[0137] Determine the moving speed of the movable device according to the voltage of the driving component of the movable device.

[0138] Optionally, in the speed protection device in the shutdown state provided by another embodiment of the present application, when the second module executes controlling the movable device to enter the speed limit mode when the moving speed of the movable device reaches the target moving speed and the movable device is in a shutdown state, it is used for:

[0139] When it is monitored that the moving speed of the movable device reaches the target moving speed, supply power to the control module of the movable device.

[0140] When the target signal is not detected, control the movable device to enter the speed limit mode, where the target signal is used to indicate that the movable device is in the powered-on state.

[0141] Optionally, in the speed protection device in the shutdown state provided in another embodiment of the present application, when the second module powers the control module of the movable device, it is used for:

[0142] If the control module of the movable device is in the powered-off state, use the electric energy generated by the back electromotive force of the driving component of the movable device to power the control module of the movable device.

[0143] Optionally, the speed protection device in the shutdown state provided in another embodiment of the present application further includes:

[0144] The fourth module is used to, when it is monitored that the moving speed of the movable device reaches the target moving speed and the movable device is in the powered-on state, control the movable device to enter the normal driving mode, and in the normal driving mode, respond to the user's operation in real time through the control module of the movable device to control the speed of the movable device. Wherein, when the movable device is powered on, the power battery is turned on to supply power to the whole vehicle.

[0145] Optionally, in the speed protection device in the shutdown state provided in another embodiment of the present application, when the third module controls the speed of the movable device to ensure the safe movement of the movable device in the speed limit mode, it is used for:

[0146] Monitor the phase line voltage of the driving component of the movable device in the speed limit mode.

[0147] According to the currently monitored phase line voltage of the driving component of the movable device, limit the rotation speed of the driving component of the movable device to reduce the speed of the movable device.

[0148] Optionally, in the speed protection device in the shutdown state provided in another embodiment of the present application, when the third module limits the rotation speed of the driving component of the movable device according to the currently monitored phase line voltage of the driving component of the movable device to reduce the speed of the movable device, it is used for:

[0149] Monitor the phase line voltage of the driving component of the movable device.

[0150] If the currently monitored phase line voltage of the driving component of the movable device is less than the preset voltage threshold, limit the driving component of the movable device to work at a speed not exceeding the first speed through the control module of the movable device.

[0151] Optionally, the third module in the speed protection device in the shutdown state provided in another embodiment of the present application is further used for:

[0152] If the phase line voltage of the drive component of the movable device currently monitored is greater than or equal to the preset voltage threshold, the control module of the movable device is used to control the drive component of the movable device to be short-circuited and last for a target duration.

[0153] Optionally, in the speed protection device in the shutdown state provided by another embodiment of the present application, the third module is further configured to:

[0154] When the moving speed of the movable device is lower than the target moving speed, control the movable device to exit the speed limit mode.

[0155] Another embodiment of the present application provides a control device for a movable device, as Figure 6 shown, including:

[0156] A drive component 601, a control module 602, a power supply module 603, a first line 604, and a second line 605.

[0157] Optionally, the drive component 601 may specifically be a motor. Correspondingly, the control module 602 is a motor control board.

[0158] As Figure 6 shown, the output end connected to the phase line of the drive component 601, and the signal port of the control module 602 is connected to the output end of the first line 604, so that a signal can be sent to the first line 604 through the control module 602, and the drive component 601 can be driven through the first line 604, thereby controlling the speed of the movable device.

[0159] Among them, the first line 604 is a conventional control line for the control module to the drive component, so it will not be traced here.

[0160] As Figure 6 shown, the input end of the second line 605 is connected to the phase line of the drive component 601, and the output end of the second line 605 is connected to the input end of the power supply module 603.

[0161] The output end of the power supply module 603 is connected to the power port of the control module 602.

[0162] Optionally, in another embodiment of the present application, the power supply module 603 of the control device of the movable device obtains the moving speed of the movable device through the signal obtained through the second line 605, and when the moving speed of the movable device reaches the target moving speed, supplies power to the control module through the output end.

[0163] After the control module 602 is powered on, if the movable device is in the shutdown state, control the movable device to enter the speed limit mode, and in the speed limit mode, control the drive component 601 through the first line 604 to control the safe movement of the movable device.

[0164] Optionally, a control device for a movable device provided in another embodiment of the present application, such as Figure 7 shown, the second line 605 includes:

[0165] At least two voltage dividing lines and the same number of rectifying lines.

[0166] Optionally, as Figure 7 shown, usually two voltage dividing lines and two rectifying lines are provided.

[0167] As Figure 7 shown, one end of each voltage dividing line is respectively connected to a phase line of the driving component 601, the other end is grounded, and two resistors are respectively connected in series on each voltage dividing line to divide the voltage.

[0168] One end of each rectifying line is respectively connected between two resistors on one of the voltage dividing lines, the other end is connected to the ground and the power supply module 603, and a triode is respectively provided on each rectifying line, and a capacitor is provided on the ground line to convert the divided AC voltage into a DC voltage and transmit it to the power supply module 603.

[0169] Also referring to Figure 7 shown, in another embodiment of the present application, in the control device of the movable device, it further includes:

[0170] A power-on module connecting the control module 602 and the power supply module 603.

[0171] Wherein, when the power-on module is turned on, a target signal is sent to the control module 602 and the power supply module 603. The target signal is used to indicate that the movable device is in the power-on state.

[0172] When the power supply module 603 receives the target signal, it supplies power to the control module 602 through the power battery. When the control module 602 is powered on, it determines whether the movable device is in the power-on state by detecting the target signal, and enters the normal driving mode when the movable device is in the power-on state.

[0173] Wherein, in the normal driving mode, the control module 602 responds to the user's operation in real time and controls the rotation speed of the driving component 601 of the movable device.

[0174] Therefore, in the embodiment of the present application, when the power supply module 603 is normally powered on, it supplies power to the control module 602 through the power battery therein, so that the user can control the speed of the movable device through the control module, thereby realizing normal driving. When not powered on, the back electromotive force generated by the driving component can be obtained through the first line to supply power to the control module for speed limiting.

[0175] Another embodiment of the present application provides a mobile device. As Figure 8 shown, a control device provided in any of the above embodiments is provided on the mobile device. When the moving speed of the mobile device reaches the target moving speed and the mobile device is in a shutdown state, the control device controls the speed of the mobile device to enable the safe movement of the mobile device.

[0176] It should be noted that for the specific control method of the control device to control the speed of the mobile device when the moving speed of the mobile device reaches the target moving speed and the mobile device is in a shutdown state, reference can be made to the corresponding steps in the embodiments of the above solution, which will not be elaborated here.

[0177] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0178] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a mobile device, characterized in that including: obtaining the moving speed of the movable device; when the moving speed of the movable device reaches the target moving speed, if the movable device is in the shutdown state, controlling the movable device to enter the speed limit mode; in the speed limit mode, controlling the speed of the movable device to enable the safe movement of the movable device.

2. The method according to claim 1, wherein The obtaining the moving speed of the movable device includes: obtaining the voltage of the driving component of the movable device; determining the moving speed of the movable device according to the voltage of the driving component of the movable device.

3. The method according to claim 1, wherein The when the moving speed of the movable device reaches the target moving speed, if the movable device is in the shutdown state, controlling the movable device to enter the speed limit mode includes: when it is monitored that the moving speed of the movable device reaches the target moving speed, powering the control module of the movable device; in the case where the target signal is not detected, controlling the movable device to enter the speed limit mode, where the target signal is used to indicate that the movable device is in the powered-on state.

4. The method according to claim 3, characterized in that, The powering the control module of the movable device includes: if the control module of the movable device is in the power-down state, using the electric energy generated by the back electromotive force of the driving component of the movable device to power the control module of the movable device.

5. The method according to claim 1, wherein also including: when it is monitored that the moving speed of the movable device reaches the target moving speed, if the movable device is in the powered-on state, controlling the movable device to enter the normal driving mode; in the normal driving mode, the control module of the movable device responds to the user's operation in real time to control the speed of the movable device; where, when the movable device is powered on, the power battery is turned on to supply power to the whole vehicle.

6. The method according to claim 1, wherein The in the speed limit mode, controlling the speed of the movable device to enable the safe movement of the movable device includes: in the speed limit mode, monitoring the phase line voltage of the driving component of the movable device; according to the currently monitored phase line voltage of the driving component of the movable device, restricting the rotation speed of the driving component of the movable device to reduce the speed of the movable device.

7. The method according to claim 6, wherein The according to the currently monitored phase line voltage of the driving component of the movable device, restricting the rotation speed of the driving component of the movable device to reduce the speed of the movable device includes: monitoring the phase line voltage of the driving component of the movable device; if the currently monitored phase line voltage of the driving component of the movable device is less than the preset voltage threshold, restricting the driving component of the movable device to work at a speed not exceeding the first speed through the control module of the movable device.

8. The method according to claim 6, wherein also including: if the currently monitored phase line voltage of the driving component of the movable device is greater than or equal to the preset voltage threshold, controlling the driving component of the movable device to be short-circuited through the control module of the movable device and lasting for the target duration.

9. The method according to claim 1, characterized in that, also including: when the moving speed of the movable device is lower than the target moving speed, controlling the movable device to exit the speed limit mode.

10. A control device for a movable device, characterized in that, including: The first module is used to obtain the moving speed of the movable device; The second module is used to control the movable device to enter the speed limit mode when the moving speed of the movable device reaches the target moving speed and the movable device is in the shutdown state; The third module is used to control the speed of the movable device in the speed limit mode to enable the movable device to move safely.

11. A control device for a movable device, characterized in that, It includes: A driving component, a control module, a power supply module, a first circuit, and a second circuit; The phase wires of the driving component are connected to the output end of the first circuit, and the signal port of the control module is connected to the output end of the first circuit; The input end of the second circuit is connected to the phase wires of the driving component, and the output end of the second circuit is connected to the input end of the power supply module; The output end of the power supply module is connected to the power supply port of the control module.

12. The control device according to claim 11, wherein The power supply module obtains the moving speed of the movable device through the signal obtained by the second circuit, and supplies power to the control module through the output end when the moving speed of the movable device reaches the target moving speed; After being powered on, if the movable device is in the shutdown state, the control module controls the movable device to enter the speed limit mode, and in the speed limit mode, controls the driving component through the first circuit to control the safe movement of the movable device.

13. The control device according to claim 11, characterized in that, The second circuit includes: At least two voltage dividing circuits and the same number of rectifying circuits; Wherein, one end of each voltage dividing circuit is respectively connected to a phase wire of the driving component, and the other end is grounded, and two resistors are respectively connected in series on each voltage dividing circuit to divide the voltage; One end of each rectifying circuit is respectively connected between two resistors on one of the voltage dividing circuits, the other end is connected to the ground and the power supply module, and a triode is respectively arranged on each rectifying circuit, and a capacitor is arranged on the ground wire to convert the divided alternating voltage into a direct current voltage and transmit it to the power supply module.

14. The control device according to claim 11, characterized in that, It further includes: A power-on module connecting the control module and the power supply module; wherein, when the power-on module is turned on, it sends a target signal to the control module and the power supply module; the target signal is used to indicate that the movable device is in the power-on state; When the power supply module receives the target signal, it supplies power to the control module through the power battery; when the control module is powered on, it determines whether the movable device is in the power-on state by detecting the target signal, and enters the normal driving mode when the movable device is in the power-on state; wherein, in the normal driving mode, the control module responds to the user's operation in real time and controls the rotation speed of the driving component of the movable device.

15. A mobile device, characterized in that, On the movable device, there is a control device according to any one of claims 11 to 14, and when the moving speed of the movable device reaches the target moving speed and is in the shutdown state, the control device controls the speed of the movable device to enable the movable device to move safely.

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