Hub motor drive system and scooter

Abstract

A hub motor drive system, comprising at least two hub motors (1) and a processor (2), the hub motors being mounted on corresponding drive wheels so as to drive the corresponding drive wheels to rotate, the drive wheels being arranged on two opposite sides of a traveling direction of a scooter, and the processor being connected to the hub motors. The processor is used for: acquiring output electrical signals of the hub motors oppositely arranged on the two sides of the traveling direction of the scooter; on the basis of a difference between the output electrical signals, determining a turning state of the scooter; and driving the hub motors on the basis of the turning state, such that the scooter reaches a traveling condition corresponding to the turning state. Also disclosed is a scooter comprising the hub motor drive system. The processor acquires the electrical signals output by the hub motors and compares same, so as to achieve targeted control of each hub motor and provide a differential speed necessary for turning, thereby increasing the stability of the scooter during turning. The whole process performs determination only on the basis of electrical signals output by hub motors, thereby effectively reducing the production cost of scooters.

Description

Wheel hub motor driving system and scooter TECHNICAL FIELD

[0001] The present application relates to the field of driving vehicles, in particular to a wheel hub motor driving system and a scooter. BACKGROUND

[0002] At present, scooters are commonly used by people, especially the elderly, for daily travel. However, during normal driving, the stability of the scooter during turning is the most important factor in the safety performance of the scooter.

[0003] For a scooter driven by a wheel hub motor, the rotational speeds of the two wheel hub motors differ slightly during the conversion from straight driving to turning, and side overturning is very likely to occur during rapid turning. Therefore, the stability of the scooter during turning depends more on the control of the wheel hub motor. In order to ensure that the left and right wheel hub motors rotate at different speeds during turning, so as to enable the two wheel hub motors to travel as much as possible in pure rolling without equal distance, and to reduce the friction between the driving wheels and the ground, electronic differential driving based on the wheel hub motor is required to ensure the stability of the scooter during turning. Therefore, how to provide a technical solution suitable for a scooter, which can control different wheel hub motors to improve the turning stability of the scooter, is a problem that needs to be solved by those skilled in the art.

[0004] SUMMARY

[0005] The purpose of the present application is to provide a wheel hub motor driving system that can control different wheel hub motors to improve the turning stability of the scooter. Another purpose of the present application is to provide a scooter that can control different wheel hub motors to improve the turning stability of the scooter.

[0006] To solve the above technical problems, the present application provides a wheel hub motor driving system, comprising at least two wheel hub motors and a processor.

[0007] The wheel hub motor is installed on the corresponding driving wheel to drive the corresponding driving wheel to rotate. The driving wheels are arranged on the opposite sides along the driving direction of the scooter. The processor is connected to each wheel hub motor.

[0008] The processor is configured to:

[0009] Obtain the output electrical signals of the wheel hub motors arranged on the opposite sides along the driving direction of the scooter.

[0010] Determine the turning state of the scooter according to the difference between the output electrical signals. When the difference is within a predetermined range, the turning state is a safe turning state.

[0011] drive the hub motors according to the turning state to make the scooter reach a driving condition corresponding to the turning state; when the turning state is a safe turning state, control the hub motors to generate a corresponding differential speed.

[0012] Optionally, the processor is specifically configured to:

[0013] determine, according to a difference between the output electric signals, that the scooter is in a left turning in the safe turning state;

[0014] after determining that the scooter is turning left, increase the rotating speed of the right hub motor of the scooter and / or decrease the rotating speed of the left hub motor of the scooter to form a differential speed for turning left.

[0015] Optionally, the processor is specifically configured to:

[0016] determine, according to a difference between the output electric signals, that the scooter is in a right turning in the safe turning state;

[0017] after determining that the scooter is turning right, increase the rotating speed of the left hub motor of the scooter and / or decrease the rotating speed of the right hub motor of the scooter to form a differential speed for turning right.

[0018] Optionally, the processor is specifically configured to:

[0019] compare the values of the output electric signals by using an adaptive fuzzy PID control algorithm model to calculate a corresponding difference.

[0020] Optionally, the processor is specifically configured to:

[0021] when the difference is less than or equal to a first threshold value, control the hub motors to keep a current motion state.

[0022] Optionally, the processor is specifically configured to:

[0023] when the difference is greater than the first threshold value and less than or equal to a second threshold value, determine that the scooter is in the safe turning state;

[0024] control the hub motors to generate a corresponding differential speed according to the safe turning state.

[0025] Optionally, the processor is specifically configured to: when the difference is greater than the second threshold value, determine that the scooter is in an abnormal state;

[0026] reduce the rotating speed of the hub motors until the scooter stops according to the abnormal state.

[0027] Optionally, the scooter further comprises a gravity sensor arranged on the seat.

[0028] The processor is further configured to:

[0029] acquire a weight parameter representing the weight of the operator via the gravity sensor;

[0030] adjust the first threshold value and the second threshold value according to the weight parameter.

[0031] Optionally, the processor is specifically configured to:

[0032] decrease the first threshold value and the second threshold value when the weight parameter is greater than a weight standard parameter;

[0033] increase the first threshold value and the second threshold value when the weight parameter is less than the weight standard parameter.

[0034] The application further provides a scooter comprising the wheel hub motor driving system according to any one of the above, and further comprising:

[0035] a steering wheel, a battery, peripheral devices and a driving wheel provided with the wheel hub motor; the wheel hub motor, the peripheral devices and the processor are connected with the battery.

[0036] Optionally, the peripheral devices comprise a horn, a left turn signal, a right turn signal, a voice alarm and a headlight.

[0037] Optionally, the peripheral devices comprise a near field communication module, and the near field communication module is connected with the processor, and the processor is further configured to:

[0038] acquire an unlocking instruction via the near field communication module;

[0039] unlock the battery for power supply according to the unlocking instruction.

[0040] Optionally, the application further comprises a gravity sensor arranged on a seat, and the processor is specifically configured to:

[0041] acquire an unlocking instruction via the near field communication module and acquire a gravity sensing instruction representing that a person enters the scooter via the gravity sensor;

[0042] unlock the battery for power supply when the unlocking instruction and the gravity sensing instruction are acquired simultaneously.

[0043] Optionally, the processor is further configured to:

[0044] when the battery is in an unlocked state but no gravity sensing instruction is acquired from the gravity sensor for a time period reaching a preset time period, voice remind of a locking state anomaly is performed via the voice alarm.

[0045] Optionally, the external device further comprises a backup mechanical lock connected with the processor.

[0046] Optionally, the external device further comprises a radar probe located at the outer peripheral part of the scooter, the radar probe being connected with the processor.

[0047] The processor is configured to:

[0048] Obtain the obstacle information around the scooter through the radar probe.

[0049] Voice remind through the voice alarm according to the obstacle information.

[0050] Optionally, the external device comprises an electronic instrument display screen to display vehicle information.

[0051] Optionally, the external device further comprises a light sensor connected with the processor, and the processor is connected with the electronic instrument display screen.

[0052] The processor is configured to:

[0053] Obtain the external light intensity value through the light sensor.

[0054] Control the brightness of the electronic instrument display screen according to the external light intensity value.

[0055] Optionally, the battery is configured with a fast charging function.

[0056] Optionally, the seat of the scooter is a front-back adjustable seat, and the armrest of the scooter is a foldable and liftable armrest.

[0057] The application provides a hub motor driving system, comprising at least two hub motors and a processor; the hub motor is installed on a corresponding driving wheel to drive the corresponding driving wheel to rotate; the driving wheels are arranged on the two sides opposite to each other along the driving direction of the scooter; the processor is connected with each hub motor; the processor is configured to: obtain the output electric signals of the hub motors arranged on the two sides opposite to each other along the driving direction of the scooter; determine the turning state of the scooter according to the difference between the output electric signals; when the difference is within a preset range, the turning state is a safe turning state; drive the hub motor according to the turning state to make the scooter reach a driving condition corresponding to the turning state; when the turning state is the safe turning state, control the hub motor to generate a corresponding differential speed.

[0058] Due to the different torque released by the driving wheels arranged on both sides of the scooter in the traveling direction during the turning, the electric signals output by the hub motors arranged on the driving wheels are also different. The processor can determine the turning state of the scooter by acquiring and comparing the electric signals output by the hub motors, and then realize the targeted control of each hub motor to provide the necessary differential speed during the turning, thereby increasing the stability of the scooter during the turning. The whole process is only judged according to the electric signals output by the hub motors, which can effectively reduce the production cost of the scooter.

[0059] The application also provides a scooter, which also has the above beneficial effects, and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0061] Fig. 1 is a structural schematic view of a hub motor driving system provided by an embodiment of the present application;

[0062] Fig. 2 is a processing flowchart of a processor in an embodiment of the present application;

[0063] Fig. 3 is a structural schematic view of a scooter provided by an embodiment of the present application.

[0064] In the figure: 1. Hub motor, 2. Processor, 3. Battery, 4. Peripheral. DETAILED DESCRIPTION

[0065] The core of the present application is to provide a hub motor driving system. In the prior art, how to provide a technical solution suitable for a scooter, which can control different hub motors of the scooter to improve the turning stability of the scooter, is a problem that needs to be solved by those skilled in the art.

[0066] The wheel hub motor driving system provided by the application comprises at least two wheel hub motors and a processor, the wheel hub motor is installed on a corresponding driving wheel to drive the corresponding driving wheel to rotate, the driving wheels are arranged on opposite sides along the walking vehicle driving direction, and the processor is connected with each wheel hub motor.

[0067] Due to the fact that the torques released by the driving wheels arranged on opposite sides along the walking vehicle driving direction are different during the turning process, the electric signals output by the wheel hub motors arranged on the driving wheels are also different. The processor can determine the turning state of the walking vehicle by acquiring and comparing the electric signals output by the wheel hub motors, and then realize the targeted control of each wheel hub motor to provide the necessary differential speed during the turning, thereby increasing the stability of the walking vehicle during the turning process. The whole process is only determined according to the electric signals output by the wheel hub motors, which can effectively reduce the production cost of the walking vehicle.

[0068] In order to enable the personnel in the technical field to better understand the application scheme, the application is further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by the person skilled in the art without creative labor are within the protection scope of the application.

[0069] Embodiment one

[0070] Please refer to Fig. 1, which is a structural schematic diagram of a wheel hub motor driving system provided by the embodiment of the application.

[0071] Referring to Fig. 1, in the embodiment of the application, the wheel hub motor driving system comprises at least two wheel hub motors 1 and a processor 2; the wheel hub motor 1 is installed on a corresponding driving wheel to drive the corresponding driving wheel to rotate, the driving wheels are arranged on opposite sides along the walking vehicle driving direction, and the processor 2 is connected with each wheel hub motor 1; the processor 2 is used for: acquiring the output electric signals of the wheel hub motors 1 arranged on opposite sides along the walking vehicle driving direction; determining the turning state of the walking vehicle according to the difference between the output electric signals; when the difference is within a preset range, the turning state is a safe turning state; driving the wheel hub motor 1 according to the turning state to make the walking vehicle reach a driving condition corresponding to the turning state.

[0072] The hub motor 1 is a driving motor of the driving wheel of the scooter, and in the embodiment, the hub motor 1 is installed on the corresponding driving wheel, and the hub motor 1 needs to drive the corresponding driving wheel to rotate to drive the scooter to move. In the embodiment, the driving wheel needs to be arranged on at least two sides opposite to the driving direction of the scooter, that is, in the embodiment, the hub motor 1 needs to be arranged on at least two sides opposite to the driving direction of the scooter, so that the processor 2 can determine the rotation direction of the scooter according to the electrical signal output by the hub motor 1. The specific structure of the hub motor 1 can be set according to the actual situation, which is not limited here.

[0073] In the embodiment, the processor 2 needs to be connected with each hub motor 1, and the processor 2 usually needs to be provided with a driving module or a driver, and a control module or a controller. The driving module or the driver usually needs to be directly connected with the hub motor 1 to output a preset electrical signal to the hub motor 1 to drive the hub motor 1, and the control module or the controller needs to be connected with the driving module or the driver and other devices such as the battery 3, which mainly processes various signals. When the two are integrated in one processor 2, they are usually called driving module and control module; when the two are arranged separately, they are usually called driver and controller.

[0074] In the embodiment, the processor 2 first acquires the output electrical signal of the hub motor 1. Since in the embodiment, the driving condition of the scooter is determined according to the different output electrical signals of the hub motor 1, in the embodiment, the processor 2 needs to acquire the output electrical signal of the hub motor 1 arranged on the two sides opposite to the driving direction of the scooter, because the hub motors 1 arranged on the two sides opposite to the driving direction of the scooter need to provide different torques when the scooter turns due to the different driving path lengths of the driving wheels, so that the different hub motors 1 output different electrical signals, that is, output electrical signals. The output electrical signal can represent the rotation speed or torque of the hub motor 1, and in the embodiment, the processor 2 first acquires the output electrical signal of the different hub motors 1, and then determines the turning state of the scooter according to the difference between the output electrical signals.

[0075] After determining the turning state of the scooter according to the output electric signals of the hub motor 1, the processing will control the hub motor 1 according to the turning state, and specifically will drive the hub motor 1 to make the scooter reach the driving state corresponding to the above-mentioned turning state according to the turning state. Specifically, the above-mentioned turning state usually includes multiple types, such as normal driving state, safe turning state, abnormal state and the like, wherein the safe turning is further divided into left turning, right turning and the like, and the above-mentioned driving state is also divided into multiple types. In this embodiment, only the left turning and the right turning are discussed, and the remaining cases will be described in detail in the following embodiments.

[0076] It needs to be emphasized that in this embodiment, when the difference between the output electric signals is within a preset range, it is determined that the turning state is a safe turning state, and the corresponding differential speed is generated according to the safe turning state to control the hub motor, that is, to realize electronic differential speed, so as to ensure the stable driving of the scooter.

[0077] In this embodiment, the above-mentioned output electric signal can be the output current, output voltage, rotating speed and the like of the hub motor 1, as long as it represents the working state of the hub motor 1. When the processor 2 determines that the scooter is in the left turning of the safe turning state according to the difference between the output electric signals, for example, when the processor 2 determines that the scooter is in the left turning according to the output current of the right hub motor 1 being greater than the output current of the left hub motor 1 along the driving direction of the scooter, and the difference is within the preset range, it will actively control to increase the rotating speed of the right hub motor 1 of the scooter, and / or reduce the rotating speed of the left hub motor 1 of the scooter, and specifically, the rotating speed of the corresponding hub motor 1 can be controlled by increasing or reducing the working current of the corresponding hub motor 1, so as to form the differential speed of the left turning, realize the electronic differential speed function, assist the scooter to turn left, and make the process of the scooter turning left more stable and smooth.

[0078] When the processor 2 determines that the scooter is in the right turning of the safe turning state according to the difference between the output electric signals, for example, when the processor 2 determines that the scooter is in the right turning according to the output current of the right hub motor 1 being less than the output current of the left hub motor 1 along the driving direction of the scooter, and the difference is within the preset range, it will actively control to increase the rotating speed of the left hub motor 1 of the scooter, and / or reduce the rotating speed of the right hub motor 1 of the scooter, and specifically, the rotating speed of the corresponding hub motor 1 can be controlled by increasing or reducing the working current of the corresponding hub motor 1, so as to form the differential speed of the right turning, realize the electronic differential speed function, assist the scooter to turn right, and make the process of the scooter turning right more stable and smooth.

[0079] It should be emphasized that the hub motor driving system provided by the embodiment is particularly applied to a low-speed scooter, and the operator is usually an old person, that is, the speed of the scooter in the embodiment is relatively low, and the requirement for sensitivity is also relatively low, so the operation scheme of detecting and then controlling the hub motor in the embodiment can be applied.

[0080] The hub motor driving system provided by the embodiment of the application is different in the torque released by the driving wheels arranged on the two sides of the scooter in the running direction during turning, so that the electric signals output by the hub motors 1 arranged on the driving wheels are also different. The processor 2 can determine the turning state of the scooter by acquiring and comparing the electric signals output by the hub motors 1, and then realize the targeted control of the hub motors 1, so as to increase the stability of the scooter during turning. The whole process is only determined according to the electric signals output by the hub motors 1, so that the production cost of the scooter can be effectively reduced.

[0081] The specific content of the hub motor driving system provided by the embodiment of the application will be described in detail in the following embodiment of the application.

[0082] Embodiment two

[0083] Please refer to FIG. 2, which is a processing flowchart of the processor in the embodiment of the application.

[0084] Different from the above-mentioned embodiment of the application, the embodiment of the application further limits the specific execution process of the processor 2 on the basis of the above-mentioned embodiment of the application. The remaining content has been described in detail in the above-mentioned embodiment of the application, and will not be described here.

[0085] Referring to FIG. 2, in the embodiment of the application, the processor 2 is specifically used for: comparing the values of the output electric signals by using an adaptive fuzzy PID control algorithm model, and calculating the corresponding difference. The adaptive fuzzy PID control algorithm is based on the PID algorithm, takes error and error change rate as input, uses fuzzy rules for fuzzy reasoning, queries the fuzzy matrix table for parameter adjustment, to meet the requirements of error and error change rate at different times for PID parameter self-adjustment. In the embodiment, the adaptive fuzzy PID control algorithm is specifically used to accurately determine the difference between the electric signals output by different hub motors 1, so that the subsequent determination of the turning state according to the difference is more in line with the actual situation.

[0086] In the embodiment, the processor 2 is specifically configured to: when the difference is less than or equal to a first threshold value, control the hub motor 1 to maintain a current motion state; when the difference is greater than the first threshold value and less than or equal to a second threshold value, determine that the scooter is in a safe turning state; control the hub motor 1 to generate a corresponding differential speed according to the safe turning state; and when the difference is greater than the second threshold value, determine that the scooter is in an abnormal state, and reduce the rotating speed of the hub motor 1 until the scooter stops according to the abnormal state.

[0087] It should be noted that in the embodiment, the difference between the output electric signals of the hub motor 1 is directly negatively related to the turning radius of the current turning of the scooter, that is, the smaller the difference, the larger the turning radius, and the more stable the turning; on the contrary, the larger the difference, the smaller the turning radius, and the more rapid the turning. In the embodiment, the turning state of the scooter is generally divided into three types according to the turning radius of the scooter. The first type is that when the difference is less than or equal to the first threshold value, it means that the scooter only performs a small-angle turning, and the whole scooter will not shake and be unstable due to the turning, and in this case, the processor 2 controls the hub motor 1 to maintain the current motion state without excessive adjustment.

[0088] The second type is that when the difference is greater than the first threshold value and less than or equal to the second threshold value, it means that the scooter performs a safe normal turning, that is, it is determined that the scooter is in a safe turning state, which at least includes the left turning and the right turning introduced in the above embodiment. That is, in the embodiment, when it is determined that the scooter is in a safe turning state, the specific turning direction and the specific turning angle of the scooter and the specific content of the safe turning state can be further determined according to the difference, and then the hub motor 1 is accurately controlled according to the specific content to generate a corresponding differential speed to assist the scooter to turn more stably.

[0089] The third type is that when the difference is greater than the second threshold value, it means that the scooter performs an abnormal large-angle turning, and the corresponding actual situation may be an emergency situation or the like. In the embodiment, the state of the scooter when the difference is greater than the second threshold value is determined as an abnormal state. When it is determined that the scooter is in an abnormal state, the processor 2 reduces the rotating speed of the hub motor 1 until the scooter stops, which usually gradually reduces the rotating speed of the hub motor 1 to enable the scooter to stop stably. Of course, the specific process of reducing the rotating speed of the hub motor 1, such as the duration of the deceleration, needs to be set according to the actual situation, and is not limited herein.

[0090] Specifically, in the embodiment, the processor 2 can specifically obtain the output current of each hub motor 1 as the output electric signal, and the difference can be specifically the current difference of the output currents of the hub motors 1 arranged on the two sides of the scooter in the driving direction. In the embodiment, the output current of the hub motor 1 when the scooter normally drives in a straight line can be pre-set as a standard output current, and then the ratio between the current difference and the standard output current is calculated as a judgment standard. In the embodiment, when the ratio is less than or equal to 0.5, it is determined that the scooter chassis is in a normal driving process, and the controller does not separately issue an additional instruction at this time, so that the hub motor 1 can maintain the current motion state. When the ratio is greater than 0.5 and less than or equal to 1, it is determined that the scooter is in a safe turning state, and the controller can issue a speed reduction instruction to the driver at this time, and the driver controls the corresponding hub motor 1 to reduce the speed to form a differential speed, and according to the specific value, the state of the chassis at this time is determined, so as to accurately control the real-time speed of the hub motor 1. When the ratio is greater than or equal to 1, it is determined that the hub motor 1 is in an abnormal state at this time, i.e., it is determined that the scooter is in an abnormal state, and the controller issues a stop command to the driver, and the driver executes the stop command to reduce the speed of the hub motor 1 until the scooter stops.

[0091] Further, in the embodiment, the hub motor driving system can further include a gravity sensor arranged on the seat; and the processor is further configured to: acquire a weight parameter representing the weight of the operator through the gravity sensor; and adjust the first threshold and the second threshold according to the weight parameter.

[0092] Since the judgment of whether the scooter needs to be controlled by electronic differential during turning is not only affected by the turning radius, but also affected by the weight of the scooter. Obviously, under the same turning radius, the heavier the scooter is, the more likely it is to overturn; on the contrary, the lighter the scooter is, the less likely it is to overturn. And the weight of the scooter is affected by the weight of the operator, so in the embodiment, the first threshold and the second threshold required for the above-mentioned safe turning state judgment can be adjusted according to the weight parameter corresponding to the weight of the operator.

[0093] Specifically, in the embodiment, the processor is specifically configured to: when the weight parameter is greater than a weight standard parameter, reduce the first threshold and the second threshold; and when the weight parameter is less than the weight standard parameter, increase the first threshold and the second threshold. The weight standard parameter is a preset parameter value, which usually represents the average weight of the operator, which can be 70 kg, etc. The weight standard parameter can also be a parameter range, which is not limited here.

[0094] When the weight parameter is greater than the weight standard parameter, it means that the overall weight of the scooter at this time is relatively heavy. In order to ensure the stability of the scooter during turning, the processor needs to intervene in the control of the wheel hub motor relatively in advance to generate differential speed, that is, to reduce the first threshold value, so as to ensure that the scooter can turn more smoothly. Correspondingly, the second threshold value also needs to be reduced, so that the processor intervenes in the control of the wheel hub motor relatively in advance to slow down in the face of abnormal situations, ensuring the safety of the scooter during driving. When the weight parameter is equal to or less than the weight standard parameter, the first threshold value and the second threshold value can not be adjusted.

[0095] In the present embodiment, since the gravity sensor is arranged on the seat, the first threshold value and the second threshold value can be adjusted according to the above process at the first time when the operator sits on the seat, so as to ensure the stability of the scooter during driving. In the present embodiment, the first threshold value can be adjusted from 0.5 to 0.4 and the second threshold value can be adjusted from 1 to 0.9 when the weight parameter is greater than the weight standard parameter, that is, the first threshold value and the second threshold value are only reduced by a fixed value; or the first threshold value and the second threshold value can be adjusted correspondingly according to the weight difference between the weight parameter and the weight standard parameter. Generally, the greater the weight difference, the greater the value of the first threshold value and the second threshold value, and the two are positively correlated.

[0096] The wheel hub motor driving system provided in the present embodiment can realize more accurate control of the wheel hub motor 1 by setting multiple turning states, thereby ensuring the safety of the scooter during driving. The first threshold value and the second threshold value can be manually adjusted by the operator when the scooter is parked, and the processor can adjust the size of the first threshold value and the second threshold value in combination with the weight parameter obtained by the gravity sensor when the scooter is started, so that the electronic differential function of the scooter has stronger adaptability and can adapt to different situations, thereby further ensuring the stability of the scooter during turning.

[0097] Embodiment Three

[0098] A scooter provided in the present embodiment will be described below. The specific content of the scooter described below can be mutually corresponding and referred to the specific content of the wheel hub motor driving system described above.

[0099] Please refer to FIG. 3, which is a structural schematic diagram of a scooter provided in the present embodiment.

[0100] Referring to Fig. 3, in the embodiment of the application, the scooter comprises the wheel hub motor driving system as described in any of the above embodiments, further comprising: a steering wheel, a battery 3, peripherals 4 and a driving wheel on which the wheel hub motor 1 is mounted; the wheel hub motor 1, the peripherals 4 and the processor 2 are all connected to the battery 3. The specific content of the wheel hub motor driving system has been described in detail in the above embodiments, and will not be repeated here.

[0101] In this embodiment, the battery 3 is specifically configured to supply power to the wheel hub motor 1, the processor 2 and the peripherals 4 and the like, and the processor 2 is further configured to control the discharge of the battery 3. In this embodiment, the wheels mounted on the scooter comprise driving wheels and steering wheels, wherein the driving wheels are wheels on which the wheel hub motor 1 is mounted, and the steering wheels are wheels responsible for steering. The driving wheels and the steering wheels can be the same wheels or different wheels, and the steering wheels can also be mounted with the wheel hub motor 1. For example, the scooter can be specifically configured to have the wheel hub motor 1 only on the rear wheels and not on the front wheels, so that the front wheels serve as the steering wheels and the rear wheels serve as the driving wheels. For a four-wheel scooter, the wheel hub motor 1 can be specifically configured to be provided only on the front wheels and not on the rear wheels, so that the front wheels serve as both the driving wheels and the steering wheels, and the control of the wheel hub motor 1 can be based on the wheel hub motor driving system described in the above embodiments. For a three-wheel scooter, the wheel hub motor 1 needs to be specifically configured to be provided on the rear wheels as the driving wheels, and the front wheels can also be provided with the wheel hub motor 1, but since no output electric signal difference value is generated during turning, the front wheels can only serve as the steering wheels in this embodiment.

[0102] Specifically, in this embodiment, the peripherals 4 generally comprise a horn, a left turn signal, a right turn signal, a voice alarm and a headlight. The horn, the left turn signal, the right turn signal and the headlight are necessary peripherals 4 for the scooter as a scooter tool, and the voice alarm is used for voice prompting. In this embodiment, each peripheral 4 needs to be connected to the battery 3, wherein the battery 3 is a detachable electrical component, which can be detached for charging or can be charged together with the scooter as a whole by using the charging port of the scooter.

[0103] In the embodiment, the scooter is also usually provided with a steering controller as a personnel holding part, and an operator can actively issue an instruction to the controller through the steering controller to control the scooter running speed and the state of the external device 4. The controller reads the output signal state of the wheel hub motor 1 in the driver to determine the running state of the scooter, so as to correct the running state. Usually, the control priority of the steering controller in the braking control of the scooter is higher than that of the wheel hub motor 1 current feedback control. When an abnormal situation occurs during the running of the scooter, the user can actively brake and stop the scooter through the steering controller. The above voice alarm can automatically broadcast a voice according to the real-time running state of the scooter or when an abnormal situation occurs, thereby improving the safety during use.

[0104] In the embodiment, the external device 4 can also include a near field communication module connected with the processor 2. The processor 2 is also used to: acquire an unlocking instruction through the near field communication module; and unlock the battery 3 for power supply according to the unlocking instruction. The setting of the near field communication (NFC) module can make the operator realize the unlocking of the scooter through a mobile phone and other external devices 4 instead of a key. Correspondingly, the processor 2 can unlock the battery 3 for power supply based on the unlocking instruction after acquiring the unlocking instruction through the near field communication module, so as to complete the unlocking of the scooter.

[0105] Further, in the embodiment, a gravity sensor is arranged on the seat. The processor 2 is specifically used to: acquire an unlocking instruction through the near field communication module, and acquire a gravity sensing instruction representing that a person enters the scooter through the gravity sensor; and unlock the battery 3 for power supply when the unlocking instruction and the gravity sensing instruction are acquired at the same time. In the embodiment, the gravity sensor can generate the gravity sensing instruction when the operator has sat on the seat. In other words, when the processor 2 receives the gravity sensing instruction, it means that the operator has sat on the seat. Correspondingly, in this step, the processor 2 acquires the unlocking instruction and the gravity sensing instruction at the same time, which means that the operator has sat on the seat and unlocked. At this time, the processor 2 can unlock the battery 3 for power supply, so as to complete the unlocking of the scooter.

[0106] In the embodiment, the processor 2 can also be configured to: when the battery 3 is in the unlocked state and the time length during which the processor 2 does not acquire the gravity sensing instruction from the gravity sensor reaches a preset time length, voice remind the abnormality of the locked state through the voice alarm. When the processor 2 does not acquire the gravity sensing instruction from the gravity sensor, it means that the operator leaves the seat. When the time length during which the processor 2 does not acquire the gravity sensing instruction reaches the preset time length, it means that the operator has left the seat for a long time. At this time, the processor 2 can voice remind the abnormality of the locked state through the voice alarm. The specific content of the voice broadcast can be set according to the actual situation, which is not limited here. The specific value of the above-mentioned preset time length can be set according to the actual situation, which is not limited here.

[0107] In the embodiment, the peripheral device 4 further includes a backup mechanical lock connected with the processor 2. The backup mechanical lock is provided to cope with electronic abnormality. The specific structure of the backup mechanical lock can refer to the prior art, which will not be described here.

[0108] In the embodiment, the peripheral device 4 further includes a radar probe located at the outer peripheral part of the scooter, and the radar probe is connected with the processor 2. The processor 2 is configured to: acquire the obstacle information around the scooter through the radar probe; and voice remind according to the obstacle information through the voice alarm. In the embodiment, a front radar probe can be provided at the front part of the scooter, and a rear radar probe can be provided at the tail part of the scooter. The radar probe can effectively detect obstacles, and the voice remind function of the voice alarm can remind the user to pay attention to safety. For the processor, it is specifically required to acquire the obstacle information around the scooter through the radar probe, and then voice remind through the voice alarm based on the obstacle information.

[0109] In the embodiment, the peripheral device 4 further includes an electronic instrument display screen to display vehicle information. The electronic instrument display screen usually needs to be connected with the processor 2, specifically with the controller or control module in the processor 2. The electronic instrument display screen usually needs to integrate the display of vehicle speed, power display, abnormal fault code display, mileage display, headlight display and turn signal display, etc. In the embodiment, the scooter can also include a light sensor which can be built-in in the electronic instrument display screen. The light sensor is connected with the processor 2, and the processor 2 is connected with the electronic instrument display screen. The processor 2 is configured to: acquire the external light intensity value through the light sensor; and control the brightness of the electronic instrument display screen according to the external light intensity value.

[0110] The light sensor is used for measuring ambient light and generating an ambient light intensity value corresponding to the intensity of the ambient light. After obtaining the ambient light intensity value, the corresponding processor 2 controls the brightness of the electronic instrument display screen according to the ambient light intensity value, so as to adjust the brightness of the electronic instrument display screen in real time according to the change of the ambient light intensity, thereby saving energy and protecting the environment.

[0111] In the embodiment, the battery 3 can be further configured with a fast charging function, so as to save the charging time of the user and increase the convenience of use of the user. The seat of the scooter can be a seat that can be adjusted forward and backward, and the armrest of the scooter can be a foldable and liftable armrest. That is, in the embodiment, the whole scooter can be folded, and the seat can be adjusted forward and backward, and the armrest has the functions of folding and lifting, so as to reduce the space occupied by the parked scooter.

[0112] The scooter provided in the embodiment can determine the turning state of the scooter by the processor 2 through obtaining and comparing the electric signals output by the hub motors 1, and then realize the targeted control of the hub motors 1, so as to increase the stability of the scooter during turning. The whole process is only judged according to the electric signals output by the hub motors 1, so as to effectively reduce the production cost of the scooter.

[0113] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts are described in the method part.

[0114] Those skilled in the art will further appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in general terms above as being generally associated with functions. Whether such functions are implemented as hardware or software depends on the specific application and design constraints imposed on the overall system. 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 beyond the scope of the present application.

[0115] The steps of the method or algorithm described in connection with the embodiments disclosed herein can be directly implemented in hardware, software executed by a processor, or a combination of both. The software module can be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0116] Finally, it needs to be pointed out that, in this document, the relational terms such as first and second and the like are used merely to differentiate one entity or action from another, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... " does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0117] The above describes in detail a wheel hub motor driving system and a scooter provided by the present application. The principles and implementation manners of the present application are described by using specific examples in this document, and the above description of the examples is only for helping to understand the method of the present application and its core idea. It should be pointed out that, for those skilled in the art, some improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A wheel hub motor drive system, characterized by, The in-wheel motor driving system comprises at least two in-wheel motors and a processor. The in-wheel motors are installed on corresponding driving wheels to drive the corresponding driving wheels to rotate, and the driving wheels are arranged on opposite sides along the travel direction of the scooter. The processor is configured to: acquire output electrical signals of the in-wheel motors arranged on opposite sides along the travel direction of the scooter; determine a turning state of the scooter according to a difference between the output electrical signals; when the difference is within a preset range, the turning state is a safe turning state; drive the in-wheel motors to make the scooter reach a travel condition corresponding to the turning state according to the turning state; when the turning state is the safe turning state, control the in-wheel motors to generate a corresponding differential speed.

2. The wheel hub motor drive system according to claim 1, characterized in that, The processor is specifically configured to: determine that the scooter is turning left in the safe turning state according to the difference between the output electrical signals; after determining that the scooter is turning left, increase the rotating speed of the in-wheel motor on the right side of the scooter and / or decrease the rotating speed of the in-wheel motor on the left side of the scooter to form a differential speed for turning left.

3. The wheel hub motor drive system according to claim 1, characterized in that, The processor is specifically configured to: determine that the scooter is turning right in the safe turning state according to the difference between the output electrical signals; after determining that the scooter is turning right, increase the rotating speed of the in-wheel motor on the left side of the scooter and / or decrease the rotating speed of the in-wheel motor on the right side of the scooter to form a differential speed for turning right.

4. The wheel hub motor drive system according to claim 1, characterized in that, The processor is specifically configured to: compare the values of the output electrical signals by using an adaptive fuzzy PID control algorithm model to calculate a corresponding difference. The processor is specifically configured to:

5. The wheel hub motor drive system according to claim 1, characterized in that, when the difference is less than or equal to a first threshold value, control the in-wheel motors to maintain a current motion state. The processor is specifically configured to:

6. The wheel hub motor drive system according to claim 5, characterized in that when the difference is greater than the first threshold value and less than or equal to a second threshold value, determine that the scooter is in the safe turning state; control the in-wheel motors to generate a corresponding differential speed according to the safe turning state. The processor is specifically configured to: when the difference is greater than the second threshold value, determine that the scooter is in an abnormal state; 7. The wheel hub motor drive system according to claim 6, characterized in that according to the abnormal state, reduce the rotating speed of the in-wheel motors until the scooter stops. The in-wheel motor driving system further comprises a gravity sensor arranged on a seat.

8. The wheel hub motor drive system according to claim 7, characterized in that The processor is further configured to: acquire a weight parameter representing the weight of an operator by using the gravity sensor; adjust the first threshold value and the second threshold value according to the weight parameter. The processor is specifically configured to:

9. The wheel hub motor drive system according to claim 8, characterized in that when the weight parameter is greater than a weight standard parameter, reduce the first threshold value and the second threshold value; when the weight parameter is less than the weight standard parameter, increase the first threshold value and the second threshold value. The in-wheel motor driving system further comprises:

10. A scooter, characterized in that a steering wheel, a battery, peripheral devices and driving wheels on which the in-wheel motors are installed; the in-wheel motors, the peripheral devices and the processor are connected to the battery. The peripheral devices comprise a near field communication module, the near field communication module is connected to the processor, and the processor is further configured to:

11. The scooter of claim 10, wherein, acquire an unlocking instruction by using the near field communication module; ​ According to the unlocking instruction, the battery is unlocked to supply power.

12. The scooter of claim 11, wherein, Further comprising a gravity sensor arranged on the seat; the processor is specifically used for: The unlocking instruction is acquired through the near field communication module, and the gravity sensing instruction representing that a person enters the scooter is acquired through the gravity sensor; When the unlocking instruction and the gravity sensing instruction are acquired at the same time, the battery is unlocked to supply power.

13. The scooter of claim 12, wherein, The processor is further used for: When the battery is in the unlocked state, but the time length during which the gravity sensing instruction is not acquired from the gravity sensor reaches a preset time length, the voice alarm is used to voice remind of the abnormality of the locked state.

14. The scooter of claim 10, wherein, The external device further comprises a radar probe located on the outer peripheral part of the scooter, and the radar probe is connected with the processor; The processor is used for: Obtaining the obstacle information around the scooter through the radar probe; According to the obstacle information, the voice alarm is used to voice remind.

15. The scooter of claim 10, wherein, The external device comprises an electronic instrument display screen to display vehicle information.

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