阅读说明：本技术 移动产品的控制方法、装置、系统、存储介质和处理器 (Control method, device and system of mobile product, storage medium and processor ) 是由 不公告发明人 于 2019-09-23 设计创作，主要内容包括：本申请提供了一种移动产品的控制方法、装置、系统、存储介质和处理器。该控制方法包括：检测移动产品在至少两个预定方向上的加速度,至少两个预定方向包括相互垂直的第一预定方向和第二预定方向,其中,第一预定方向为移动产品的移动方向,第二预定方向为与移动产品的踏板面垂直且远离地面的方向；根据至少两个预定方向上的加速度控制移动产品的速度。该方法可以通过检测移动产品在在第一预定方向和第二预定方向上的加速度来判断使用者的意图,从而根据使用者的意图来准确地控制移动产品的速度,解决了现有技术中的检测轮子的加速度的方法难以判断出使用者使用者的意图,从而难以准确地按照使用者的意图来控制速度的问题。(The application provides a control method, a control device, a control system, a storage medium and a processor of a mobile product. The control method comprises the following steps: detecting the acceleration of the mobile product in at least two preset directions, wherein the at least two preset directions comprise a first preset direction and a second preset direction which are perpendicular to each other, the first preset direction is the moving direction of the mobile product, and the second preset direction is the direction which is perpendicular to the pedal surface of the mobile product and is far away from the ground; the speed of the moving product is controlled in accordance with the accelerations in at least two predetermined directions. The method can judge the intention of the user by detecting the acceleration of the moving product in the first preset direction and the second preset direction, so as to accurately control the speed of the moving product according to the intention of the user, and solve the problems that the method for detecting the acceleration of the wheel in the prior art is difficult to judge the intention of the user, so that the speed is difficult to accurately control according to the intention of the user.)

1. A method of controlling a mobile product, comprising:

detecting the acceleration of a mobile product in at least two predetermined directions, wherein the at least two predetermined directions comprise a first predetermined direction and a second predetermined direction which are perpendicular to each other, the first predetermined direction is the moving direction of the mobile product, and the second predetermined direction is the direction which is perpendicular to the tread surface of the mobile product and is far away from the ground;

controlling the speed of the moving product in accordance with the accelerations in at least two of the predetermined directions.

2. The control method of claim 1, wherein controlling the speed of the moving product as a function of the accelerations in at least two of the predetermined directions comprises:

performing predetermined processing on at least two accelerations in the predetermined directions;

and controlling the speed of the moving product according to the magnitude and the positive and negative of the acceleration in at least two preset directions after the preset treatment.

3. The control method according to claim 2, characterized in that the predetermined processing of the accelerations in at least two of the predetermined directions comprises at least one of:

carrying out high-pass filtering processing on the accelerations in at least two preset directions;

and carrying out low-pass filtering processing on the accelerations in at least two predetermined directions.

4. The control method according to claim 2, wherein controlling the speed of the moving product according to the magnitude and the sign of the acceleration in at least two of the predetermined directions after the predetermined processing includes:

determining the state of the user according to the magnitude and the positive and negative of the acceleration in at least two preset directions after the preset processing;

controlling the speed of the mobile product according to the state of the user.

5. The control method according to claim 4, characterized in that the acceleration in the first predetermined direction is a first acceleration, the acceleration in the second predetermined direction is a second acceleration,

determining the state of the user according to the magnitude and the positive and negative of the acceleration in at least two preset directions after the preset processing, wherein the method comprises the following steps:

determining that a user is in a state of pedaling the mobile product and controlling a speed of the mobile product according to the state of the user, in case that the detected first acceleration is a negative value and an absolute value is greater than a first threshold, and the second acceleration is a positive value and an absolute value is greater than a second threshold, comprising:

detecting a movement speed of the mobile product during a phase of kicking by the user;

and under the condition that the movement speed is detected to reach a maximum speed value, controlling the mobile product to enter a stable movement stage, wherein the acceleration of the stable movement stage is smaller than an acceleration threshold value, and the acceleration threshold value is the absolute value of the maximum acceleration in the stage that the user steps.

6. The control method of claim 5, wherein the moving product comprises a motor, and wherein controlling the moving product into a steady motion phase comprises one of:

and controlling the rotating speed of the motor to be less than or equal to a preset rotating speed, wherein the preset rotating speed is the rotating speed corresponding to the maximum speed.

7. The control method according to claim 6, wherein controlling the rotation speed of the motor to be less than or equal to a predetermined rotation speed includes:

determining a maximum first rotational speed of the motor;

determining a maximum voltage duty cycle of the motor according to the maximum first rotation speed;

and controlling the voltage duty ratio of the motor to be less than or equal to the maximum voltage duty ratio, wherein the voltage duty ratio is the duty ratio of voltage.

8. The control method of claim 5, wherein the mobile product comprises a motor, and after controlling the mobile product to enter a steady motion phase, the control method further comprises:

detecting the current of the motor;

and in the case of 0 when the current is reduced to, controlling the current to be a predetermined current, wherein the predetermined current is greater than 0.

9. The control method according to claim 4, characterized in that the acceleration in the first predetermined direction is a first acceleration, the acceleration in the second predetermined direction is a second acceleration,

determining the state of the user according to the magnitude and the positive and negative of the acceleration in at least two preset directions after the preset processing, wherein the method comprises the following steps:

determining that the user is in a state of at least partial body disengagement from the mobile product if the detected first acceleration is a positive value and has an absolute value greater than a third threshold, the second acceleration is a negative value and has an absolute value greater than a fourth threshold,

controlling the speed of the mobile product according to the state of the user, comprising:

and controlling the moving product to do deceleration movement.

10. A control device for a mobile product, comprising:

the first detection unit is used for detecting the acceleration of a mobile product in at least two predetermined directions, wherein the at least two predetermined directions comprise a first predetermined direction and a second predetermined direction which are perpendicular to each other, the first predetermined direction is the moving direction of the mobile product, and the second predetermined direction is the direction which is perpendicular to the tread surface of the mobile product and is far away from the ground;

a first control unit for controlling the speed of the moving product in dependence on the accelerations in at least two of the predetermined directions.

11. A system comprising a mobile product and a control device, characterized in that the control device performs the method of any one of claims 1 to 9.

12. The system of claim 11, wherein the control device comprises a detection unit, the detection unit being an inertial measurement unit.

13. The system of claim 11, wherein the mobile product is a scooter comprising a pedal, the detection unit being mounted on or in the pedal.

14. A storage medium characterized by comprising a stored program, wherein the program executes the control method of any one of claims 1 to 9.

15. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the control method of any one of claims 1 to 9.

Technical Field

The present application relates to the field of control of mobile products, and in particular, to a method, an apparatus, a system, a storage medium, and a processor for controlling a mobile product.

Background

Along with the development of science and technology, mobile products are increasingly popularized in the life of common people, for example, scooters and the like, and the scooters have the characteristics of small wheels and foldable common handles and board bodies, and are very convenient to carry.

Scooter and other mobile products are unpowered and also electric. At present, most of electric vehicles are provided with an electric accelerator handle and a mechanical brake, such as a Mijia scooter, when the vehicle needs to be accelerated, the accelerator handle is directly screwed, and when the vehicle is braked, the brake handle is pinched by hands; the unpowered OXELO-S like Decancon is very popular among teenagers, and the unpowered scooter is generally characterized in that a user pedals the ground backwards by using a non-supporting leg to push the scooter to move forwards, but due to the unpowered reason, the sliding distance at each time is limited, and the rider needs to continuously pedal, so that the rider consumes physical power when riding.

Currently, there are assistance mode mobile products on the market, such as assistance mode scooters, which can move under the pedaling of people and also under the electric assistance, and cover the advantages of powered and unpowered products. Such a mobile product controls the motion state of the product according to the acceleration of the wheels, but since the wheels are accelerated without power and accelerated with power, it is difficult to accurately judge whether the acceleration is caused by human pedaling, and thus it is difficult to accurately control the speed of the mobile product according to the intention of the human.

The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Disclosure of Invention

The present application mainly aims to provide a control method, device, system, storage medium and processor for a mobile product, so as to solve the problem that in the prior art, it is difficult for a mobile product in a power-assisted mode to accurately control the speed of the mobile product according to human intention.

In order to achieve the above object, according to one aspect of the present application, there is provided a control method of a mobile product, the method including: detecting the acceleration of a mobile product in at least two predetermined directions, wherein the at least two predetermined directions comprise a first predetermined direction and a second predetermined direction which are perpendicular to each other, the first predetermined direction is the moving direction of the mobile product, and the second predetermined direction is the direction which is perpendicular to the tread surface of the mobile product and is far away from the ground; controlling the speed of the moving product in accordance with the accelerations in at least two of the predetermined directions.

Further, controlling the speed of the moving product in accordance with the accelerations in at least two of the predetermined directions, comprises: performing predetermined processing on at least two accelerations in the predetermined directions; and controlling the speed of the moving product according to the magnitude and the positive and negative of the acceleration in at least two preset directions after the preset treatment.

Further, the predetermined processing is performed on the accelerations in at least two of the predetermined directions, and includes at least one of: carrying out high-pass filtering processing on the accelerations in at least two preset directions; and carrying out low-pass filtering processing on the accelerations in at least two predetermined directions.

Further, controlling the speed of the moving product according to the magnitude and the positive and negative of the acceleration in at least two predetermined directions after the predetermined processing comprises: determining the state of the user according to the magnitude and the positive and negative of the acceleration in at least two preset directions after the preset processing; controlling the speed of the mobile product according to the state of the user.

Further, the determining the state of the user according to the magnitude and the positive and negative of the acceleration in at least two predetermined directions after the predetermined processing includes: determining that a user is in a state of pedaling the mobile product and controlling a speed of the mobile product according to the state of the user, in case that the detected first acceleration is a negative value and an absolute value is greater than a first threshold, and the second acceleration is a positive value and an absolute value is greater than a second threshold, comprising: detecting a movement speed of the mobile product during a phase of kicking by the user; and under the condition that the movement speed is detected to reach the maximum speed value, controlling the mobile product to enter a stable movement stage, wherein the acceleration of the stable movement stage is smaller than an acceleration threshold value, and the acceleration threshold value is the absolute value of the maximum acceleration in the stage that the user steps.

Further, the mobile product includes a motor that controls the mobile product to enter a steady motion phase, including one of: and controlling the rotating speed of the motor to be less than or equal to a preset rotating speed, wherein the preset rotating speed is the rotating speed corresponding to the maximum speed.

Further, controlling the rotational speed of the motor to be less than or equal to a predetermined rotational speed includes: determining a maximum first rotational speed of the motor; determining a maximum voltage duty cycle of the motor according to the maximum first rotation speed; and controlling the voltage duty ratio of the motor to be less than or equal to the maximum voltage duty ratio, wherein the voltage duty ratio is the duty ratio of voltage.

Further, the mobile product comprises a motor, and after the mobile product is controlled to enter a stable motion phase, the control method further comprises the following steps: detecting the current of the motor; and in the case of 0 when the current is reduced to, controlling the current to be a predetermined current, wherein the predetermined current is greater than 0.

Further, the determining the state of the user according to the magnitude and the positive and negative of the acceleration in at least two predetermined directions after the predetermined processing includes: determining that the user is in a state where at least part of the body is detached from the mobile product in case the detected first acceleration is a positive value and an absolute value is greater than a third threshold, the second acceleration is a negative value and an absolute value is greater than a fourth threshold, controlling the speed of the mobile product according to the state of the user, including: and controlling the moving product to do deceleration movement.

In order to achieve the above object, according to another aspect of the present application, there is provided a control apparatus for moving a product, including: the first detection unit is used for detecting the acceleration of a mobile product in at least two predetermined directions, wherein the at least two predetermined directions comprise a first predetermined direction and a second predetermined direction which are perpendicular to each other, the first predetermined direction is the moving direction of the mobile product, and the second predetermined direction is the direction which is perpendicular to the tread surface of the mobile product and is far away from the ground; a first control unit for controlling the speed of the moving product in dependence on the accelerations in at least two of the predetermined directions.

To achieve the above object, according to another aspect of the present application, there is provided a system comprising a mobile product and a control device, the control device being any one of the methods.

Further, the control device comprises a detection unit, and the detection unit is an inertia measurement unit.

Further, remove the product and be the scooter, the scooter includes the footboard, detecting element installs on the footboard or in the footboard.

According to still another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the control methods.

According to yet another aspect of the present application, there is provided a processor for executing a program, wherein the program executes any one of the control methods.

By applying the technical scheme of the application, firstly, the acceleration of the mobile product in at least a first preset direction and a second preset direction is detected, and then the speed of the mobile product is controlled according to the accelerations in at least two preset directions. Since the acceleration in both the first predetermined direction and the second predetermined direction becomes larger in the case where the user steps on or jumps off the mobile product, etc., at least one of the acceleration in the first predetermined direction and the acceleration in the second predetermined direction is smaller in the case of motor control or road surface vibration. Therefore, the method can judge the intention of the user by detecting the acceleration of the moving product in the first predetermined direction and the second predetermined direction, thereby accurately controlling the speed of the moving product according to the intention of the user, and solving the problems that the method for detecting the acceleration of the wheel in the prior art is difficult to judge the intention of the user and accurately control the speed according to the intention of the user.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

FIG. 1 shows a flow chart of a control method of a mobile product of an embodiment of the present application;

FIG. 2 shows a schematic structural diagram of a mobile product of an embodiment of the present application;

FIG. 3 is a schematic view showing a state where a skateboard according to an embodiment of the present application is stepped;

FIG. 4 illustrates acceleration of the skateboard over time during pedaling by a user of an embodiment of the present application;

FIG. 5 illustrates a schematic diagram of the velocity variation of a moving product of an embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a velocity profile of a moving product according to another embodiment of the present application;

FIG. 7 illustrates a schematic diagram of velocity variations of a moving product according to yet another embodiment of the present application;

FIG. 8 illustrates a schematic diagram of the velocity variation of a moving product of yet another embodiment of the present application;

FIG. 9 illustrates a schematic diagram of the velocity variation of a moving product of an embodiment of the present application;

FIG. 10 illustrates acceleration of the skateboard over time when a user of one embodiment of the present application suddenly disembarks;

FIG. 11 is a schematic diagram illustrating the speed change of the brakes after the speed of the mobile product is maintained;

fig. 12 shows a schematic view of a control device of a mobile product according to an embodiment of the present application.

Wherein the figures include the following reference numerals:

1. a rear wheel without power; 2. a pedal; 3. an inertial measurement unit; 4. a motor; 5. a connecting rod; 6. and controlling the equipment.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.

As described in the background, the power-assist mode in the related art moves products to control the motion state of such products according to the acceleration of wheels, but it is difficult to accurately control the speed of the moving products according to human intention. To solve this problem, in an exemplary embodiment of the present application, a control method of a mobile product is provided.

Fig. 1 is a flowchart of a control method of a mobile product according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:

step S101, detecting accelerations of a mobile product in at least two preset directions of a current motion stage, wherein the at least two preset directions comprise a first preset direction and a second preset direction which are perpendicular to each other, the first preset direction is the moving direction of the mobile product, and the second preset direction is the direction which is perpendicular to a pedal surface of the mobile product and is far away from the ground;

step S102, controlling the speed of the mobile product according to the accelerations in at least two of the predetermined directions.

In the above method for controlling a moving product, first, accelerations of the moving product in at least a first predetermined direction and a second predetermined direction are detected, and then, a speed of the moving product is controlled according to the accelerations in at least two of the predetermined directions. Since the acceleration in both the first predetermined direction and the second predetermined direction becomes larger in the case where the user steps on or jumps off the mobile product, etc., at least one of the acceleration in the first predetermined direction and the acceleration in the second predetermined direction is smaller in the case of motor control or road surface vibration. Therefore, the method can judge the intention of the user by detecting the acceleration of the moving product in the first predetermined direction and the second predetermined direction, thereby accurately controlling the speed of the moving product according to the intention of the user, and solving the problems that the method for detecting the acceleration of the wheel in the prior art is difficult to judge the intention of the user and accurately control the speed according to the intention of the user.

For example, when the mobile product is a skateboard, whether the acceleration is caused by pedaling of the user can be judged according to the accelerations in at least two predetermined directions, that is, the acceleration caused by pedaling of the user can be judged if the accelerations in at least two predetermined directions are changed within a certain range, so that the speed of the mobile product can be accurately controlled according to the intention of the user, and the operation is simplified without judging the pedaling strength.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

It should be noted that the mobile product may be a scooter as shown in fig. 2, or may be another vehicle such as an electric bicycle, a power-assisted bicycle, an electric skateboard, an electric power-assisted skateboard, or other electric toy, and the like. The state when the user steps the skateboard, as shown in fig. 3.

It should be noted that the scooter of the present application is not limited to the scooter shown in fig. 2, and can also be a scooter with other structures, for example, the scooter with the inertia measurement unit 3 located on the connecting rod 5, and further for example, the scooter with the motor 4 located on the rear wheel.

It should be noted that the detection of the accelerations in at least two predetermined directions in the present application may be implemented by any feasible device, for example, the accelerations may be detected by an inertial measurement unit, or the accelerations in the second predetermined direction may be obtained by a pressure sensor, and the accelerations in the first predetermined direction may be obtained by a wheel speed sensor.

In order to solve the problem that it may be difficult to directly obtain the accelerations in at least two of the above predetermined directions in practical applications, in an embodiment of the present application, the detecting the accelerations of the moving product in at least two directions includes: detecting accelerations of said moving product in at least two preparatory directions; determining at least two accelerations in said predetermined direction based on at least two accelerations in said preparatory directions. Specifically, the accelerations in the at least two predetermined directions may be obtained by performing operations such as coordinate transformation on the accelerations in the at least two preparatory directions.

In a specific embodiment, the mobile product is a scooter, and the Inertial Measurement Unit (IMU) mounted on the connecting rod 5 shown in fig. 2 can first obtain the accelerations in two preparatory directions, and then change the acceleration coordinates in the two preparatory directions to the Y-axis (first predetermined direction) and the Z-axis (second predetermined direction) to obtain the accelerations in the two predetermined directions.

In one embodiment of the present application, detecting acceleration of a moving product in at least two directions comprises: and detecting the acceleration of the mobile product in three predetermined directions, wherein the three predetermined directions comprise a third predetermined direction besides the first predetermined direction and the second predetermined direction, and the third predetermined direction is respectively perpendicular to the first predetermined direction and the second predetermined direction. Specifically, the third predetermined direction may be a direction perpendicular to the moving direction of the mobile product, and perpendicular to the direction perpendicular to the tread surface of the mobile product and away from the ground, and the first predetermined direction, the second predetermined direction, and the third predetermined direction conform to a right-hand coordinate system. By detecting the acceleration of the moving product in the three above-mentioned predetermined directions, it is further accurately determined whether the acceleration is caused by the user's kicking and the state of the user is further determined, so that the speed of the moving product can be accurately controlled according to the user's intention. In particular, accelerations of the mobile product in three of the predetermined directions may be detected by the IMU.

In one embodiment of the present application, controlling the speed of the moving product according to the accelerations in at least two of the predetermined directions includes: performing predetermined processing on at least two accelerations in the predetermined direction; and controlling the speed of the moving product according to the magnitude and the positive and negative of the acceleration in at least two preset directions after the preset processing. This enables the state of the user to be further accurately judged, or the acceleration in the predetermined direction to be more efficiently acquired.

The predetermined processing of the present application may be any suitable processing manner in the prior art, and a person skilled in the art may select a suitable manner according to actual situations.

In an embodiment of the present application, the predetermined processing of the accelerations in at least two of the above predetermined directions includes at least one of: carrying out high-pass filtering processing on the accelerations in at least two preset directions; and carrying out low-pass filtering processing on the accelerations in at least two predetermined directions. The high-pass filtering processing is carried out on the accelerations in at least two preset directions, and low-frequency noise is filtered, so that only a sudden change part (both pedaling and driving belong to the sudden change part) can be obtained, and the accelerations in the preset directions can be determined more quickly; the acceleration in at least two preset directions is subjected to low-pass filtering processing, high-frequency noise is filtered, the obtained acceleration in the preset direction is more accurate, whether the acceleration is caused by the action of a user can be more accurately judged, and the speed of a mobile product can be more accurately controlled. Specifically, the frequency band of the acceleration obtained by the high-pass filtering is different from the frequency band of the high-frequency noise filtered by the low-pass filtering, and the frequency band can be adjusted according to actual conditions.

In order to control the speed of the moving product more accurately, in one embodiment of the present application, the controlling the speed of the moving product according to the magnitude and the positive and negative of the acceleration in at least two predetermined directions after the predetermined processing includes: determining the state of the user according to the magnitude and the positive and negative of the acceleration in at least two preset directions after the preset processing; controlling the speed of the mobile product according to the user's state, which includes a pedaling state or a state in which a part of the body is detached from the mobile product.

In one embodiment of the present application, the acceleration in the first predetermined direction is a first acceleration, the acceleration in the second predetermined direction is a second acceleration, and the state of the user is determined based on the magnitude and the positive or negative of the accelerations in at least two predetermined directions after the predetermined processing, including: when the detected first acceleration is a negative value and the absolute value is greater than a first threshold, and the detected second acceleration is a positive value and the absolute value is greater than a second threshold, the method of controlling the speed of the mobile product according to the state of the user includes: detecting the movement speed of the mobile product in the kicking stage of the user; and under the condition that the movement speed is detected to reach a maximum speed value, controlling the mobile product to enter a stable movement stage, wherein the acceleration of the stable movement stage is smaller than an acceleration threshold value, and the acceleration threshold value is the absolute value of the maximum acceleration of the user in the pedaling stage.

In this scheme, the acceleration in the steady motion phase is smaller than the acceleration threshold, that is, the acceleration in the steady motion phase is smaller. The initial speed of the moving product in the stable motion stage is a maximum speed value, and the maximum speed value is the maximum motion speed. Therefore, the moment that the user transits from the pedaling state to the stable motion stage can be ensured, sudden acceleration and deceleration can not be felt, and better use experience of the user is further ensured.

In an embodiment of the present application, the mobile product includes a motor, and the motor controls the mobile product to enter a stable motion phase, including one of: and controlling the rotating speed of the motor to be less than or equal to a preset rotating speed, wherein the preset rotating speed is the rotating speed corresponding to the maximum speed value. And controlling the rotating speed of the motor to be less than or equal to a preset rotating speed, wherein the speed of the moving product is the maximum speed value under the condition that the rotating speed of the motor is the preset rotating speed. The speed of the moving product is controlled by controlling the rotating speed of the motor, so that the speed of the moving product is less than or equal to the maximum speed value, namely the rotating speed of the motor is in a uniform speed state or a deceleration state, and the moving speed of the stable motion stage can be controlled to be less than or equal to the maximum speed value more simply and accurately by controlling the rotating speed of the motor. Specifically, the speed maintaining stage shown in fig. 5, 6, 9 and 11 is a uniform motion stage, and the slow deceleration stage shown in fig. 7 and 8 is a deceleration motion stage.

The current motion stage of the mobile product can be any motion stage, can be an unpowered person pedaling motion stage, and can also be a motion stage with both person pedaling and power. In a specific embodiment of the present application, the current motion phase is a first motion phase in which the moving product starts to move from a standstill without being driven by the driving device, and the stable motion phase is a second motion phase. The specific process of this embodiment is shown in fig. 5 and 7.

In another embodiment of the present invention, the current exercise phase is a third exercise phase after the second exercise phase, the speed maximum value of the third exercise phase is a second speed maximum value, the third exercise phase is an exercise phase in which pedaling and power coexist, and the stable exercise phase is a fourth exercise phase. The specific process of this embodiment is shown in fig. 6 and 8. Specifically, the second motion phase may be a deceleration motion phase (shown in fig. 8) or a uniform motion phase (shown in fig. 6, of course, the actual motion process may not be strictly uniform motion).

In an embodiment of the present application, controlling the rotation speed of the motor to be less than or equal to a predetermined rotation speed includes: determining a maximum first rotational speed of the motor; determining a maximum voltage duty ratio of the motor according to the maximum first rotating speed; and controlling the voltage duty ratio of the motor to be less than or equal to the maximum voltage duty ratio, wherein the voltage duty ratio is the duty ratio of voltage. The rotation speed control of the motor is realized by controlling the voltage duty ratio of the motor, the maximum rotation speed corresponds to the maximum voltage duty ratio, and the speed of the moving product can be controlled to be less than or equal to the maximum speed value more accurately by controlling the voltage duty ratio.

In an embodiment of the present application, the mobile product includes a motor, and after controlling the mobile product to enter a stable motion phase, the control method further includes: detecting the current of the motor; and in the case of 0 of the current reduction, namely, in the state that the current is detected to be in the process of reducing and is reduced to 0, controlling the current to be a predetermined current, wherein the predetermined current is more than 0. Thus, the user can be prevented from feeling obvious resistance in the process of pedaling the mobile product, the pedaling is prevented from being more strenuous, and when the user finishes pedaling operation, the control mode can be switched to the duty ratio control mode (voltage control mode), namely the control mode which is the same as the stable motion stage in the embodiment. Specifically, the predetermined current may be a small value or 0, and may be adjusted according to actual conditions.

In one embodiment of the present application, the determining the state of the user based on the magnitude and the positive or negative of the acceleration in at least two predetermined directions after the predetermined processing includes: when the detected first acceleration is a positive value and the absolute value is greater than a third threshold value, namely the acceleration of the mobile product in the moving direction is a positive value; when the second acceleration is a negative value and the absolute value is greater than the fourth threshold (specifically, the acceleration change curve of the mobile product is shown in fig. 10, where when the user is in the getting-off state, the first acceleration is a positive value and the absolute value is large, and the second acceleration is a negative value and the absolute value is large), it is determined that the user is in a state where at least part of the body of the user is separated from the mobile product, that is, the user jumps. Controlling the speed of the mobile product according to the state of the user, comprising: the moving product is controlled to make a deceleration movement, such as a slow deceleration stage or a deceleration stage shown in fig. 7 to 9. Of course, a braking phase is also possible, as shown in fig. 11. Specifically, when the user is in the getting-off stage, the mobile product is controlled to perform deceleration motion in order to better judge the intention of the user. Compared with the prior art that some mobile products are judged only through a speed threshold value, namely when the speed of the mobile products exceeds a threshold value, the mobile products advance in an accelerated mode, and when a user wants to stop, the user must step on a brake.

It should be noted that the acceleration in the predetermined direction of the present application may be a component that does not include gravity in the predetermined direction, that is, the influence of gravity acceleration is eliminated in the actual code program, and if the acceleration of the mobile product in at least two predetermined directions is obtained through the IMU, the specific process includes: firstly, the IMU detects preliminary accelerations in three predetermined directions, then obtains components of gravity on three axes of the accelerometer by means of projection, and then subtracts the components of gravity from the preliminary accelerations in the three predetermined directions to obtain the accelerations in the predetermined directions. And the IMU may detect a posture of the moving product while detecting preparatory accelerations in three predetermined directions, the control method further including: and in the case that the IMU detects some dangerous gestures, controlling the mobile product to do deceleration movement until the speed is reduced to a second preset speed.

The embodiment of the present application further provides a control device for a mobile product, and it should be noted that the control device for a mobile product according to the embodiment of the present application may be used to execute the control method for a mobile product according to the embodiment of the present application. The following describes a control device for a mobile product according to an embodiment of the present application.

Fig. 12 is a schematic diagram of a control device for a mobile product according to an embodiment of the application. As shown in fig. 12, the apparatus includes:

a first detecting unit 10, configured to detect accelerations of a mobile product in at least two predetermined directions, where the at least two predetermined directions include a first predetermined direction and a second predetermined direction that are perpendicular to each other, where the first predetermined direction is a moving direction of the mobile product, and the second predetermined direction is a direction that is perpendicular to a tread surface of the mobile product and away from a ground surface;

a first control unit 20 for controlling the speed of said moving product in accordance with said accelerations in at least two of said predetermined directions.

In the above control device for a moving product, the first detecting unit detects accelerations of the moving product in at least a first predetermined direction and a second predetermined direction, and the first control unit controls the speed of the moving product according to the accelerations in at least two of the predetermined directions. Since the acceleration in both the first and second predetermined directions becomes larger in case the user steps on or jumps off the mobile product, etc., at least one of the acceleration in the first and second predetermined directions is smaller in case of motor control or ground vibration. Therefore, the device can judge the intention of the user by detecting the acceleration of the moving product in the first preset direction and the second preset direction, thereby accurately controlling the speed of the moving product according to the intention of the user, and solving the problems that the control device for detecting the acceleration of the wheel in the prior art is difficult to judge the intention of the user and control the speed according to the intention of the user.

For example, when the mobile product is a skateboard, whether the acceleration is caused by pedaling of the user can be judged according to the accelerations in at least two predetermined directions, that is, the acceleration caused by pedaling of the user can be judged if the accelerations in at least two predetermined directions are changed within a certain range, so that the speed of the mobile product can be accurately controlled according to the intention of the user, and the operation is simplified without judging the pedaling strength.

It should be noted that the mobile product may be a scooter as shown in fig. 2, or may be another vehicle such as an electric bicycle, a power-assisted bicycle, an electric skateboard, an electric power-assisted skateboard, or other electric toy, and the like. The state when the user steps the skateboard, as shown in fig. 3.

It should be noted that the scooter of the present application is not limited to the scooter shown in fig. 2, and can also be a scooter with other structures, for example, the scooter with the inertia measurement unit 3 located on the connecting rod 5, and further for example, the scooter with the motor 4 located on the rear wheel.

It should be noted that the first detecting unit of the present application may be any device that can detect accelerations in at least two predetermined directions, for example, the first detecting unit may be an inertia measuring unit, and may also include a pressure sensor, a wheel speed sensor, and the like, and the acceleration in the second predetermined direction is obtained by the pressure sensor, and the acceleration in the first predetermined direction is obtained by the wheel speed sensor.

In order to solve this problem, in an embodiment of the present application, the first detecting unit comprises a detecting module and a determining module, the detecting module is configured to detect accelerations of the moving product in at least two preparation directions; the determining module is used for determining the accelerations in at least two preset directions according to the accelerations in at least two preset directions. Specifically, the accelerations in the at least two predetermined directions may be obtained by performing operations such as coordinate changes on the accelerations in the at least two preparatory directions.

In a specific embodiment, the mobile product is a scooter, the IMU (i.e. the detection module) mounted on the connecting rod 5 shown in fig. 2 can first obtain the accelerations in two preparatory directions, and then the determination module can change the acceleration coordinates in the two preparatory directions to the Y-axis (first predetermined direction) and the Z-axis (second predetermined direction) to obtain the accelerations in two predetermined directions.

In an embodiment of the application, the first detecting unit is further configured to detect accelerations of the moving product in three of the predetermined directions, the three predetermined directions including a third predetermined direction in addition to the first predetermined direction and the second predetermined direction, the third predetermined direction being perpendicular to the first predetermined direction and the second predetermined direction, respectively. Specifically, the third predetermined direction may be a direction perpendicular to the moving direction of the mobile product, and perpendicular to a direction perpendicular to the tread surface of the mobile product and away from the ground, and the first predetermined direction, the second predetermined direction, and the third predetermined direction conform to a right-hand coordinate system. By detecting the acceleration of the moving product in the three above-mentioned predetermined directions, it is further accurately determined whether the acceleration is caused by the user's kicking and the state of the user, so that the speed of the moving product can be accurately controlled according to the user's intention. In particular, accelerations of the mobile product in three of the predetermined directions may be detected by the IMU.

In an embodiment of the application, the first control unit includes a processing module and a control module, the processing module is configured to perform predetermined processing on at least two accelerations in the predetermined directions, and the control module is configured to control the speed of the moving product according to the magnitude and the positive and negative of the at least two accelerations in the predetermined directions after the predetermined processing. This enables the state of the user to be further accurately judged, or the acceleration in the predetermined direction to be more efficiently acquired.

The predetermined processing of the present application may be any suitable processing manner in the prior art, and a person skilled in the art may select a suitable manner according to actual situations.

In an embodiment of the present application, the processing module includes at least one of a first processing submodule and a second processing submodule, and the first processing submodule is configured to perform high-pass filtering processing on accelerations in at least two of the predetermined directions; the second processing submodule is used for carrying out low-pass filtering processing on the accelerations in at least two preset directions. The high-pass filtering processing is carried out on the accelerations in at least two preset directions, and low-frequency noise is filtered, so that only a sudden change part (both pedaling and driving belong to the sudden change part) can be obtained, and the accelerations in the preset directions can be determined more quickly; the acceleration in at least two preset directions is subjected to low-pass filtering processing, high-frequency noise is filtered, the obtained acceleration in the preset direction is more accurate, whether the acceleration is caused by the action of a user can be more accurately judged, and the speed of a mobile product can be more accurately controlled. Specifically, the frequency band of the acceleration obtained by the high-pass filtering is different from the frequency band of the high-frequency noise filtered by the low-pass filtering, and the frequency band can be adjusted according to actual conditions.

In order to control the speed of the moving product more accurately, in one embodiment of the present application, the control module comprises a first determining sub-module and a first control sub-module, wherein the first determining sub-module is used for determining the state of the user according to the magnitude and the positive and negative of the acceleration in at least two predetermined directions after the predetermined processing; the first control submodule is used for controlling the speed of the mobile product according to the state of the user, wherein the state of the user comprises a pedaling state or a state that part of the body is separated from the mobile product.

In an embodiment of the present application, the acceleration in the first predetermined direction is a first acceleration, the acceleration in the second predetermined direction is a second acceleration, the first determining sub-module is further configured to determine that the user is in a state of pedaling the mobile product when the detected first acceleration is a negative value and an absolute value of the detected first acceleration is greater than a first threshold, and the detected second acceleration is a positive value and an absolute value of the detected second acceleration is greater than a second threshold (specifically, an acceleration change curve of the mobile product is shown in fig. 4, where when the user is in the pedaling state, the first acceleration is a negative value and an absolute value of the detected first acceleration is greater, and the second acceleration is a positive value and an absolute value of the detected second acceleration is greater); the second control submodule is used for controlling the mobile product to enter a stable movement stage under the condition that the movement speed is detected to reach a maximum speed value, the acceleration of the stable movement stage is smaller than an acceleration threshold value, and the acceleration threshold value is the absolute value of the maximum acceleration of the user in the kicking stage. The initial speed of the moving product in the stable motion stage is a maximum speed value, and the maximum speed value is the maximum motion speed. Therefore, the moment that the user transits from the pedaling state to the stable motion stage can be ensured, sudden acceleration and deceleration can not be felt, and better use experience of the user is further ensured.

In an embodiment of the present application, after controlling the mobile product to enter a stable motion phase, controlling the speed of the mobile product according to the state of the user further includes: and controlling the movement speed of the mobile product in the stable movement stage to be less than or equal to a first preset speed, wherein the first preset speed is greater than or equal to the maximum movement speed. The maximum speed of the stable movement stage is set to be the first preset speed, so that the speed of the stable movement stage is not too large by controlling the maximum speed of the stable movement stage, the user is further ensured not to feel sudden acceleration and deceleration in the stable movement stage, and the user experience is further ensured to be better.

In a specific embodiment, the maximum moving speed is a first predetermined speed, that is, the maximum moving speed and the maximum moving speed are equal, and the moving speed in the first stage is less than or equal to the first predetermined speed, and when some of the moving speeds in the first stage are less than the first predetermined speed and some of the moving speeds in the first stage are equal to the first predetermined speed, the moving product is in a deceleration state; in the case that the motion speed of the first stage is equal to the first predetermined speed, the moving product is in a constant speed state. And mobile device is specifically for the state of slowing down or at the uniform velocity state, and the user can set up through APP, compares unpowered removal product, and the controlling means that this application provided need not the user repeatedly with effort in removing the product, has simplified user's operation, has simplified the components and parts distribution that removes the product, removes the knob or key switch that the product can not have relevant control acceleration promptly.

In an embodiment of the application, the mobile product includes a motor, and the second control submodule is further configured to control a rotation speed of the motor to be less than or equal to a predetermined rotation speed, where the predetermined rotation speed is a rotation speed corresponding to the maximum speed value. And controlling the rotating speed of the motor to be less than or equal to a preset rotating speed, wherein the speed of the moving product is the maximum speed value under the condition that the rotating speed of the motor is the preset rotating speed. The speed of the moving product is controlled by controlling the rotating speed of the motor, so that the speed of the moving product is less than or equal to the maximum speed value, namely the rotating speed of the motor is in a uniform speed state or a deceleration state, and the moving speed of the stable motion stage can be controlled to be less than or equal to the maximum speed value more simply and accurately by controlling the rotating speed of the motor.

In an embodiment of the present application, the second control submodule includes a second determining submodule, a third determining submodule, and a third controlling submodule, the second determining submodule is configured to determine a maximum first rotation speed of the electric motor, the third determining submodule is configured to determine a maximum voltage duty ratio of the electric motor according to the maximum first rotation speed, the third controlling submodule is configured to control the voltage duty ratio of the electric motor to be less than or equal to the maximum voltage duty ratio, and the voltage duty ratio is a voltage duty ratio. The rotation speed control of the motor is realized by controlling the voltage duty ratio of the motor, the maximum rotation speed corresponds to the maximum voltage duty ratio, and the speed of the moving product can be controlled to be less than or equal to the maximum speed value more accurately by controlling the voltage duty ratio.

In an embodiment of the application, the mobile product includes a motor, and the control device further includes: the second detection unit is used for detecting the current of the motor after controlling the mobile product to enter a stable motion stage, and the second control unit is used for controlling the current to be a preset current under the condition that the current is reduced to 0 after controlling the mobile product to enter the stable motion stage, namely the current is detected to be in the process of being reduced and is reduced to 0, wherein the preset current is larger than 0. Thus, the user can be prevented from feeling obvious resistance in the process of pedaling the mobile product, the pedaling is prevented from being more strenuous, and when the user finishes pedaling operation, the control mode can be switched to the duty ratio control mode (voltage control mode), namely the control mode which is the same as the stable motion stage in the embodiment. Specifically, the predetermined current may be a small value or 0, and may be adjusted according to actual conditions.

In an embodiment of the application, the first determining sub-module is further configured to determine that the detected first acceleration is a positive value and an absolute value of the detected first acceleration is greater than a third threshold, that is, the acceleration in the moving direction of the mobile product is a positive value; when the second acceleration is a negative value and the absolute value is greater than the fourth threshold (specifically, the acceleration change curve of the mobile product is shown in fig. 5, where when the user is in the getting-off state, the first acceleration is a positive value and the absolute value is large, and the second acceleration is a negative value and the absolute value is large), it is determined that the user is in a state where at least part of the body of the user is separated from the mobile product, that is, the user jumps. The first control submodule is also used for controlling the mobile product to do deceleration movement. Specifically, when the user is in the getting-off stage, the mobile product is controlled to perform deceleration motion in order to better judge the intention of the user. Compare some removal products in prior art and only judge through the speed threshold value, promptly when the speed of removing the product exceeds a threshold value, remove the product and then advance with higher speed, when the user wants to stop, must step on the brake, the controlling means of this application judges user's state through the positive and negative and threshold value that adopt the acceleration, and then control brake or slow down for user's experience is better.

It should be noted that the acceleration in the predetermined direction of the present application may be a component that does not include gravity in the predetermined direction, that is, the influence of gravity acceleration is eliminated in the actual code program, and if the acceleration of the mobile product in at least two predetermined directions is obtained through the IMU, the specific process includes: firstly, the IMU detects preliminary accelerations in three predetermined directions, then obtains components of gravity on three axes of the accelerometer by means of projection, and then subtracts the components of gravity from the preliminary accelerations in the three predetermined directions to obtain the accelerations in the predetermined directions. And, the IMU can detect the posture of the moving product while detecting preparatory accelerations in three predetermined directions, the control device further including: and in the case that the IMU detects some dangerous gestures, controlling the mobile product to do deceleration movement until the speed is reduced to a second preset speed.

In an exemplary embodiment of the present application, a system is provided that includes a mobile product and a control device that performs any of the above-described methods.

In an embodiment of the present application, the mobile product is a scooter, the scooter comprises a pedal, and the detecting unit is installed on the pedal or in the pedal.

In a specific embodiment, the scooter is shown in fig. 2, and the scooter comprises an unpowered rear wheel 1, a pedal 2, an inertia measuring unit 3, a motor 4, a connecting rod 5 and a control device 6. The control device includes a controller and a battery compartment.

The control device of the mobile product comprises a processor and a memory, wherein the detection unit, the control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that the speed of the mobile product in the assistance mode in the prior art is difficult to be accurately controlled according to the intention of a person is solved by adjusting the parameters of the kernel.

The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

An embodiment of the present invention provides a storage medium on which a program is stored, the program implementing the control method of the mobile product described above when executed by a processor.

The embodiment of the invention provides a processor, wherein the processor is used for running a program, and the program executes the control method of the mobile product when running.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:

step S101, detecting the acceleration of a mobile product in at least two preset directions, wherein the at least two preset directions comprise a first preset direction and a second preset direction which are perpendicular to each other, the first preset direction is the moving direction of the mobile product, and the second preset direction is the direction which is perpendicular to the tread surface of the mobile product and is far away from the ground;

step S102, controlling the speed of the mobile product according to the accelerations in at least two of the predetermined directions.

The device herein may be a server, a PC, a PAD, a mobile phone, etc.

The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:

step S101, detecting the acceleration of a mobile product in at least two preset directions, wherein the at least two preset directions comprise a first preset direction and a second preset direction which are perpendicular to each other, the first preset direction is the moving direction of the mobile product, and the second preset direction is the direction which is perpendicular to the tread surface of the mobile product and is far away from the ground;

step S102, controlling the speed of the mobile product according to the accelerations in at least two of the predetermined directions.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation 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 may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

1) the control method comprises the steps of firstly detecting the acceleration of a moving product in at least a first preset direction and a second preset direction, and then controlling the speed of the moving product according to the acceleration in at least two preset directions. Since the acceleration in both the first and second predetermined directions becomes larger in case the user steps on or jumps off the mobile product, etc., at least one of the acceleration in the first and second predetermined directions is smaller in case of motor control or ground vibration. Therefore, the method can judge the intention of the user by detecting the acceleration of the moving product in the first preset direction and the second preset direction, thereby accurately controlling the speed of the moving product according to the intention of the user, and solving the problems that the method for detecting the acceleration of the wheel in the prior art is difficult to judge the intention of the user and accurately control the speed according to the intention of the user.

2) The control device comprises a detection unit and a control unit, wherein the detection unit detects the acceleration of the moving product in at least a first preset direction and a second preset direction, and the control unit controls the speed of the moving product according to the acceleration in at least two preset directions. Since the acceleration in both the first and second predetermined directions becomes larger in case the user steps on or jumps off the mobile product, etc., at least one of the acceleration in the first and second predetermined directions is smaller in case of motor control or ground vibration. Therefore, the device can judge the intention of the user by detecting the acceleration of the moving product in the first preset direction and the second preset direction, thereby accurately controlling the speed of the moving product according to the intention of the user, and solving the problems that the control device for detecting the acceleration of the wheel in the prior art is difficult to judge the intention of the user and control the speed according to the intention of the user.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.