CN103162738A - State detection device used on self-balancing two-wheeled vehicle and state detection method - Google Patents
State detection device used on self-balancing two-wheeled vehicle and state detection method Download PDFInfo
- Publication number
- CN103162738A CN103162738A CN2011104283307A CN201110428330A CN103162738A CN 103162738 A CN103162738 A CN 103162738A CN 2011104283307 A CN2011104283307 A CN 2011104283307A CN 201110428330 A CN201110428330 A CN 201110428330A CN 103162738 A CN103162738 A CN 103162738A
- Authority
- CN
- China
- Prior art keywords
- pressure
- wheels
- tire
- balanced car
- state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 claims description 25
- 230000008859 change Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 238000005303 weighing Methods 0.000 claims description 9
- 230000037396 body weight Effects 0.000 claims description 8
- 230000000295 complement effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
Images
Landscapes
- Measuring Fluid Pressure (AREA)
Abstract
The invention discloses a state detection device used on a self-balancing two-wheeled vehicle and a state detection method. The state detection device used on the self-balancing two-wheeled vehicle comprises a first pressure sensor, a second pressure sensor, a signal processor, a first wireless transceiver, a second wireless transceiver, and a central control unit, wherein the first pressure sensor is used for measuring the pressure of a first tyre, the second pressure sensor is used for measuring the pressure of a second tyre, the signal processor is connected with the first pressure sensor and the second pressure sensor, the first wireless transceiver is connected with the signal processor, the second wireless transceiver is matched with the first wireless transceiver, the central control unit is connected with the second wireless transceiver and is used for receiving processed pressure data of the first tyre and pressure data of the second tyre and determining the current running state of the self-balancing two-wheeled vehicle according to a pressure changing value of the first tyre and a pressure changing value of the second tyre when the vehicle is in a previous state and when the vehicle is in a current state. According to the State detection device used on the self-balancing two-wheeled vehicle and the state detection method, the running state of the self-balancing two-wheeled vehicle can be judged.
Description
Technical field
The present invention relates to the auxiliary driving of the vehicles, more specifically, is a kind of condition checkout gear for balanced car with two wheels and method.
Background technology
The Self-balancing electronic two wheeler is a kind of Personal Transporter of environmental protection.It adopts storage battery power supply, and its center of gravity is inverted in the top of wheel shaft, two parallel coaxial placements of wheel, and a servo motor driven is respectively arranged.As shown in Figure 1, be the view that driver 10 uses balanced car with two wheels 20.Under uncontrolled state, this system is a time-dependent system.When system worked, the controller of two wheeler 20 was accepted the information of body gesture sensor, and according to the principle of work of reversible pendulum system, controlled the servomotor action, thereby make vehicle body maintain a dynamic balance state.When the overall center of gravity top rake of driver 10 and balanced car with two wheels 20, built-in servo-electric chance in vehicle body produces strength forward, the moment of torsion that one side balance people 10 and car 20 are toppled over forward, another aspect produces and allows acceleration that vehicle 20 advances to keep the car body balance, opposite, during toward hypsokinesis, the strength that also can produce backward reaches counterbalance effect when driver's center of gravity.Therefore, driver 10 if the angle that changes own health forward or toward hypsokinesis, balanced car with two wheels 20 will advance or retreat according to the direction that tilts.
Control system in balanced car with two wheels 20 be a multivariate, strong coupling, non-linear and the time complication system that becomes, the load quality of vehicle and pavement behavior are very large on the handling impact of vehicle, when vehicle load increases, vehicle response speed is slack-off, easily cause the balanced car with two wheels out of trim, and when vehicle load reduced, the response speed of vehicle was accelerated, easily cause system's concussion, occur the phenomenons such as shake during low speed.Because development difficulty is larger, at present on the market balanced car with two wheels all there is no the load function of weighing, so driver's body weight is had relatively high expectations, make part kick the beam or overweight people can't drive balanced car with two wheels.
Therefore, the apparatus and method that need a kind of innovation, making does not need too much technological development or parts to set up, namely can realize the variation according to the vehicle load situation, realize correct detection and judgement to vehicle-state, and then according to this status information, adjust balance parameters, make the handling of vehicle operate in optimum state.
Summary of the invention
One object of the present invention is to provide a kind of new condition checkout gear that is used for balanced car with two wheels.
Condition checkout gear for balanced car with two wheels of the present invention comprises:
The first pressure transducer, described the first pressure transducer are arranged on the first tire of this balanced car with two wheels, are used for measuring the pressure of the first tire;
The second pressure transducer, described the second pressure transducer are arranged on the second tire of this balanced car with two wheels, are used for measuring the pressure of the second tire;
The signal processor that is connected with the second pressure transducer with described the first pressure transducer is used for pressure data to the pressure data of the first tire of measuring and the second tire and carries out data and process;
The first wireless transceiver that is connected with signal processor is used for sending the pressure data of the first tire after described signal processor processes and the pressure data of the second tire;
With the second wireless transceiver that described the first wireless transceiver is complementary, be used for receiving the pressure data of described the first tire after treatment that is sent by the first wireless transceiver and the pressure data of the second tire;
The central control unit that is connected with the second wireless transceiver, be used for receiving the pressure data of described the first tire after treatment and the pressure data of the second tire, and according to the change value of pressure of the first tire under previous state and current state and the change value of pressure of the second tire, determine the running status that this balanced car with two wheels is current.
Another object of the present invention is to provide a kind of condition detection method of balanced car with two wheels.
Condition detection method for balanced car with two wheels of the present invention comprises the following steps:
A measures respectively the first state pressure value of two tires of this balanced car with two wheels under laststate;
B measures respectively the current state force value of described two tires under current state, and according to described the first state pressure value and current state force value, calculates the pressure variety of two tires under laststate and current state;
C according to the pressure variety of described two tires, judges the running status of this balanced car with two wheels.
Preferably, in described step a, the setting state when this balanced car with two wheels is unloaded is the first state;
In described step b, the setting state when standing in the driver on balanced car with two wheels is current state;
In described step c, comprise that the judgement driver drives the step of attitude, this step comprises:
Determine driver's standard value of weighing under standard driving attitude;
Pressure variety is compared with this standard value of weighing, determine whether driver's driving attitude is correct.
Preferably, in described step c, comprise pavement behavior determining step in the judgement driving, this step comprises:
When this pressure variety greater than the mean value of the first state pressure value of these two tires 5% the time, the road conditions under the judgement current state are rugged and rough road surface.
Preferably, in described step c, comprise that judgement turns to the state determining step in driving, this step comprises:
When the pressure variety of a described tire is negative value, and the pressure variety of another tire be on the occasion of the time, the judgement current state is turn condition.
Preferably, in described step c, comprise free falling body state step in the judgement driving, this step comprises:
When this pressure variety equal adding of the car body weight of this balanced car with two wheels and load weight and the time, judge that current state is free falling body state.
Preferably, in described step c, comprise judging whether this balanced car with two wheels is in the step of unmanned state, and this step comprises:
When this pressure variety equals the load weight of this balanced car with two wheels, judge that current state is unmanned state.
A further object of the present invention is to provide a kind of method that the load-carrying of balanced car with two wheels is weighed.
The method that the load-carrying of balanced car with two wheels is weighed of the present invention comprises the following steps:
A for two tires of balanced car with two wheels are set respectively the first parameter P1 to be calibrated and the second parameter P2, and measures these two tires force value Fs1, Fs2 separately when unloaded;
B, the loads that two quality are M1 is separately positioned on the position of trampling for driver's both feet on balanced car with two wheels, and measures these two tires this moment force value Fe1, Fe2 separately;
C, the loads that two quality are M2 is separately positioned on the position of trampling for driver's both feet on balanced car with two wheels, and measures these two tires this moment force value Fe3, Fe4 separately, and wherein said M2 is different from M1;
D, determine P1, P2 according to following equation:
2M1=P1 * (Fe1-Fs1)+P2 * (Fe2-Fs2), and
2M2＝P1×(Fe3-Fs1)+P2×(Fe4-Fs2)；
E, when this balanced car with two wheels is in load condition lower time, calculate load-carrying L according to following formula:
L＝P1×ΔF1+P2×ΔF2，
Wherein, Δ F1, Δ F2 are respectively under load condition and the pressure variety of these two tires under light condition.
Condition checkout gear and method for balanced car with two wheels of the present invention according to the tyre pressure sensor that is arranged in the tire of left and right, are calculated the variation of tire pressure, and then obtain the running status of system.Control system can be adjusted balance and control parameter in real time according to this state of judging, and perhaps the driver is sent safety traffic and remind, thereby the handling that guarantees vehicle operates in optimum state.
Description of drawings
Fig. 1 drives the view of balanced car with two wheels for the driver;
Fig. 2 is the composition schematic diagram of the condition checkout gear for balanced car with two wheels of the present invention;
Fig. 3 is the schematic flow sheet of the condition detection method for balanced car with two wheels of the present invention.
Embodiment
Below with reference to the accompanying drawings and embodiment, composition, the step of the condition checkout gear for balanced car with two wheels of the present invention and method are described in more detail.
In general, characteristics of the present invention, be to utilize the measured variable quantity of force value under different conditions of pressure transducer that is arranged on two tires of balanced car with two wheels, state to balanced car with two wheels judges, such as the driver drive whether attitude normal, pavement state, steering state, free falling body state or unmanned state etc.Central control unit in balanced car with two wheels can propose corresponding suggestion to the driver further according to above condition judgement, perhaps directly balanced car with two wheels is controlled.
As shown in Figure 2, it is the composition schematic diagram of the condition checkout gear for balanced car with two wheels of the present invention, in conjunction with Fig. 1, particularly, the condition checkout gear that should be used for balanced car with two wheels, comprise: the first pressure transducer 116, this first pressure transducer 116 are arranged on the first tire 21 of this balanced car with two wheels 20, are used for measuring the pressure of the first tire 21; The second pressure transducer 118, the second pressure transducers 118 are arranged on the second tire 22 of this balanced car with two wheels 20, are used for measuring the pressure of the second tire 22; The signal processor 120 that is connected with the second pressure transducer 118 with the first pressure transducer 116 is used for pressure data to the pressure data of the first tire 21 of measuring and the second tire 22 and carries out data and process; The first wireless transceiver 130 that is connected with signal processor 120 is used for sending the pressure data of the first tire 21 after signal processor 120 is processed and the pressure data of the second tire 22; With the second wireless transceiver 210 that the first wireless transceiver 130 is complementary, be used for receiving the pressure data of described the first tire 21 after treatment that is sent by the first wireless transceiver 130 and the pressure data of the second tire 22; The central control unit 220 that is connected with the second wireless transceiver 210, be used for receiving the pressure data of the first tire 21 after treatment and the pressure data of the second tire 22, and according to the change value of pressure of the first tire 21 under previous state and current state and the change value of pressure of the second tire 22, determine the running status that this balanced car with two wheels 20 is current.
The first pressure transducer 116, the second pressure transducer 118, signal processor 120 and the common signals collecting end 100 that forms of the first wireless transceiver 130.The common signal that forms of the second wireless transceiver 210 and central control unit 220 receives and end for process 200.Particularly, described the first pressure transducer 116 and the second pressure transducer 118 all adopt the conventional pressure transducer that can detect the tire pressure of balanced car with two wheels; Signal processor 120 adopts conventional signal handling equipment, and same as the prior art to the process that the transducing signal of the first pressure transducer 116 and the second pressure transducer 118 outputs is processed, such as the signal treatment step that comprises that analog to digital conversion, filtering, amplification etc. are conventional.The first wireless transceiver 130 and the second wireless transceiver 210 adopt conventional wireless transmitting device.Central control unit 220 is used for receiving as control module the signal that the second wireless transceiver 210 sends, and carries out running status according to these signals and judge and further the running status of balanced car with two wheels controlled.For the present invention, the first tire 21 that central control unit 220 can detect according to the first pressure transducer 116 and the second pressure transducer 118 and the tire pressure of the second tire 22 are judged the running status of balanced car with two wheels.This will be elaborated in following description to the condition detection method for balanced car with two wheels of the present invention.
As shown in Figure 3, be the process flow diagram that utilizes the condition detection method that is used for balanced car with two wheels of said apparatus.The method comprising the steps of S100-S300.In step S100, measure respectively the first state pressure value of two tires of this balanced car with two wheels under laststate; In step S200, measure respectively the current state force value of described two tires under current state, and according to above-mentioned the first state pressure value and current state force value, calculate the pressure variety of two tires under laststate and current state; In step S300, according to the pressure variety of described two tires, judge the running status of this balanced car with two wheels.Below further combined with accompanying drawing 1,2,3, each step is described in more detail.
Step S100.In this step, utilize the first pressure transducer 116 and the second pressure transducer 118, the first tire 21 of balanced car with two wheels under laststate 20 and the force value of the second tire 22 are measured.Measurement can be transported in central control unit 220 by the first wireless transceiver 130, the second wireless transceiver 210 after processing by signal processing unit 120.
Step S200.In this step, utilize the first pressure transducer 116 and the second pressure transducer 118, the first tire 21 of balanced car with two wheels under current state 20 and the force value of the second tire 22 are measured.Similarly, measure by after signal processing unit 120 processing, can be transported in central control unit 220 by the first wireless transceiver 130, the second wireless transceiver 210.
Step S300.In this step, by the change value of pressure of current state than laststate, the running status of judgement balanced car with two wheels.After running status was judged, central control unit can send prompting according to actual conditions, perhaps the running status of balanced car with two wheels was controlled adjustment.
Above-mentioned motion state judges that the driving attitude that can comprise the driver is judged, the pavement state judgement of current driving, steering state judgement, free falling body state judgement, unmanned condition judgement etc.Below in conjunction with each embodiment, the method for above each condition judgement is elaborated.
Embodiment 1, drives the attitude judgement.
In this embodiment, can utilize pressure variety, driver's driving attitude correctness is judged.This be because, in driver's process, owing to driving the incorrect of attitude, for example pin is stepped on the difference of different and double-legged assigner's body weight of position, might cause the front and back pressure variation of two tires to differ greatly, this can cause easily occurring the accidents such as rollover when turning, be unfavorable for traffic safety.By the present invention, can work as and drive attitude when incorrect, the driver is reminded, allow it adjust standing place or bipod reasonable distribution body weight.Particularly:
In step 100, the setting state when this balanced car with two wheels is unloaded is the first state;
In step 200, the setting state when standing in the driver on balanced car with two wheels is current state;
In step 300, comprise that the judgement driver drives the step of attitude, this step comprises: (1) determines driver's standard value of weighing under standard driving attitude; (2) pressure variety is compared with this standard value of weighing, determine whether driver's driving attitude is correct.This standard value of weighing refers to the weight of driver when correctly standing.For example, if pressure variety has surpassed 1/10 of this standard value of weighing, the driving attitude that is judged as the driver is incorrect, and this moment, central controller sent prompting, reminds the driver to line up, perhaps bipod reasonable distribution body weight.
Embodiment 2, the pavement behavior judgement.
In this embodiment, can according to pressure variety, road conditions be judged.When balanced car with two wheels travelled on road surface in different road conditions, for example flat road surface and rugged road surface were arranged on two pressure transducers 116 and 118 in tire 21,22 and can collect the pressure that brings on different road surfaces and change.amplitude as periodically variable in tire pressure on flat road surface is less, get rid of tyre temperature to the impact of pressure, tire pressure changes less than 5% of tire average gas pressure, and rugged and rough road surface is up when sailing, pressure transducer can collect the larger spike force value of variation, get rid of tyre temperature to the impact of pressure, tire pressure changes between the 5%-10% of tire average gas pressure, indivedual larger tire pressures that jolt change can exceed 10% of tire average gas pressure, but this spike force value half the time is all very short, most less than 0.5s, therefore, can can identify flat road surface and rugged and rough road surface by amplitude and duration that force value changes.Identifying when travelling on rugged and rough road surface, can advise that the driver reduces the speed of a motor vehicle or automatically reduces the speed of a motor vehicle to guarantee safe driving this moment.
Therefore, in step 300, can comprise judgement drive in the pavement behavior determining step, this step comprises: when this pressure variety greater than the mean value of the first state pressure value of two tires 5% the time, the road conditions under the judgement current state are rugged and rough road surface.Thereby can the corresponding suggestion of slowing down be proposed to the driver.Easily understand, in this embodiment, the mensuration of the first state pressure value is carried out after the driver gets on the bus.
Embodiment 3, the steering state judgement.
In this embodiment, can utilize the tire pressure varies amount, vehicle steering state is in the process of moving judged.Particularly, in step 300, can comprise that judgement turns to the state determining step in driving, this step comprises: when the pressure variety of a described tire is negative value, and the pressure variety of another tire be on the occasion of the time, the judgement current state is turn condition.
when balanced car with two wheels is being turned, because the center of gravity of balanced car with two wheels is higher, if excessive velocities, under the effect of centrifugal force, thereby turning sidecar wheel might break away from ground and cause overturning, in such cases, the pressure that tyre pressure sensor can detect the both sides tire changes, as the wall pressure of turning diminishes and opposite side pressure becomes large, coordinate signal for turn, when central control unit identification is being turned, whether the pressure of both sides tire has obvious variation, change by tire pressure and can judge car to any lopsidedness, as the wall pressure of turning diminishes and opposite side pressure becomes large, car tilts laterally, as the wall pressure of turning becomes large and opposite side pressure diminishes, car tilts to the inside, turn not enough or turn excessive thereby can judge, the sensitivity that can advise the driver or automatically adjust the speed of a motor vehicle and turning is to guarantee safe driving.
Embodiment 4, the free falling body state judgement.
In this embodiment, can whether do freely falling body or parabolic motion judges to balanced car with two wheels.Determination methods is, in step 300, comprise judgement drive in the free falling body state step, this step comprises: when this pressure variety equal adding of the car body weight of this balanced car with two wheels and load weight and the time, judge that current state is free falling body state.
Particularly, because balanced car with two wheels is principle of work according to reversible pendulum system, controls the servomotor action, thereby make vehicle body maintain a dynamic balance state.When the overall center of gravity top rake of driver and vehicle, built-in servo-electric chance in vehicle body produces strength forward, the moment of torsion that one side balance people and car are toppled over forward, another aspect produces and allows acceleration that vehicle advances to keep the car body balance, on the contrary, during toward hypsokinesis, the strength that also can produce backward reaches counterbalance effect when driver's center of gravity.When balanced car with two wheels when doing freely falling body or parabolic motion, the car body attitude that its attitude sensor may detect turns forward, control module will be controlled wheel and rotate forward to keep fast balance like this, equally, attitude recedes if attitude sensor detects car body, control module will be controlled wheel and rotate backward fast to keep balance like this, due to wheel hanging this moment, namely be in light condition, may cause the too fast rotation forward or backward of wheel, thereby make the car out of trim in the moment of tire ground connection, cause occuring overturn accident.
When balanced car with two wheels when doing freely falling body or parabolic motion, because tire is in vacant state, this moment, tire was not born car and people's weight, the pressure that tyre pressure sensor can detect two tires all diminishes suddenly, and change value of pressure equals car body weight and adds the upper load weight of getting on the bus, central control unit through identification after, can keep or reduce the impact of wheel speed when preventing that wheel from landing and cause out of trim.
Embodiment 5, unmanned state judgement.
In this embodiment, comprise whether being that unmanned state judges.Particularly, in step 300, comprise judging whether this balanced car with two wheels is in the step of unmanned state, and this step comprises: when this pressure variety equals the load weight of this balanced car with two wheels, judge that current state is unmanned state.
when balanced car with two wheels in the process of moving, if run into emergency case, the driver might make and jump the car action, this moment, two wheeler was in unmanned state, be easy to cause the accident, for guaranteeing safety, need to whether detect online onboard the people, be equivalent on car a very large load and unload because the people gets off, the pressure that tyre pressure sensor can detect two tires all diminishes suddenly, and change value of pressure equals load weight on car, on car, load disappears a period of time (for example 2s) if central control unit detects, can judge that the driver is not onboard, can reduce wheel speed and stop to guarantee safety.
In addition, the present invention also provides a kind of method of utilizing said apparatus that the load-carrying of balanced car with two wheels is weighed, and the method comprises the following steps:
1, for two tires of balanced car with two wheels are set respectively the first parameter P1 to be calibrated and the second parameter P2, and utilize these two tires force value Fs1, Fs2 separately when measuring zero load.In conjunction with Fig. 2, then force value Fs1, Fs2 when utilizing the first pressure transducer 116 and the second pressure transducer 118 to measure zero load are transported to central control unit 220 by the first wireless transceiver 130 and the second wireless transceiver 210.
2, similarly, the loads that two quality are M1 is separately positioned on the position of trampling for driver's both feet on balanced car with two wheels, and measures these two tires this moment force value Fe1, Fe2 separately.
3, further, the loads that two quality are M2 is separately positioned on the position of trampling for driver's both feet on balanced car with two wheels, and measures these two tires this moment force value Fe3, Fe4 separately, and wherein said M2 is different from the value of M1.
4, determine P1, P2 according to following equation:
2M1=P1 * (Fe1-Fs1)+P2 * (Fe2-Fs2), and
2M2＝P1×(Fe3-Fs1)+P2×(Fe4-Fs2)；
5, when this balanced car with two wheels is in load condition lower time, calculate load-carrying L according to following formula:
L＝P1×ΔF1+P2×ΔF2，
Wherein, Δ F1, Δ F2 are respectively under load condition and the pressure variety of these two tires under light condition.
This weight can be used for the control parameter of adjustment System, makes the handling optimum state that remains on of vehicle.
In sum, condition checkout gear and method for balanced car with two wheels of the present invention according to the tyre pressure sensor that is arranged in the tire of left and right, are calculated the variation of tire pressure, and then obtain the running status of system.Control system can be adjusted balance and control parameter in real time according to this state of judging, and perhaps the driver is sent safety traffic and remind, thereby the handling that guarantees vehicle operates in optimum state.
Claims (8)
1. a condition checkout gear that is used for balanced car with two wheels, is characterized in that, comprising:
The first pressure transducer, described the first pressure transducer are arranged on the first tire of this balanced car with two wheels, are used for measuring the pressure of the first tire;
The second pressure transducer, described the second pressure transducer are arranged on the second tire of this balanced car with two wheels, are used for measuring the pressure of the second tire;
The signal processor that is connected with the second pressure transducer with described the first pressure transducer is used for pressure data to the pressure data of the first tire of measuring and the second tire and carries out data and process;
The first wireless transceiver that is connected with described signal processor is used for sending the pressure data of the first tire after described signal processor processes and the pressure data of the second tire;
With the second wireless transceiver that described the first wireless transceiver is complementary, be used for receiving the pressure data of described the first tire after treatment that is sent by the first wireless transceiver and the pressure data of the second tire;
The central control unit that is connected with described the second wireless transceiver, be used for receiving the pressure data of described the first tire after treatment and the pressure data of the second tire, and according to the change value of pressure of the first tire under previous state and current state and the change value of pressure of the second tire, determine the running status that this balanced car with two wheels is current.
2. a condition detection method that is used for balanced car with two wheels, is characterized in that, comprises the following steps:
A measures respectively the first state pressure value of two tires of this balanced car with two wheels under laststate;
B measures respectively the current state force value of described two tires under current state, and according to described the first state pressure value and current state force value, calculates the pressure variety of two tires under laststate and current state;
C according to the pressure variety of described two tires, judges the running status of this balanced car with two wheels.
3. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that,
In described step a, the setting state when this balanced car with two wheels is unloaded is the first state;
In described step b, the setting state when standing in the driver on balanced car with two wheels is current state;
In described step c, comprise that the judgement driver drives the step of attitude, this step comprises:
Determine driver's standard value of weighing under standard driving attitude;
Pressure variety is compared with this standard value of weighing, determine whether driver's driving attitude is correct.
4. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that, in described step c, comprises pavement behavior determining step in the judgement driving, and this step comprises:
When this pressure variety greater than the mean value of the first state pressure value of these two tires 5% the time, the road conditions under the judgement current state are rugged and rough road surface.
5. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that, in described step c, comprises that judgement turns to the state determining step in driving, and this step comprises:
When the pressure variety of a described tire is negative value, and the pressure variety of another tire be on the occasion of the time, the judgement current state is turn condition.
6. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that, in described step c, comprises free falling body state step in the judgement driving, and this step comprises:
When this pressure variety equal adding of the car body weight of this balanced car with two wheels and load weight and the time, judge that current state is free falling body state.
7. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that, in described step c, comprises judging whether this balanced car with two wheels is in the step of unmanned state, and this step comprises:
When this pressure variety equals the load weight of this balanced car with two wheels, judge that current state is unmanned state.
8. the method that the load-carrying of balanced car with two wheels is weighed, is characterized in that, comprises the following steps:
A for two tires of balanced car with two wheels are set respectively the first parameter P1 to be calibrated and the second parameter P2, and measures these two tires force value Fs1, Fs2 separately when unloaded;
B, the loads that two quality are M1 is separately positioned on the position of trampling for driver's both feet on balanced car with two wheels, and measures these two tires this moment force value Fe1, Fe2 separately;
C, the loads that two quality are M2 is separately positioned on the position of trampling for driver's both feet on balanced car with two wheels, and measures these two tires this moment force value Fe3, Fe4 separately, and wherein said M2 is different from M1;
D, determine P1, P2 according to following equation:
2M1=P1 * (Fe1-Fs1)+P2 * (Fe2-Fs2), and
2M2＝P1×(Fe3-Fs1)+P2×(Fe4-Fs2)；
E, when this balanced car with two wheels is in load condition lower time, calculate load-carrying L according to following formula:
L＝P1×ΔF1+P2×ΔF2，
Wherein, Δ F1, Δ F2 are respectively under load condition and the pressure variety of these two tires under light condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110428330.7A CN103162738B (en) | 2011-12-19 | 2011-12-19 | For condition checkout gear and the method for balanced car with two wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110428330.7A CN103162738B (en) | 2011-12-19 | 2011-12-19 | For condition checkout gear and the method for balanced car with two wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103162738A true CN103162738A (en) | 2013-06-19 |
| CN103162738B CN103162738B (en) | 2015-07-29 |
Family
ID=48586013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110428330.7A Active CN103162738B (en) | 2011-12-19 | 2011-12-19 | For condition checkout gear and the method for balanced car with two wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103162738B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103558778A (en) * | 2013-11-01 | 2014-02-05 | 深圳乐行天下科技有限公司 | Method and system for detecting state of two-wheeled balance vehicle |
| CN103697982A (en) * | 2013-12-17 | 2014-04-02 | 重庆大唐科技股份有限公司 | Vehicle-mounted weighing method, vehicle-mounted weighing device, vehicle-mounted weighing system and vehicle control system |
| CN105043519A (en) * | 2015-08-24 | 2015-11-11 | 无锡伊佩克科技有限公司 | Weight balance detection system for vehicle |
| CN106289627A (en) * | 2016-09-14 | 2017-01-04 | 无锡必创传感科技有限公司 | A kind of air cushion pressure monitoring method of aircushion vehicle |
| CN107767490A (en) * | 2017-10-24 | 2018-03-06 | 合肥工业大学 | A kind of method judged for fork truck rollover instability status |
| CN108324196A (en) * | 2016-03-01 | 2018-07-27 | 常州信息职业技术学院 | The working method of sweeping robot |
| CN109000643A (en) * | 2018-06-01 | 2018-12-14 | 深圳市元征科技股份有限公司 | Navigational parameter acquisition methods, vehicle swerve judgment method, system, device |
| CN113147774A (en) * | 2021-04-26 | 2021-07-23 | 季华实验室 | Method and device for judging gravity center balance of AGV (automatic guided vehicle), electronic equipment and storage medium |
| CN114590347A (en) * | 2022-04-01 | 2022-06-07 | 东莞博仕电子科技有限公司 | Multifunctional motorcycle driving monitoring method and system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5927424A (en) * | 1994-06-14 | 1999-07-27 | Brinks Westmaas B.V. | Self-stabilizing, directionally controllable vehicle with at least three wheels |
| US20050121866A1 (en) * | 1999-06-04 | 2005-06-09 | Deka Products Limited Partnership | Control of a personal transporter based on user position |
| CN1825084A (en) * | 2006-04-05 | 2006-08-30 | 江苏大学 | An automatic monitoring device for truck loading balance and its control method |
| US20070251735A1 (en) * | 2005-04-14 | 2007-11-01 | Sony Corporation | Coaxial two-wheel vehicle |
| CN201009984Y (en) * | 2006-06-30 | 2008-01-23 | 宁波Gqy视讯股份有限公司 | Dual-purpose of standing and sitting type self-blancing two-wheeled vehicle |
| JP2008037210A (en) * | 2006-08-03 | 2008-02-21 | Toyota Motor Corp | Traveling apparatus and braking control method for traveling apparatus |
| CN201115294Y (en) * | 2007-08-17 | 2008-09-10 | 卢灿光 | An automobile tire pressure detection and alarm device |
| CN201228037Y (en) * | 2008-06-16 | 2009-04-29 | 周惠兴 | Two-wheel self balancing electric motor vehicle |
| CN201736748U (en) * | 2010-07-02 | 2011-02-09 | 宁波大学 | Electric bicycle tyre pressure detection system |
-
2011
- 2011-12-19 CN CN201110428330.7A patent/CN103162738B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5927424A (en) * | 1994-06-14 | 1999-07-27 | Brinks Westmaas B.V. | Self-stabilizing, directionally controllable vehicle with at least three wheels |
| US20050121866A1 (en) * | 1999-06-04 | 2005-06-09 | Deka Products Limited Partnership | Control of a personal transporter based on user position |
| US20070251735A1 (en) * | 2005-04-14 | 2007-11-01 | Sony Corporation | Coaxial two-wheel vehicle |
| CN1825084A (en) * | 2006-04-05 | 2006-08-30 | 江苏大学 | An automatic monitoring device for truck loading balance and its control method |
| CN201009984Y (en) * | 2006-06-30 | 2008-01-23 | 宁波Gqy视讯股份有限公司 | Dual-purpose of standing and sitting type self-blancing two-wheeled vehicle |
| JP2008037210A (en) * | 2006-08-03 | 2008-02-21 | Toyota Motor Corp | Traveling apparatus and braking control method for traveling apparatus |
| CN201115294Y (en) * | 2007-08-17 | 2008-09-10 | 卢灿光 | An automobile tire pressure detection and alarm device |
| CN201228037Y (en) * | 2008-06-16 | 2009-04-29 | 周惠兴 | Two-wheel self balancing electric motor vehicle |
| CN201736748U (en) * | 2010-07-02 | 2011-02-09 | 宁波大学 | Electric bicycle tyre pressure detection system |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103558778A (en) * | 2013-11-01 | 2014-02-05 | 深圳乐行天下科技有限公司 | Method and system for detecting state of two-wheeled balance vehicle |
| CN103558778B (en) * | 2013-11-01 | 2016-08-17 | 深圳乐行天下科技有限公司 | The condition detection method of a kind of two-wheeled balance car and system |
| CN103697982A (en) * | 2013-12-17 | 2014-04-02 | 重庆大唐科技股份有限公司 | Vehicle-mounted weighing method, vehicle-mounted weighing device, vehicle-mounted weighing system and vehicle control system |
| CN105043519A (en) * | 2015-08-24 | 2015-11-11 | 无锡伊佩克科技有限公司 | Weight balance detection system for vehicle |
| CN108324196A (en) * | 2016-03-01 | 2018-07-27 | 常州信息职业技术学院 | The working method of sweeping robot |
| CN108324196B (en) * | 2016-03-01 | 2020-10-13 | 常州信息职业技术学院 | Working method of sweeping robot |
| CN106289627A (en) * | 2016-09-14 | 2017-01-04 | 无锡必创传感科技有限公司 | A kind of air cushion pressure monitoring method of aircushion vehicle |
| CN106289627B (en) * | 2016-09-14 | 2019-03-08 | 北京必创科技股份有限公司 | A kind of air cushion pressure monitoring method of aircushion vehicle |
| CN107767490A (en) * | 2017-10-24 | 2018-03-06 | 合肥工业大学 | A kind of method judged for fork truck rollover instability status |
| CN109000643A (en) * | 2018-06-01 | 2018-12-14 | 深圳市元征科技股份有限公司 | Navigational parameter acquisition methods, vehicle swerve judgment method, system, device |
| CN113147774A (en) * | 2021-04-26 | 2021-07-23 | 季华实验室 | Method and device for judging gravity center balance of AGV (automatic guided vehicle), electronic equipment and storage medium |
| CN114590347A (en) * | 2022-04-01 | 2022-06-07 | 东莞博仕电子科技有限公司 | Multifunctional motorcycle driving monitoring method and system |
| CN114590347B (en) * | 2022-04-01 | 2023-12-19 | 东莞博仕电子科技有限公司 | Multifunctional motorcycle driving monitoring method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103162738B (en) | 2015-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103162738B (en) | For condition checkout gear and the method for balanced car with two wheels | |
| CN103192913B (en) | Device and method for detecting state of self-balancing two-wheel vehicle | |
| CN202420852U (en) | State detecting device for self-balance two-wheel cycle | |
| CN102756686B (en) | The method and apparatus of early warning vehicle rollover | |
| CN110626353B (en) | Vehicle dangerous state early warning method based on roll risk index | |
| US11040269B2 (en) | Electric skateboard with strain-based controls and methods | |
| CN110281893B (en) | An emergency braking system and method, semi-trailer | |
| JP6228933B2 (en) | Method and system for determining vehicle travel depth | |
| US7072763B2 (en) | Intelligent load distribution system | |
| CN102673561B (en) | A kind of rear-end collision preventing system and method | |
| CN103561974B (en) | Device for coupling towing vehicle and trailer | |
| WO2009001039A1 (en) | A sensor unit and a vehicle load and parking warning system incorporating such sensor units | |
| CN110239462B (en) | Vehicle rollover early warning method and system | |
| CN101612938A (en) | Be used for the judgement line computation of Vehicle security system | |
| CN109774687A (en) | Vehicle braking early warning and control method, system and vehicle | |
| CN102717671B (en) | Vehicle tyre burst detection emergency method | |
| KR20150041446A (en) | Weight measuring device for vehicle based on a camera and method thereof | |
| US9827995B2 (en) | Automobile speed measurement and control method and system | |
| CN105564502B (en) | A kind of power steering early warning system and its working method based on machine vision | |
| CN113570906A (en) | A kind of dangerous chemicals transport vehicle driving and safety state monitoring and early warning system and method | |
| JPWO2016039488A1 (en) | Connected vehicle fall prediction device and connected vehicle | |
| CN108639065A (en) | A kind of vehicle safe driving control method of view-based access control model | |
| CN110733512B (en) | Pull type caravan side-tipping interaction early warning system and side-tipping interaction early warning method | |
| CN115610431A (en) | A Safety Control System Applicable to Commercial Trailer | |
| CN108426673A (en) | A kind of emergency management and rescue vehicle centroid position measures and method of adjustment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191206 Address after: 315336 No.111 Binhai 4th Road, Hangzhou Bay New District, Ningbo, Zhejiang Province Patentee after: Ningbo qikewei Electronic Co.,Ltd. Address before: 201318 Shanghai city Pudong New Area Zhou Pu Zhen Shen Mei Road 99 Lane 3 No. 1-9 Building 2 floor B block Patentee before: Shanghai New Century Robot Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 315336 No.111 Binhai 4th Road, Hangzhou Bay New District, Ningbo City, Zhejiang Province Patentee after: Ningbo qikewei Electronic Co.,Ltd. Address before: 315336 No.111 Binhai 4th Road, Hangzhou Bay New District, Ningbo, Zhejiang Province Patentee before: Ningbo qikewei Electronic Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240106 Address after: 315336 No. 131 Binhai Fourth Road, Hangzhou Bay New Area, Ningbo City, Zhejiang Province Patentee after: Ningbo Gauss Robot Co.,Ltd. Address before: No. 111, Binhai 4th Road, Hangzhou Bay New District, Ningbo City, Zhejiang Province Patentee before: Ningbo qikewei Electronic Co.,Ltd. |