CN110440968B - Pressure detection method and pressure detection device for mobile carrier - Google Patents
Pressure detection method and pressure detection device for mobile carrier Download PDFInfo
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- CN110440968B CN110440968B CN201910724949.9A CN201910724949A CN110440968B CN 110440968 B CN110440968 B CN 110440968B CN 201910724949 A CN201910724949 A CN 201910724949A CN 110440968 B CN110440968 B CN 110440968B
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Abstract
The application is suitable for the technical field of carrier pressure detection, and provides a pressure detection method and a pressure detection device for a mobile carrier, and the method comprises the following steps: respectively acquiring first pressure values detected by the plurality of pressure sensors; when the first pressure values are all located in a first threshold range, subtracting the first pressure values detected by the pressure sensors from each other to obtain a second pressure value; and when the second pressure values are all located in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor. This application has avoided removing carrier sensor to break down or the panel has the deviation to appear in the zero point pressure value when heavy object through above-mentioned mode, has guaranteed the accuracy of removing carrier zero point pressure value and the stability of removing carrier work and the sensitivity when the panel pressure value changes.
Description
Technical Field
The present application belongs to the technical field of pressure detection for vehicles, and in particular, relates to a pressure detection method and a pressure detection device for a mobile vehicle, and a computer-readable storage medium.
Background
With the popularization of the green trip concept, the electric vehicle industry is unprecedentedly developed. Among them, the electric skateboard is being accepted by more and more consumers as a new type of travel mode. The electric skateboard comprises a skateboard without a handle or an electric scooter with a handle, and before the electric skateboard works, the pressure value of the electric skateboard needs to be peeled. At present, the pressure value detected when the electric skateboard is started is mainly used as the zero pressure value of the electric skateboard, and the pressure value of the electric skateboard is peeled.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for detecting a pressure of a mobile carrier, which can solve the problem that the accuracy of a zero pressure value cannot be guaranteed, and the stability of the mobile carrier during operation and the sensitivity of the mobile carrier during a change of a panel pressure value are affected in the prior art.
A first aspect of an embodiment of the present application provides a pressure detection method for a mobile carrier, including:
respectively acquiring first pressure values detected by the plurality of pressure sensors;
when the first pressure values are all located in a first threshold range, subtracting the first pressure values detected by the pressure sensors from each other to obtain a second pressure value;
and when the second pressure values are all located in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor.
A second aspect of the embodiments of the present application provides a pressure detection device for a mobile carrier, including:
an acquisition unit configured to acquire first pressure values detected by the plurality of pressure sensors, respectively;
the first calculation unit is used for subtracting the first pressure values detected by the plurality of pressure sensors respectively to obtain second pressure values when the first pressure values are all in a first threshold range; and when the second pressure values are all in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor.
A third aspect of embodiments of the present application provides a mobile vehicle, including a pressure sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method according to the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: in this application, through the first pressure value that acquires a plurality of pressure sensor of different positions on the removal carrier, judge whether first pressure value is in first threshold value, and when first pressure value all was located first threshold value within range, judge and subtract two liang of first pressure values and obtain whether second pressure value is in the second threshold value, so that when the second pressure value all was located the second threshold value within range, just regard as respectively the first pressure value that every pressure sensor detected as zero pressure value that every pressure sensor corresponds separately, zero pressure value when having avoided the removal carrier sensor to break down or the face has the heavy object appears the deviation, has guaranteed the accuracy of removal carrier zero pressure value and the stability of removal carrier work and the sensitivity when the face pressure value changes.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without any inventive effort.
Fig. 1 is a schematic view illustrating a structure of a mobile carrier according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating a pressure detection method for a mobile vehicle according to the present application;
fig. 3 is a schematic flow chart of another pressure detection method for a mobile vehicle provided in the present application;
fig. 4 is a schematic flow chart of another pressure detection method for a mobile vehicle provided in the present application;
fig. 5 is a schematic flow chart of another pressure detection method for a mobile vehicle provided in the present application;
fig. 6 is a schematic flow chart of another pressure detection method for a mobile vehicle provided in the present application;
fig. 7 is a schematic flow chart illustrating calibration pressure values in another pressure detection method for a mobile vehicle provided in the present application;
fig. 8 is a schematic diagram illustrating a pressure detection device of a mobile vehicle according to an embodiment of the present disclosure;
fig. 9 is a schematic diagram illustrating a structural block diagram of a mobile carrier according to an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The pressure detection method for the mobile carrier provided by the embodiment of the application can be applied to all mobile carriers needing pressure initialization, such as electric skateboards, electric scooters, balance cars and the like, and the embodiment of the application does not limit the specific types of the mobile carriers at all.
Take the mobile carrier as an electric skateboard as an example. Fig. 1 is a schematic view illustrating a structure of a mobile carrier according to an embodiment of the present disclosure. Referring to fig. 1, the electric skateboard 100 includes: the pressure sensor 110 is embedded in the plate body 120, the pressure sensors 110 can be distributed at any position on the plate body 120, and the plate body 120 is used for bearing an object or a human body. Those skilled in the art will appreciate that the configuration of the electric skateboard shown in fig. 1 is not intended to be limiting, and may include more or fewer components than those shown, or some combination of components, or a different arrangement of components, and the location and number of the pressure sensors are not intended to be limiting and are merely exemplary.
The pressure sensor can adopt a strain gauge pressure sensor, a ceramic pressure sensor, a diffused silicon pressure sensor, a sapphire pressure sensor and a piezoelectric pressure sensor, wherein most of the pressure sensors adopt strain gauges for pressure acquisition, and the strain gauges are elements for measuring strain, which are composed of sensitive grids and the like. The working principle of the resistance strain gauge is manufactured based on the strain effect, namely when a conductor or a semiconductor material generates mechanical deformation under the action of external force, the resistance value of the conductor or the semiconductor material changes correspondingly, the strain gauge is too large in mechanical deformation and easy to damage, and a plurality of strain gauges are arranged in the sliding plate. Due to the physical characteristics of the strain gauge, peeling treatment needs to be carried out before the sensor works, and in the prior art, on one hand, damage to the strain gauge is not correspondingly detected before the electric skateboard starts, and on the other hand, when the traditional electric skateboard starts, the pressure value on the board body at the starting moment is defaulted to be the zero pressure value by the built-in pressure sensor of the electric skateboard, the operation of starting the electric skateboard by a user on the board body is not forbidden, and the currently detected pressure value is directly used as the zero pressure value. And the user stands on the sliding plate to start up or starts up under the condition that the sliding plate is provided with a heavy object, the following situations can occur, namely the situation 1: the user stands on the plate body to start the machine, the weight of the user is defaulted to be the zero pressure value of the sensor, and if the user jumps down the plate body or stands on the plate body with the weight smaller than the weight of the user, the sliding plate can automatically move forwards or backwards; case 2: under the on state, the user that changes the weight difference uses the slide, and the body feels the operating sensitivity low. Case 3: the user starts the machine on the sliding plate, after the user leans to the standing position, the zero pressure value is defaulted under the condition that the stress of the front strain gauge and the stress of the rear strain gauge are inconsistent, the user changes the standing position in the sliding process, the strain gauges possibly cannot execute corresponding forward or acceleration operation, and the safety of the user is not guaranteed in the moving process at a certain speed. The situation leads to the technical problem that the accuracy of acquiring the zero pressure value of the electric skateboard is low. In order to solve the above technical problem, the present application provides a pressure detection method for a mobile vehicle, please refer to fig. 2, fig. 2 shows a schematic flow chart of the pressure detection method for a mobile vehicle provided by the present application, which can be applied to the electric skateboard 100 described above by way of example and not limitation. At least one pressure sensor is respectively arranged at any position on the board surface of the electric skateboard 100, for example, at the front, the back, the left, and the right, and is used for acquiring pressure values in different directions, the positions of the pressure sensors and the number of the pressure sensors shown in fig. 1 are only used as examples and are not limited at all, and in an actual application scene, the pressure sensors can be arranged in more numbers or different positions, and the number is determined according to actual requirements.
S201, respectively acquiring first pressure values detected by the plurality of pressure sensors.
It should be noted that, on one hand, the plate body of the slide plate has a certain weight, and on the other hand, the pressure sensor is susceptible to the influence of temperature and a hardware circuit, which causes the collected pressure value to float up and down, so that the current pressure value needs to be reset to zero as the zero point of the initial pressure value, that is, the weight is peeled.
This application is through when the slide power is opened, acquire the first pressure value of a plurality of pressure sensor on the slide this moment, a plurality of pressure sensor positional relationship include fore-and-aft position relation and control positional relationship. The first pressure value is used for detecting whether a heavy object exists on the plate body or whether the pressure sensor is abnormal.
S202, when the first pressure values are all located in a first threshold range, subtracting the first pressure values detected by the pressure sensors in pairs to obtain second pressure values.
The first threshold is set to detect whether a heavy object other than the body of the slide board is present on the slide board or whether an abnormality is present in the pressure sensor. The first threshold value sets a certain pressure value range according to the detection precision of different products. When a plurality of first pressure values are all in the first threshold value range, the fact that no heavy object exists on the current sliding plate or the pressure sensor is not in fault is indicated, and then the next calculation can be carried out. The next calculation obtains the second pressure value by subtracting the pressure values of the front-rear positional relationship.
And S203, when the second pressure values are all located in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor.
Wherein, because unilaterally adopt first threshold value scope judges first pressure value has certain limitation, for example: if the set range of the first threshold is too narrow, the first pressure value may exceed the range due to the up-and-down floating data of the pressure values caused by the pressure sensor and a hardware circuit, and if the set range of the first threshold is too wide, the condition that a heavy object exists on the sliding plate during startup may not be detected. In order to avoid the limitation caused by the detection of the first threshold, the second threshold is used to perform secondary detection on the first pressure value in the embodiment of the application, so as to ensure the accuracy of pressure detection. And subtracting the pressure values of the pressure sensors at any two positions, for example, subtracting the pressure values of the front-back position relation to obtain the second pressure value, wherein when a plurality of the second pressure values are all in a second threshold range, the working state of the pressure sensor is normal.
And the zero pressure value refers to taking the first pressure value qualified in detection as a zero value, for example: and at the initial startup of the electric skateboard, measuring that the first pressure value is 5N (Newton), and calculating by taking 5N (Newton) as a zero point in the subsequent pressure detection process, namely subtracting 5N (Newton) as a final pressure value on the basis of the pressure value acquired subsequently.
It is understood that the first threshold is set mainly for detecting whether a heavy object exists on the sliding plate or preliminarily detecting whether the pressure sensor has a fault, and the second threshold is set for further determining whether the pressure sensor has a fault, and for ensuring whether the pressure values of any two pressure sensors are consistent, such as the pressure values of the front and rear pressure sensors are consistent (generally, the front and rear pressure sensors respectively control the electric sliding plate to move forward and backward), so as to ensure that the control sensitivity is consistent.
In this embodiment, whether the first pressure value is within a first threshold is determined by obtaining first pressure values of a plurality of pressure sensors at different positions on the mobile carrier, and when the first pressure values are all within the first threshold range, it is determined whether a second pressure value is within a second threshold obtained by subtracting two or two of the first pressure values, so that when the second pressure values are all within the second threshold range, the first pressure values detected by each pressure sensor are respectively used as zero pressure values corresponding to each pressure sensor, thereby avoiding the zero pressure values from being deviated when the mobile carrier sensor fails or a heavy object exists on the board surface, ensuring the accuracy of the zero pressure values of the mobile carrier, and improving the accuracy of pressure data acquisition of the mobile carrier.
Optionally, on the basis of the embodiment shown in fig. 2, step S202 may include pressure difference detection for forward and backward movement corresponding to pressure sensors, please refer to fig. 3, fig. 3 shows a schematic flow chart of another pressure detection method for a mobile vehicle provided by the present application, which may be applied to the electric skateboard 100 by way of example and not limitation, as shown in fig. 1, where the electric skateboard 100 includes at least one first pressure sensor for controlling forward movement of the mobile vehicle and at least one second pressure sensor for controlling backward movement of the mobile vehicle.
As shown in fig. 3, the method comprises the steps of:
s301, first pressure values detected by the pressure sensors are respectively acquired.
S302, when the first pressure values detected by the first pressure sensor and the second pressure sensor are both within the first threshold range, subtracting the first pressure values detected by the first pressure sensor and the second pressure sensor from each other to obtain the second pressure value.
In order to ensure that the forward and backward control sensitivity of the mobile carrier is consistent, whether the pressure difference value acquired by the pressure sensors corresponding to the two sensors exceeds a threshold value is detected, so as to ensure that the sensitivity of the two sensors is consistent. And the moving carrier is controlled to move forwards corresponding to the first pressure sensor, and the moving carrier is controlled to move backwards corresponding to the second pressure sensor. Therefore, in this embodiment, after it is determined that the first pressure values detected by the first pressure sensor and the second pressure sensor are both within the first threshold range, two pressure values detected by the first pressure sensor and the second pressure sensor are subtracted from each other to obtain the second pressure value. When the second pressure value exceeds the threshold value, the control sensitivity of the forward movement and the backward movement of the current mobile carrier is inconsistent; when the second pressure value does not exceed the threshold value, the control sensitivity of the forward movement and the backward movement of the current mobile carrier is basically consistent.
And S303, when the second pressure values are all located in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor.
In this embodiment, S301 and S303 are the same as S201 and S203 in the previous embodiment, and specific reference is made to the description of S201 and S203 in the previous embodiment, which is not repeated herein.
In this embodiment, whether the first pressure value is within a first threshold value is determined by obtaining the first pressure value of the pressure sensor on the mobile carrier, and when the first pressure value is within the first threshold value range, it is determined whether the second pressure value is within a second threshold value by subtracting two by two the first pressure values, so that when the second pressure value is within the second threshold value range, the first pressure value detected by each pressure sensor is respectively used as the zero pressure value corresponding to each pressure sensor, and the control sensitivity of the forward movement and the backward movement of the mobile carrier is ensured to be consistent through the above manner, thereby improving the accuracy of the zero pressure value of the mobile carrier, the stability of the operation of the mobile carrier, and the sensitivity when the plate surface pressure value changes.
Optionally, on the basis of the embodiment shown in fig. 2, step S202 may further include pressure difference detection for pressure sensors corresponding to left and right turns, please refer to fig. 4, fig. 4 shows a schematic flow chart of another pressure detection method for a mobile vehicle provided by the present application, which may be applied to the electric skateboard 100 by way of example and not limitation, as shown in fig. 1, where the electric skateboard 100 includes at least one third pressure sensor for controlling the left turn of the mobile vehicle and at least one fourth pressure sensor for controlling the right turn of the mobile vehicle.
As shown in fig. 4, the method includes the steps of:
s401, first pressure values detected by the pressure sensors are respectively acquired.
In this embodiment, S401 is the same as S201 in the previous embodiment, and please refer to the related description of S401 in the previous embodiment, which is not repeated herein.
S402, when the first pressure values detected by the third pressure sensor and the fourth pressure sensor are both located in the first threshold range, subtracting the first pressure values detected by the first pressure sensor and the second pressure sensor to obtain the second pressure value.
In order to ensure that the control sensitivity of the mobile carrier for left-turning and right-turning is consistent, whether the pressure difference value acquired by the pressure sensors corresponding to the two exceeds a threshold value is detected, so as to ensure that the sensitivity of the two is consistent. And controlling the moving carrier to rotate left corresponding to the third pressure sensor, and controlling the moving carrier to rotate right corresponding to the fourth pressure sensor. Therefore, in this embodiment, after it is determined that the first pressure values detected by the third pressure sensor and the fourth pressure sensor are both within the first threshold range, two pressure values detected by the third pressure sensor and the fourth pressure sensor are subtracted from each other to obtain the second pressure value. When the second pressure value exceeds the threshold value, the control sensitivity of the current moving carrier for left turn and right turn is inconsistent; and when the second pressure value does not exceed the threshold value, the control sensitivity of the current mobile vehicle for turning left and turning right is basically consistent.
And S403, when the second pressure values are all located in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor.
S403 in this embodiment is the same as S203 in the previous embodiment, and please refer to the related description of S403 in the previous embodiment, which is not repeated herein.
In this embodiment, whether the first pressure value is within a first threshold value is determined by obtaining the first pressure value of the pressure sensor on the mobile carrier, and when the first pressure value is within the first threshold value range, it is determined whether the second pressure value is within a second threshold value by subtracting two by two the first pressure values, so that when the second pressure value is within the second threshold value range, the first pressure value detected by each pressure sensor is respectively used as the zero pressure value corresponding to each pressure sensor, and the control sensitivity of the mobile carrier for left-turn and right-turn is ensured to be consistent through the above manner, thereby improving the accuracy of the zero pressure value of the mobile carrier, the stability of the mobile carrier in operation, and the sensitivity of the mobile carrier when the plate surface pressure value changes.
Optionally, on the basis of the embodiment shown in fig. 2, after the obtaining of the first pressure values detected by the pressure sensors respectively, a fault prompt message is further output, please refer to fig. 5, where fig. 5 shows a schematic flowchart of another pressure detection method for a mobile vehicle provided by the present application, by way of example and not limitation, the method may be applied to the electric skateboard 100.
S501, first pressure values detected by the pressure sensors are respectively obtained.
S501 in this embodiment is the same as S201 in the previous embodiment, and please refer to the related description of S201 in the previous embodiment, which is not repeated herein.
S502, when the first pressure values are all located in a first threshold range, subtracting the first pressure values detected by the pressure sensors in pairs to obtain second pressure values.
In this embodiment, S502 is the same as S202 in the previous embodiment, and please refer to the related description of S202 in the previous embodiment, which is not repeated herein.
And S503, when the second pressure values are all located in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor.
S503 in this embodiment is the same as S203 in the previous embodiment, and please refer to the related description of S203 in the previous embodiment, which is not repeated herein.
S504, when none of the first pressure values is within the first threshold range or none of the second pressure values is within the second threshold range, outputting one or more first fault prompt messages.
When the first pressure value or the second pressure value is not within the threshold range, indicating that a heavy object exists on the mobile carrier or that the pressure sensor is in fault. At this time, the user can be reminded that the pressure value detected by the current sensor is in an abnormal range and needs to be checked by outputting one or more first fault prompt messages. The first fault prompt message can remind a user to check the mobile carrier through sound, light, electricity, combination of the sound and the light and the electricity and the like.
As an embodiment of the present invention, different fault information may be represented by a combination of a plurality of the first fault notification information, such as: the pressure sensor is characterized in that the sensor is in failure through sound alarm, the plate body is provided with a heavy object through sound and optical signals, and the pressure sensor is in inconsistent sensitivity through sound and electrical signals.
In this embodiment, when it is determined that the first pressure value and the second pressure value are not within the corresponding threshold range, one or more first fault prompt messages are output to correct the sensor pressure value, so that the accuracy of detecting the pressure value in the driving process is ensured.
Optionally, on the basis of the embodiment shown in fig. 2, after the respectively obtaining the first pressure values detected by the pressure sensors, calibrating the pressure sensors by using a power storage device is further included, please refer to fig. 6, where fig. 6 shows a schematic flowchart of another pressure detection method for a mobile vehicle provided by the present application, and the method may be applied to the electric skateboard 100 by way of example and not limitation.
S601, respectively obtaining first pressure values detected by the pressure sensors.
S602, when the first pressure values are all located in a first threshold range, subtracting the first pressure values detected by the pressure sensors from each other to obtain a second pressure value.
S603, when the second pressure values are all located in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor.
S601 to S603 in this embodiment are the same as S201 to S203 in the previous embodiment, and please refer to the related description of S201 to S203 in the previous embodiment, which is not repeated herein.
S604, when none of the first pressure values is within the first threshold range or none of the second pressure values is within the second threshold range, receiving a zero point pressure value calibration instruction; the zero pressure value calibration instruction is used for controlling the power storage device to apply a plurality of preset pressures to each pressure sensor.
The zero pressure value calibration instruction can be triggered manually or automatically through a processor.
When none of the first pressure values is within the first threshold range or none of the second pressure values is within the second threshold range, indicating a pressure sensor failure. In the daily use process, the pressure sensor can age along with the lengthening of the service life, so that the pressure value detected by the pressure sensor can gradually deviate from the actual pressure value. The pressure values collected by the pressure sensor may be calibrated in the following manner.
S605, a plurality of fourth pressure values detected by each pressure sensor are acquired.
And S606, when the plurality of fourth pressure values and the first pressure difference value of the preset pressure are changed linearly, calibrating the fifth pressure value acquired by the pressure sensor each time according to the plurality of first pressure difference values.
When the fourth pressure values and the first pressure difference value of the preset pressure are changed linearly, the acquisition precision can be improved by calibrating the pressure sensor.
Specifically, the calibrating the fifth pressure value acquired by the pressure sensor each time according to the plurality of first pressure difference values includes the following steps, please refer to fig. 7, and fig. 7 shows a schematic flow chart of calibrating the pressure value in another pressure detection method of the mobile carrier provided in the present application.
And S701, calculating the slope of a linear equation according to the plurality of fourth pressure values and the plurality of first pressure difference values.
For example: when the plurality of fourth pressure values are 10N (newton) and 20N (newton), and the first pressure difference value is 5N (newton) and 10N (newton), the slope of the linear equation is calculated by the following formula:
wherein N is1And N2Representing two pressure values, a, at random, of a plurality of fourth pressure values1And a2Respectively represent N1And N2A corresponding first pressure differential value.
S702, calculating a second pressure difference value of a fifth pressure value acquired by the pressure sensor each time according to the slope of the linear equation.
And S703, calculating an actual pressure value corresponding to the fifth pressure value according to the second pressure difference value.
For example, if the fifth collected pressure value is 50N (newton), and the second pressure difference value is 25N (newton) according to the slope of the linear equation, the actual pressure value is a value obtained by adding the fifth pressure value and the second pressure difference value, that is, 75N (newton).
And S607, outputting one or more second fault prompt messages when the fourth pressure values and the first pressure difference value of the preset pressure change in a nonlinear manner.
When the fourth pressure values and the first pressure difference value of the preset pressure are in nonlinear change, the pressure sensor is required to be replaced, and one or more second fault prompt messages can be output to remind a user that the current pressure sensor has an irreversible fault and needs to be replaced. The second fault prompt message can prompt a user to replace the pressure sensor in a sound, light and electricity prompt mode and a combination mode thereof.
In the present embodiment, a plurality of preset pressures are applied to each of the pressure sensors by controlling the power accumulating means; acquiring a plurality of fourth pressure values detected by each pressure sensor; when the first pressure difference values of the plurality of fourth pressure values and the preset pressure are changed linearly, calibrating a fifth pressure value acquired by the pressure sensor each time according to the plurality of first pressure difference values; and when the first pressure difference value between the plurality of fourth pressure values and the preset pressure changes in a nonlinear manner, outputting one or more second fault prompt messages. The method realizes the judgment of the specific fault type of the pressure sensor so as to carry out different fault processing according to different fault types, thereby ensuring the accuracy of the zero point pressure value of the mobile carrier, the working stability of the mobile carrier and the sensitivity of the mobile carrier when the plate surface pressure value changes
Fig. 8 shows a schematic view of a pressure detection device 8 of a mobile carrier according to an embodiment of the present disclosure, where fig. 8 shows the pressure detection device 8 of the mobile carrier, and the pressure detection device of the mobile carrier shown in fig. 8 includes:
an acquisition unit 81 configured to acquire first pressure values detected by the plurality of pressure sensors, respectively;
the first calculating unit 82 is configured to subtract the first pressure values detected by the plurality of pressure sensors respectively to obtain second pressure values when the first pressure values are all within a first threshold range; and when the second pressure values are all in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor.
The application provides a pressure detection device of a mobile carrier, which judges whether a first pressure value is within a first threshold value or not by acquiring the first pressure value of a plurality of pressure sensors at different positions on the mobile carrier, and when the first pressure values are all located in the first threshold value range, judging whether the second pressure value obtained by subtracting the first pressure values from each other is located in the second threshold value, so when the second pressure value all is located second threshold value within range, just regard as respectively the first pressure value that every pressure sensor detected as every pressure sensor's respective zero point pressure value that corresponds has avoided removing the carrier sensor to break down or the panel has the deviation of zero point pressure value when heavy object, has guaranteed the accuracy of removing the carrier zero point pressure value, has improved the accuracy that removes the carrier and has gathered pressure data, has guaranteed and has removed the stability of carrier work and the sensitivity when the panel pressure value changes.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 9 is a schematic diagram illustrating a structural block diagram of a mobile carrier according to an embodiment of the present application, and referring to fig. 9, the mobile carrier 9 includes: a pressure sensor 90, a processor 93, a memory 91, and a computer program 92 stored in the memory 91 and operable on the at least one processor 93, wherein the processor 100, when executing the computer program 92, implements the steps in each of the embodiments of the pressure detection method for a mobile vehicle described above, such as the steps S201 to S203 shown in fig. 2. Alternatively, the processor 90, when executing the computer program 92, implements the functions of the units in the device embodiments described above, such as the functions of the units 81 to 82 shown in fig. 8. Wherein the memory 91 and processor 93 are integrated on the pressure sensor 90.
The following specifically describes each component of the mobile carrier with reference to fig. 9:
the processor 93 is a calculation control center of the mobile vehicle, connects various parts of the whole electric skateboard by various interfaces and lines, executes various functions of the mobile vehicle and processes data by running or executing software programs and/or modules stored in the memory 91 and calling data stored in the memory 91. Alternatively, the processor 93 may include one or more processing units. The Processor 93 may be a Central Processing Unit (CPU), and the Processor 93 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Optionally, the processor 93 may be integrated on the main control chip of the mobile carrier, or may be an external module outside the main control chip of the mobile carrier.
The memory 91 may be used for storing software programs and modules, and the processor 93 executes the mobile vehicle pressure data processing by running the software programs and modules stored in the memory 91. The memory 91 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 91 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. The memory 91 may in some embodiments be an internal memory unit of the electric skateboard pressure initialized terminal device 9, such as a hard disk or a memory of a mobile vehicle 9. The memory 91 may also be an external storage device of the mobile carrier 9 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the mobile carrier 9. Further, the memory 91 may also include both an internal memory unit and an external memory device of the mobile carrier 9. The memory 91 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 31 may also be used to temporarily store data that has been output or is to be output.
The pressure sensor 90 is used for measuring the weight of an object or a human body on the mobile carrier, semiconductor deformation pressure is formed on the surface of the sheet by the semiconductor piezoelectric impedance diffusion pressure sensor, and the sheet is deformed by external force (pressure) to generate a piezoelectric impedance effect, so that the change of impedance is converted into an electric signal, and then the current pressure value is obtained. While the pressure sensor 90 is an integral pressure sensor, the memory and processor may be integrated with the pressure sensor 90 to allow for separate pressure calibration. Compared with the conventional pressure sensor, when the conventional pressure sensor is replaced, the conventional pressure sensor needs to be pressure-calibrated with other sensors in the mobile carrier through the central processing unit, and the pressure sensor 90 provided by the embodiment of the application can realize self-calibration after the strain gauge is replaced, and does not need to be pressure-calibrated with other sensors in the mobile carrier.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed terminal device and method may be implemented in other ways. For example, the above-described terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical function division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (9)
1. The pressure detection method of a mobile carrier is characterized in that the mobile carrier comprises a plurality of pressure sensors which are positioned at different positions on the mobile carrier; the pressure detection method comprises the following steps:
when the power supply of the mobile carrier is started, first pressure values detected by the pressure sensors are respectively acquired;
when the first pressure values are all located in a first threshold range, subtracting the first pressure values detected by the pressure sensors from each other to obtain a second pressure value; the first threshold is set for detecting whether a heavy object except a self plate body exists on the sliding plate or detecting whether the pressure sensor is abnormal;
when the second pressure values are all located in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor;
when none of the first pressure values is within the first threshold range or none of the second pressure values is within the second threshold range, receiving a zero pressure value calibration instruction; the zero pressure value calibration instruction is used for controlling the power storage device to apply a plurality of preset pressures to each pressure sensor;
acquiring a plurality of fourth pressure values detected by each pressure sensor;
when the first pressure difference values of the plurality of fourth pressure values and the preset pressure are changed linearly, calibrating a fifth pressure value acquired by the pressure sensor each time according to the plurality of first pressure difference values;
and when the first pressure difference value between the plurality of fourth pressure values and the preset pressure changes in a nonlinear manner, outputting one or more second fault prompt messages.
2. The method of claim 1, wherein the mobile vehicle comprises at least one first pressure sensor controlling the mobile vehicle to advance and at least one second pressure sensor controlling the mobile vehicle to retract;
when the first pressure values are all located within a first threshold range, two-by-two subtraction is performed on the first pressure values detected by the pressure sensors to obtain a second pressure value, and the method comprises the following steps:
and when the first pressure values detected by the first pressure sensor and the second pressure sensor are both within the first threshold range, subtracting the first pressure values detected by the first pressure sensor and the second pressure sensor from each other to obtain the second pressure value.
3. The method of claim 2, wherein the mobile vehicle further comprises at least one third pressure sensor controlling a left turn of the mobile vehicle and at least one fourth pressure sensor controlling a right turn of the mobile vehicle; when the first pressure values are all located within a first threshold range, two-by-two subtraction is performed on the first pressure values detected by the plurality of pressure sensors to obtain a second pressure value, and the method further includes:
when the first pressure values detected by the third pressure sensor and the fourth pressure sensor are both within the first threshold range, subtracting the first pressure values detected by the first pressure sensor and the second pressure sensor to obtain the second pressure value.
4. The method of claim 1, wherein after separately obtaining the first pressure values detected by the plurality of pressure sensors, further comprising:
when none of the first pressure values is within the first threshold range or none of the second pressure values is within the second threshold range, outputting one or more first fault prompt messages.
5. The method of claim 4, wherein calibrating a fifth pressure value for each pressure sensor acquisition based on a plurality of said first pressure differential values comprises:
calculating a linear equation slope from the plurality of fourth pressure values and the plurality of first pressure difference values;
calculating a second pressure difference value of a fifth pressure value acquired by the pressure sensor each time according to the slope of the linear equation;
and calculating an actual pressure value corresponding to the fifth pressure value according to the second pressure difference value.
6. A pressure detection device for a mobile vehicle, comprising:
the acquisition unit is used for respectively acquiring first pressure values detected by the pressure sensors when the power supply of the mobile carrier is started;
the first calculation unit is used for subtracting the first pressure values detected by the plurality of pressure sensors respectively to obtain second pressure values when the first pressure values are all in a first threshold range, and the first threshold is set to detect whether a heavy object except a self plate body exists on the sliding plate or whether the pressure sensors are abnormal; when the second pressure values are all in a second threshold range, taking the first pressure value detected by each pressure sensor as a zero pressure value corresponding to each pressure sensor; when none of the first pressure values is within the first threshold range or none of the second pressure values is within the second threshold range, receiving a zero pressure value calibration instruction; the zero pressure value calibration instruction is used for controlling the power storage device to apply a plurality of preset pressures to each pressure sensor; acquiring a plurality of fourth pressure values detected by each pressure sensor; when the first pressure difference values of the plurality of fourth pressure values and the preset pressure are changed linearly, calibrating a fifth pressure value acquired by the pressure sensor each time according to the plurality of first pressure difference values; and when the first pressure difference value between the plurality of fourth pressure values and the preset pressure changes in a nonlinear manner, outputting one or more second fault prompt messages.
7. A mobile vehicle comprising a pressure sensor, a memory and a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 5 when executing the computer program.
8. The mobile vehicle of claim 7, wherein the memory and processor are integrated on the pressure sensor.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN111797293B (en) * | 2020-03-23 | 2024-03-29 | 深圳市豪恩声学股份有限公司 | Data adjustment method, device, terminal equipment and storage medium |
| CN112099661B (en) * | 2020-08-17 | 2024-05-03 | 深圳市优必选科技股份有限公司 | Pressure detection method and device and electronic equipment |
| CN112881598A (en) * | 2021-01-11 | 2021-06-01 | 天地（常州）自动化股份有限公司 | Diagnosis method for on-line adjustment and calibration compliance of mine gas sensor |
| CN114832362A (en) * | 2022-04-21 | 2022-08-02 | 浙江九为电子科技有限公司 | Electric skateboard control method, control device therefor, and electric skateboard |
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