CN104309528B - The generation method of alerting signal - Google Patents
The generation method of alerting signal Download PDFInfo
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- CN104309528B CN104309528B CN201410504553.0A CN201410504553A CN104309528B CN 104309528 B CN104309528 B CN 104309528B CN 201410504553 A CN201410504553 A CN 201410504553A CN 104309528 B CN104309528 B CN 104309528B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a kind of generation method and battery-driven car of alerting signal.After judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the drive singal of motor, superpose alerting signal; Afterwards, the drive singal according to superposing described alerting signal drives described vehicle, to provide driving power respectively to the wheel of described vehicle, and produces alarm message, realizes reporting to the police to the current abnormal operational conditions of described vehicle.With need in prior art by the hardware device additionally increased and driving circuit thereof unlike, in the present embodiment, directly utilizing the driving circuit of existing motor and motor, by directly superposing alerting signal in the drive singal of motor, producing alarm message accordingly.
Description
Technical field
The invention belongs to electric technical field of data processing, specifically, relate to a kind of generation method of alerting signal.
Background technology
Kinetic balance vehicle directly utilizes electric energy as power, and by sensing the posture state of vehicle body, calculate control command by high speed processor, CD-ROM drive motor moves vehicle body.
In the process of kinetic balance car movement, usually there will be that hypervelocity, electricity are too low, reversing collision etc., in order to safe driving device, alarm message will be produced by various warning device, the alarm that such as exceeds the speed limit, the too low alarm of electricity, reversing collision alarm etc.Understood the running state of vehicle in time by alarm message reminding occupant, alarm message generally by the hardware device of special configuration as loud speaker or buzzer phone or light flash convey to occupant.
But in order to ensure that above-mentioned is the work of warning special configuration volume hardware device, such as utilize audible and visual alarm hardware device to carry out alarm, the driving circuit of the necessary configure dedicated of these hardware devices, adds the cost of material variety and product.
In addition, for the kinetic balance car not possessing closed sound insulation driving compartment, under noisy traffic environment and stronger natural daylight, traditional audible and visual alarm is difficult to the attention causing occupant, and alarm effect is poor.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of generation method and battery-driven car of alerting signal, in order to part/all overcome or avoid the problems referred to above of the prior art.
In order to solve the problems of the technologies described above, the invention provides a kind of generation method of alerting signal, it comprises:
After judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the drive singal of motor, superpose alerting signal;
Drive singal according to superposing described alerting signal drives described vehicle, to provide driving power respectively to the wheel of described vehicle, and produces alarm message, realizes reporting to the police to the current abnormal operational conditions of described vehicle.
Preferably, in one embodiment of this invention, when superposing alerting signal in the drive singal of motor, by frequency adjustment, the alerting signal that superposition is different is controlled.
Preferably, in one embodiment of this invention, when controlling to superpose different alerting signals, according to Vm=Vp* (R
pwm+ Rs+Rv) superpose, wherein Vm represents the winding voltage signal of motor, R
pwm, Rs, Rv, Vp represent dutycycle, the first alerting signal, the second alerting signal, the power supply voltage signal of drive singal respectively.
Preferably, in one embodiment of this invention, the drive singal according to superposing described alerting signal drives described vehicle, to provide driving power respectively to the wheel of described vehicle, and produce alarm message, realize that warning is carried out to the current abnormal operational conditions of described vehicle and comprise:
Low-and high-frequency judgement is carried out to described alerting signal, and generates multi-form alarm message according to the different abnormal operational conditions of described judged result and described vehicle.
Preferably, in one embodiment of this invention, low-and high-frequency judgement is carried out to described alerting signal, and generate multi-form alarm message according to the different abnormal operational conditions of described judged result and described vehicle and comprise: when judging described alerting signal as low frequency signal, the hub vibrational of described vehicle is driven, to produce vibration alarming information with described alerting signal; When judging described alerting signal as high-frequency signal, produce audio alarm information according to described alerting signal.
Preferably, in one embodiment of this invention, described first alerting signal and the second alerting signal are the null cyclical signal of aviation value, and the amplitude of described first alerting signal and the second alerting signal meets in motor operation course | R
pwm+ Rs+Rv|≤100%, R
pwm, Rs, Rv represent the dutycycle of drive singal, described first alerting signal second alerting signal respectively.
Preferably, in one embodiment of this invention, comprised superpose alerting signal in the drive singal of motor before: after judgement needs to report to the police to the current abnormal operational conditions of vehicle, generate an energizing signal, to superpose alerting signal in the drive singal being enabled in motor.
Preferably, in one embodiment of this invention, after judgement needs to report to the police to the current abnormal operational conditions of vehicle, also comprised superpose alerting signal in the drive singal of motor before: carry out pre-configured to the alerting signal be added in drive singal, comprise the amplitude of alerting signal and the lasting duration of its corresponding alarm message.
In order to solve the problems of the technologies described above, the invention provides a kind of generation method of alerting signal, it comprises:
After judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the control signal of motor, superpose alerting signal;
Control signal according to superposing described alerting signal controls described vehicle, advances, and produce alarm message with the wheel controlling described vehicle, realizes reporting to the police to the current abnormal operational conditions of described vehicle.
In order to solve the problems of the technologies described above, the invention provides a kind of battery-driven car, it comprises: motor, retarder, wheel, the output shaft of motor is connected directly between on retarder, retarder is connected directly between on wheel hub, or, the outer rotor of motor is connected directly between on wheel hub, after judgement needs to report to the police to the current abnormal operational conditions of vehicle, alerting signal is superposed in the drive singal of motor, and the wheel hub of described vehicle is driven according to the drive singal superposing described alerting signal, to provide driving power respectively to the wheel of described vehicle, and produce alarm message realize the current abnormal operational conditions of described vehicle is reported to the police.
Compared with existing scheme, after judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the drive singal of motor, superpose alerting signal; Afterwards, the drive singal according to superposing described alerting signal drives described vehicle, to provide driving power respectively to the wheel of described vehicle, and produces alarm message, realizes reporting to the police to the current abnormal operational conditions of described vehicle.With need in prior art by the hardware device additionally increased and driving circuit thereof unlike, in the present embodiment, directly utilizing the driving circuit of existing motor and motor, by directly superposing alerting signal in the drive singal of motor, producing alarm message accordingly.
Accompanying drawing explanation
Fig. 1 is the generation method flow schematic diagram of the embodiment of the present invention one alerting signal;
Fig. 2 is the generation method flow diagram of the embodiment of the present invention two alerting signal;
Fig. 3 is the structured flowchart of the embodiment of the present invention three battery-driven car.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, technical scheme of the present invention is set forth in detail.Should be appreciated that, the embodiment below enumerated only for instruction and explanation of the present invention, and does not form the restriction to technical solution of the present invention.
In the following embodiment of the present invention, after judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the drive singal of motor, superpose alerting signal; Afterwards, the drive singal according to superposing described alerting signal drives described vehicle, to provide driving power respectively to the wheel of described vehicle, and produces alarm message, realizes reporting to the police to the current abnormal operational conditions of described vehicle.With need in prior art by the hardware device additionally increased and driving circuit thereof unlike, in the present embodiment, directly utilizing the driving circuit of existing motor and motor, by directly superposing alerting signal in the drive singal of motor, producing alarm message accordingly.
one of core concept of the application:
The generation method of the alerting signal that the following embodiment of the present invention provides, its core concept is, at least comprises:
After judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the drive singal of motor, superpose alerting signal;
Drive singal according to superposing described alerting signal drives described vehicle, to provide driving power respectively to the wheel of described vehicle, and produces alarm message, realizes reporting to the police to the current abnormal operational conditions of described vehicle.
the core concept two of the application:
The generation method of the alerting signal that the following embodiment of the present invention provides, its core concept is, at least comprises:
After judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the control signal of motor, superpose alerting signal;
Control signal according to superposing described alerting signal controls described vehicle, advances, and produce alarm message with the wheel controlling described vehicle, realizes reporting to the police to the current abnormal operational conditions of described vehicle.
the core concept three of the application:
The battery-driven car that the following embodiment of the present invention provides, its core concept is, battery-driven car at least comprises: motor, retarder, wheel, the output shaft of motor is connected directly between on retarder, retarder is connected directly between on wheel hub, or, the outer rotor of motor is connected directly between on wheel hub, after judgement needs to report to the police to the current abnormal operational conditions of vehicle, alerting signal is superposed in the drive singal of motor, and the wheel hub of described vehicle is driven according to the drive singal superposing described alerting signal, to provide driving power respectively to the wheel of described vehicle, and produce alarm message realize the current abnormal operational conditions of described vehicle is reported to the police.
It should be noted that, in the following embodiments, be generated as example with the alarm message of kinetic balance car, each core concept of the invention described above is described.But it should be noted that, above-mentioned core concept of the present invention is not limited to and applies to kinetic balance car, also can be applied to other battery-driven cars by power wheel, repeat no more in detail.
Fig. 1 is the generation method flow schematic diagram of the embodiment of the present invention one alerting signal; As shown in Figure 1, it specifically can comprise:
S101, judge that kinetic balance car is current and whether there is abnormal operational conditions, if so, then perform step S102; Otherwise, proceed the judgement of S101 abnormal operational conditions;
In the present embodiment, abnormal operational conditions can including, but not limited to hypervelocity, the running state parameter such as electricity is too low, reversing collision, its realization specifically judged can by arranging the modes such as threshold speed, power threshold, spacing threshold, by the speed of Real-Time Monitoring vehicle, electricity, with the spacing of other objects and with it, each self-corresponding threshold value is compared, and whether there is abnormal operational conditions to determine that kinetic balance car is current.If monitor the speed of vehicle, electricity, be greater than its each self-corresponding threshold value with the spacing of other objects, then show that vehicle operating is in abnomal condition, need to remind occupant in time; Otherwise, indicate vehicle operating and normal condition, need not occupant be reminded, meanwhile, continue to monitor running state parameter and carry out the judgement of abnormal operational conditions.
S102, after judgement needs to report to the police to the current abnormal operational conditions of kinetic balance car, in the drive singal of motor, superpose alerting signal;
In the present embodiment, if it is determined that kinetic balance car is current there is abnormal operational conditions, occupant must be reminded in time, with need in prior art by the hardware device additionally increased and driving circuit thereof unlike, in the present embodiment, directly utilizing the driving circuit of existing motor and motor, by directly superposing alerting signal in the drive singal of motor, producing alarm message accordingly.
Drive motor produces power method using friction speed rotation produces pulse width modulation pwm signal as drive singal with driving circuit, this pulse width modulation pwm signal through circuit functions such as amplifiers on the winding of motor, thus regulate the voltage at motor winding two ends, to reach the object regulating motor speed or torque.
For DC electromotor with brush, motor winding voltage Vm and pwm signal dutycycle R
pwmand the pass of power supply voltage signal Vp is: Vm=Vp*R
pwm.
Wherein R
pwmspan-100% ~ 100%, works as R
pwmbe less than 0 interval scale motor reversal, be greater than 0 interval scale motor and rotate forward.In electric operation process, by regulating pwm signal dutycycle R
pwmvalue regulate the voltage be applied on motor winding, thus regulate the speed/torque of motor.
In the present embodiment, when superposing alerting signal in the drive singal of motor, by frequency adjustment, control the alerting signal that superposition is different.Particularly, when controlling to superpose different alerting signals, can specifically according to Vm=Vp* (R
pwm+ Rs+Rv) superpose, wherein Vm represents the winding voltage signal of motor, R
pwm, Rs, Rv, Vp represent dutycycle, the first alerting signal, the second alerting signal, the power supply voltage signal of drive singal respectively.
In the present embodiment, the first alerting signal can be sound signal, and the second alerting signal can be vibration signal.Preferably, superposition first alerting signal as sound signal and the second alerting signal as vibration signal time, can be realized by the adjustment of frequency, such as, the frequency limit of sound signal is 200 ~ 20kHz, the frequency limit of vibration signal is 5 ~ 100Hz, and the Amplitude Ration audio signal amplitude of vibration signal is large.
According to Vm=Vp* (R
pwm+ Rs+Rv) when superposing alerting signal in drive singal, the actual superposition that can also realize an independent class alerting signal, or superpose the first alerting signal and the second alerting signal simultaneously, such as arranging the first alerting signal Rs is 0, only superposition the second alerting signal Rv, or to arrange the second alerting signal Rv be 0, only superposition the first alerting signal Rs, or, the first alerting signal is set simultaneously and the second alerting signal non-zero and there is the different frequency of setting.In the present embodiment, described first alerting signal and the second alerting signal can be the null cyclical signal of aviation value, such as sinusoidal waveform/square wave/chopping sea/sawtooth signal.
In an other embodiment of the present invention, in order to avoid the alerting signal of superposition brings negative effect to drive singal, affect the rotation of motor, also comprised before S102: carry out pre-configured to the alerting signal be added in drive singal, comprise the amplitude of alerting signal and the lasting duration of its corresponding alarm message.The lasting duration of the amplitude of such as sound signal, the amplitude of vibration signal, sound signal, the lasting duration of vibration signal.
Particularly, self-defining sound signal can be received by data-interface, comprise self-defining parameter item and comprise amplitude and lasting duration, or, carry out the self-defined of amplitude and time length by the method arranging amplitude and lasting duration threshold value.
When control first alerting signal and the second warning signal amplitude, can basis | R
pwm+ Rs+Rv|≤100% is arranged.
S103, drive described vehicle according to the drive singal superposing described alerting signal, to provide driving power respectively to the wheel of described kinetic balance car, and produce alarm message, to report to the police to the current abnormal operational conditions of described kinetic balance car.
In the present embodiment, by contrast Vm=Vp*R
pwmand Vm=Vp* (R
pwm+ Rs+Rv), can learn, the Vm after overlap-add procedure is except comprising Vp*R
pwm, also comprise Vp* (Rs+Rv), Vp*R
pwmbe supplied to motor, to provide driving power to the wheel of kinetic balance car, and Vp* (Rs+Rv) is as alerting signal, to produce alarm message.
The sound signal being such as provided as the first alerting signal Rs is 0, only superposition is as the vibration signal of the second alerting signal Rv, when abnormal operational conditions appears in vehicle, makes nave boss according to this vibration signal, wheel vibrates, thus produce vibration alarming information, occupant can be felt completely.When the vibration signal being provided as the second alerting signal Rv is 0, only superposition is as the sound signal of the first alerting signal Rs, when there is abnormal operational conditions in vehicle, audio alarm information is produced according to this sound signal, play by loud speaker or buzzer phone, thus occupant can be listened completely get.
When the first alerting signal is set simultaneously and the second alerting signal non-zero and there is the different frequency of setting, when there is abnormal operational conditions in vehicle, can according to the difference of abnormal operational conditions, by carrying out low-and high-frequency judgement to the first alerting signal and the second warning signal, and generate multi-form alarm message according to the different abnormal operational conditions of described judged result and described vehicle.Such as, during hypervelocity, use the vibration signal of high frequency to produce vibration alarming information, during reversing collision, use the sound signal of low frequency to produce audio alarm information.
It should be noted that, in an other embodiment of the present invention, comprised superpose alerting signal in the drive singal of motor before: after judgement needs to report to the police to the current abnormal operational conditions of vehicle, generate an energizing signal, to superpose alerting signal in the drive singal being enabled in motor.Particularly, this energizing signal can high level, low level, on-off signal etc.
Fig. 2 is the generation method flow diagram of the embodiment of the present invention two alerting signal; As shown in Figure 2, with above-described embodiment one unlike, the present embodiment superposes alerting signal in control signal such as speed control signal, current controling signal and the voltage control signal of motor, and particularly, it can comprise:
S201, after judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the control signal of motor, superpose alerting signal;
S202, control described vehicle according to the control signal superposing described alerting signal, advance with the wheel controlling described vehicle, and produce alarm message, realize reporting to the police to the current abnormal operational conditions of described vehicle.
Under stating the inspiration of embodiment one on the invention, those of ordinary skill in the art need not can realize embodiment two by creative work, therefore, repeat no more in detail.
Fig. 3 is the structured flowchart of the embodiment of the present invention three battery-driven car, as shown in Figure 3, it can comprise: motor 301, retarder 302, nave boss 303, wheel 304, the output shaft of motor 301 is connected directly between on retarder 302, retarder 302 is connected directly between on wheel hub 303, or, the outer rotor of motor 301 is connected directly between on wheel hub 303, after judgement needs to report to the police to the current abnormal operational conditions of vehicle, alerting signal is superposed in the drive singal of motor 301, and the wheel hub 303 of described vehicle is driven according to the drive singal superposing described alerting signal, driving power is provided with the wheel 304 respectively to described vehicle, and produce alarm message realize the current abnormal operational conditions of described vehicle is reported to the police.
It should be noted that, in an other embodiment of the present invention, the generation of alarm message also can realize by superposing alerting signal in the control signal, repeats no more in detail.
It should be noted that, battery-driven car, except comprising above-mentioned parts, also may comprise miscellaneous part, omits that have nothing to do with point of the present invention or that relation is little parts at this.
Above-mentioned explanation illustrate and describes some preferred embodiments of the present invention, but as previously mentioned, be to be understood that the present invention is not limited to the form disclosed by this paper, should not regard the eliminating to other embodiments as, and can be used for other combinations various, amendment and environment, and can in invention contemplated scope described herein, changed by the technology of above-mentioned instruction or association area or knowledge.And the change that those skilled in the art carry out and change do not depart from the spirit and scope of the present invention, then all should in the protection domain of claims of the present invention.
Claims (9)
1. a generation method for alerting signal, is characterized in that, comprising:
After judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the drive singal of motor, superpose alerting signal;
Drive singal according to superposing described alerting signal drives described vehicle, to provide driving power respectively to the wheel of described vehicle, and produces alarm message, realizes reporting to the police to the current abnormal operational conditions of described vehicle;
Wherein, when superposing alerting signal in the drive singal of motor, by frequency adjustment, control the alerting signal that superposition is different.
2. method according to claim 1, is characterized in that, when controlling to superpose different alerting signals, according to Vm=Vp* (R
pwm+ Rs+Rv) superpose, wherein Vm represents the winding voltage signal of motor, R
pwm, Rs, Rv, Vp represent dutycycle, the first alerting signal, the second alerting signal, the power supply voltage signal of drive singal respectively.
3. method according to claim 1, it is characterized in that, the drive singal according to superposing described alerting signal drives described vehicle, to provide driving power respectively to the wheel of described vehicle, and produce alarm message, realize that warning is carried out to the current abnormal operational conditions of described vehicle and comprise:
Low-and high-frequency judgement is carried out to described alerting signal, and generates multi-form alarm message according to the different abnormal operational conditions of described judged result and described vehicle.
4. method according to claim 3, it is characterized in that, low-and high-frequency judgement is carried out to described alerting signal, and generate multi-form alarm message according to the different abnormal operational conditions of described judged result and described vehicle and comprise: when judging described alerting signal as low frequency signal, the hub vibrational of described vehicle is driven, to produce vibration alarming information with described alerting signal; When judging described alerting signal as high-frequency signal, produce audio alarm information according to described alerting signal.
5. method according to claim 2, is characterized in that, described first alerting signal and the second alerting signal are the null cyclical signal of aviation value, and the amplitude of described first alerting signal and the second alerting signal meets in motor operation course | R
pwm+ Rs+Rv|≤100%, R
pwm, Rs, Rv represent the dutycycle of drive singal, described first alerting signal second alerting signal respectively.
6. method according to claim 1, it is characterized in that, comprised superpose alerting signal in the drive singal of motor before: after judgement needs to report to the police to the current abnormal operational conditions of vehicle, generate an energizing signal, to superpose alerting signal in the drive singal being enabled in motor.
7. method according to claim 1, it is characterized in that, after judgement needs to report to the police to the current abnormal operational conditions of vehicle, also comprised superpose alerting signal in the drive singal of motor before: carry out pre-configured to the alerting signal be added in drive singal, comprise the amplitude of alerting signal and the lasting duration of its corresponding alarm message.
8. a generation method for alerting signal, is characterized in that, comprising:
After judgement needs to report to the police to the current abnormal operational conditions of vehicle, in the control signal of motor, superpose alerting signal;
Control signal according to superposing described alerting signal controls described vehicle, advances, and produce alarm message with the wheel controlling described vehicle, realizes reporting to the police to the current abnormal operational conditions of described vehicle;
Wherein, when superposing alerting signal in the control signal of motor, by frequency adjustment, control the alerting signal that superposition is different.
9. a battery-driven car, it is characterized in that, comprise: motor, retarder, wheel, the output shaft of motor is connected directly between on retarder, retarder is connected directly between on wheel hub, or, the outer rotor of motor is connected directly between on wheel hub, after judgement needs to report to the police to the current abnormal operational conditions of vehicle, alerting signal is superposed in the drive singal of motor, and the wheel hub of described vehicle is driven according to the drive singal superposing described alerting signal, to provide driving power respectively to the wheel of described vehicle, and produce alarm message realize the current abnormal operational conditions of described vehicle is reported to the police,
Wherein, when superposing alerting signal in the drive singal of motor, by frequency adjustment, control the alerting signal that superposition is different.
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| CN103085818A (en) * | 2011-11-07 | 2013-05-08 | 现代自动车株式会社 | Driving assistant system and method having warning function for risk level |
| CN202952942U (en) * | 2012-12-27 | 2013-05-29 | 巫溪县文峰职业中学校 | Automatic speed reduction device |
| JP2014088056A (en) * | 2012-10-29 | 2014-05-15 | Daimler Ag | Control system of hybrid electric vehicle |
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| CN1986276A (en) * | 2005-12-21 | 2007-06-27 | 宁波妈咪宝婴童用品制造有限公司 | Intelligent obstacle averter for electric bicycle |
| CN103085818A (en) * | 2011-11-07 | 2013-05-08 | 现代自动车株式会社 | Driving assistant system and method having warning function for risk level |
| JP2014088056A (en) * | 2012-10-29 | 2014-05-15 | Daimler Ag | Control system of hybrid electric vehicle |
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Owner name: POWERUNION (BEIJING) TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: NINEBOT (TIANJIN) TECHNOLOGY CO., LTD. Effective date: 20150720 |
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Effective date of registration: 20220112 Address after: 16 and 17 floors, block a, building 3, Chuangyan port, Changzhou science and Education City, No. 18, Changwu Middle Road, Wujin District, Changzhou City, Jiangsu Province Patentee after: NINEBOT (CHANGZHOU) TECH Co.,Ltd. Address before: Room 101, building 1, building A, North Zone, Zhongguancun Dongsheng Science Park, No. 66 Xiao Dong Road, Beijing, Haidian District Patentee before: P.U. (Beijing) Tech Co.,Ltd. |