State detection device used on self-balancing two-wheeled vehicle and state detection method

A state detection device and state detection technology, applied in measuring devices, special scales, instruments, etc., can solve the problems of high weight requirements for drivers, inability to drive self-balancing two-wheeled vehicles, and system oscillations

Active Publication Date: 2013-06-19
NINGBO CHIKEWEI ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The control system in the self-balancing two-wheeled vehicle 20 is a multi-variable, strongly coupled, nonlinear and time-varying complex system. The load quality and road conditions of the vehicle have a great influence on the handling performance of the vehicle. When the load of the vehicle increases, The response speed of the vehicle becomes slower, which may easily cause the self-balancing two-wheeled vehicle to lose its balance. When the load of the vehicle decreases, the response speed of the vehicle will be accelerated, which may easily cause system shock and jitter at low speeds.
Due to the difficulty of development, the current self-balancing two-wheelers on the market do not have a load weighing function, so the driver's weight is required to be high, making some people who are too light or too heavy unable to drive self-balancing two-wheelers

Method used

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  • State detection device used on self-balancing two-wheeled vehicle and state detection method
  • State detection device used on self-balancing two-wheeled vehicle and state detection method
  • State detection device used on self-balancing two-wheeled vehicle and state detection method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] Embodiment 1, driving posture judgment.

[0056] In this embodiment, the amount of pressure change can be used to judge whether the driver's driving posture is correct or not. This is because, in the process of the driver, due to incorrect driving posture, such as the difference in the position of the foot and the difference in the distribution of the body weight of the feet, it may cause a large difference in the front and rear pressure changes of the two tires, which will lead to Accidents such as rollovers are prone to occur when turning, which is not conducive to driving safety. Through the present invention, when the driving posture is incorrect, the driver can be reminded to adjust the standing position or reasonably distribute the weight between the two feet. specifically:

[0057] In step 100, the state when the self-balancing two-wheeled vehicle is unloaded is set as the first state;

[0058] In step 200, the state when the driver stands on the self-balanc...

Embodiment 2

[0060] Embodiment 2, road condition judgment.

[0061] In this embodiment, the road condition can be judged according to the amount of pressure change. When the self-balancing two-wheeled vehicle is running on different road conditions, such as flat roads and rough roads, the two pressure sensors 116 and 118 installed in the tires 21 and 22 can collect pressure changes caused by different road surfaces. For example, the amplitude of the periodic change of the tire pressure on a flat road is small, excluding the influence of the tire temperature on the pressure, the change of the tire pressure is less than 5% of the average tire pressure, and when driving on a rough road, the pressure sensor can collect a larger change Large peak pressure value, excluding the influence of tire temperature on pressure, the tire pressure change is between 5% and 10% of the average tire pressure, and the individual large bumpy tire pressure change can exceed 10% of the average tire pressure, but...

Embodiment 3

[0063] Embodiment 3, steering state judgment.

[0064] In this embodiment, the amount of change in tire pressure can be used to determine the steering state of the vehicle during driving. Specifically, in step 300, a judging step of judging the steering state during driving may be included. This step includes: when the pressure variation of one tire is negative and the pressure variation of the other tire is positive, judging the current The state is a turning state.

[0065] When the self-balancing two-wheeled vehicle is turning, due to the high center of gravity of the self-balancing two-wheeled vehicle, if the speed is too fast, under the action of centrifugal force, the wheel on the turning side may leave the ground and cause the vehicle to roll over. The pressure sensor can detect the pressure changes of the tires on both sides. For example, the pressure on the turning side becomes smaller and the pressure on the other side becomes larger. Cooperating with the turning ...

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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 [0001] The present invention relates to vehicle auxiliary driving, more specifically, a state detection device and method for a self-balancing two-wheeled vehicle. Background technique [0002] Self-balancing electric two-wheeled vehicle is a kind of green and environment-friendly personal transportation. It is powered by a battery, its center of gravity is placed upside down above the wheel axle, the two wheels are placed parallel and coaxial, and each is driven by a servo motor. Such as figure 1 As shown, it is a schematic diagram of the state of the driver 10 using the self-balancing two-wheeled vehicle 20 . In the uncontrolled state, the system is an unstable system. When the system works normally, the controller of the two-wheeled vehicle 20 receives the information from the vehicle body attitude sensor, and controls the action of the servo motor according to the working principle of the inverted pendulum system, so that the vehicle body is maintained...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D21/02G01G19/08
Inventor 兰天陈养彬方继勇王建宽
Owner NINGBO CHIKEWEI ELECTRONICS CO LTD
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