Riding vehicle attitude recognition and alarm method and attitude monitoring and alarming device

A technology for monitoring alarm devices and attitudes, applied in measuring devices, measuring angles, surveying and navigation, etc., can solve problems such as lack of active judgment ability

Pending Publication Date: 2018-10-16
SHANDONG JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

2. The vehicle needs to report damage, but no customer actively submits damage report information
Therefore, shared bicycle companies currently rely heavily on customers to judge the condition of vehicles, but they themselves have no ability to actively judge

Method used

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  • Riding vehicle attitude recognition and alarm method and attitude monitoring and alarming device
  • Riding vehicle attitude recognition and alarm method and attitude monitoring and alarming device
  • Riding vehicle attitude recognition and alarm method and attitude monitoring and alarming device

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Embodiment Construction

[0059] like figure 1 As shown, first write a byte 0 to 0x6B of the MPU6050 to start the MPU6050, open the I2C transmission mode of Wire, and read the relevant register data: 0x3B, the X-axis component of the accelerometer; 0x3D, the Y-axis component of the accelerometer ;0x3F, the Z-axis component of the accelerometer; 0x41, the current temperature; 0x43, the angular velocity around the X-axis; 0x45, the angular velocity around the Y-axis; 0x47, the angular velocity around the Z-axis.

[0060] Then perform attitude fusion calculation, and use the following algorithm to perform attitude fusion calculation.

[0061] The basis of this attitude fusion algorithm is the linear model of gyroscope attitude angle measurement, as shown in formula (1):

[0062] θ(k+1)=θ(k)+ω(k)gΔt+v(k) (1)

[0063] In formula (1): θ(k+1) is the attitude angle of the aircraft measured by the gyroscope at time k+1; θ(k) is the attitude angle of the aircraft measured by the gyroscope at time k; ω(k) is th...

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Abstract

The invention discloses a riding vehicle attitude recognition and alarm method. The method includes steps: S1, acquiring components, in three axial directions, of an attitude angle detected by a gyroscope, and adopting an attitude fusion algorithm to respectively correct attitude angles, including a pitch angle agx, a yaw angle agy and a roll angle agz, fused in the three axial directions by the gyroscope and angular speeds gyrox, gyroy and gyroz around the three axial directions; S2, judging whether the angular speeds exceed a set slam collision angular speed threshold or not; if yes, turningto the step S3, and if not, turning to the step S4; S3, starting base station positioning and sending alarm information, adopting the attitude fusion algorithm to correct the attitude angles of the gyroscope, and judging whether the attitude angles exceed a set erection threshold or not; if not, turning to the step S3, and if yes, returning to the step S1; S4, judging whether the attitude anglesexceed a set inclination attitude angle threshold or not; if yeas, turning to the step S3, and if not, returning to the step S1.

Description

technical field [0001] The invention relates to the technical field of riding monitoring, in particular to a riding vehicle attitude recognition and alarm method and an attitude monitoring and alarm device. Background technique [0002] According to the "Research Report on Employment in the Shared Bicycle Industry", by July 2017, the cumulative number of domestic shared bicycles was about 16 million, driving 100,000 jobs. The report pointed out that at present, the daily order of my country's shared bicycle industry is about 50 million. The average riding frequency of each shared bicycle is more than 3 times, reaching 3.125 times. [0003] As the number of people riding shared bicycles increases, higher requirements for user experience follow. However, changes in vehicle unlocking methods have little impact on user experience, and the most important part of user experience is to improve the user experience. safety and reliability of the line. Similarly for motor vehicles,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C1/00
CPCG01C1/00G01C21/16
Inventor 李忱达张萌潘其琦刘丹妹成峰曾钰程洪宇贾璐萌韩冰张咏泽沈松锋
Owner SHANDONG JIAOTONG UNIV
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