Bicycle turning warning system based on digital motion processing algorithm

Abstract

The invention discloses a bicycle turning warning system based on a digital motion processing algorithm, which relates to the technical field of bicycle turning warning and comprises a motion sensor module, a digital motion processing module, a microcontroller module, a Zigbee module, an alarm module and a power supply module. The motion sensor module comprises a pitch angle sensor, a roll angle sensor, a yaw angle sensor and an angular acceleration sensor; the 32-bit microcontroller based on the ARM Cortex core is matched with the MPU-60X0 integrated 9-axis motion processing sensor, when a bicycle is steered and braked, the received three-axis angular velocity sensor is utilized, when the three-axis angular velocity sensor is connected to a three-axis magnetometer, digital motion processing is used for resolving the acquired attitude angle and controlling the turn light to be turned on and off, and therefore the steering effect of the bicycle is improved. The problem that a bicycle lacks a turning signal system is solved, and a driver and pedestrians on a road can obtain the road turning intention of a rider in real time.

Description

Technical Field

[0001] The present invention belongs to the technical field of bicycle turning warning, and particularly relates to a bicycle turning warning system based on a digital motion processing algorithm. Background Art

[0002] After entering the 21st century, green travel methods that are more friendly to the ecological environment have been highly praised. With the country's active promotion of the green travel initiative, the trend of cycling has gradually prevailed. Due to the rapid development of transportation in China, the complexity of roads is quite different from the past. The previously neglected cycling safety issues have become increasingly prominent, and the contradiction between the backwardness of relevant traffic regulations and the large base of cycling groups has become more and more prominent. To improve cycling safety, people's demand for bicycles with cycling warning functions has been increasing continuously. With the continuous development of sensor technology, such as 3-axis angular velocity sensors and environmental sensors, etc., in order to obtain the data of cyclists and the information of the surrounding environment in real time. The application of artificial intelligence and machine learning not only helps to predict and identify cycling risks, but also can send warning signals in advance, thus effectively reducing the occurrence of cycling accidents. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a bicycle turning warning system based on a digital motion processing algorithm in view of the deficiencies of the background art.

[0004] The present invention adopts the following technical solutions to solve the above technical problems:

[0005] A bicycle turning warning system based on a digital motion processing algorithm includes a motion sensor module, a digital motion processing module, a microcontroller module, a Zigbee module, an alarm module, and a power supply module; the motion sensor module includes a pitch angle sensor, a roll angle sensor, a yaw angle sensor, and an angular acceleration sensor; the pitch angle sensor, the roll angle sensor, the yaw angle sensor, and the angular acceleration sensor are respectively connected to the digital motion processing module, the digital motion processing module is connected to the microcontroller module, and the Zigbee module, the alarm module, and the power supply module are respectively connected to the microcontroller module;

[0006] Among them, the pitch angle sensor is used to collect the pitch angle parameters of the bicycle in real time;

[0007] The roll angle sensor is used to collect the roll angle parameters of the bicycle in real time;

[0008] The yaw angle sensor is used to collect the yaw angle parameters of the bicycle in real time;

[0009] The angular acceleration sensor is used to collect the angular acceleration parameters of the bicycle in real time;

[0010] A digital motion processing module, which is used to perform calculations through a digital motion processing algorithm based on the collected pitch angle parameters, roll angle parameters, yaw angle parameters, and angular acceleration parameters, and then upload the calculation results to the microcontroller module;

[0011] A microcontroller module, which is used to control and give warnings to the bicycle according to the calculation results of the digital motion processing module.

[0012] As a further preferred solution of the bicycle turning warning system based on the digital motion processing algorithm of the present invention, the digital motion processing module performs calculations through the digital motion processing algorithm, and the specific calculations are as follows:

[0013]

[0014] Among them, q0, q1, q2, q3 are the three-dimensional coordinates of the vector, which are x, y, z, and w represents the angle, that is, the rotation angle; pitch, roll, and yaw are the angular representation forms of the attitude.

[0015] As a further preferred solution of the bicycle turning warning system based on the digital motion processing algorithm of the present invention, the microcontroller module uses a 32-bit microcontroller with an ARM Cortex kernel.

[0016] As a further preferred solution of the bicycle turning warning system based on the digital motion processing algorithm of the present invention, the digital motion processing module uses an MPU-60X0 integrated 9-axis motion processor.

[0017] As a further preferred solution of the bicycle turning warning system based on the digital motion processing algorithm of the present invention, it further includes an inclination sensor for detecting the inclination angle of the bicycle.

[0018] As a further preferred solution of the bicycle turning warning system based on the digital motion processing algorithm of the present invention, the alarm module uses a turn indicator light on / off switch attached to a wearable device.

[0019] Compared with the prior art, the present invention adopts the above technical solutions and has the following technical effects:

[0020] A bicycle turning warning system based on a digital motion processing algorithm of the present invention includes a motion sensor module, a digital motion processing module, a microcontroller module, a Zigbee module, an alarm module, and a power supply module; the motion sensor module includes a pitch angle sensor, a roll angle sensor, a yaw angle sensor, and an angular acceleration sensor; the 32-bit microcontroller based on the ARM Cortex kernel of the present invention is paired with the MPU-60X0 integrated 9-axis motion processing sensor. When the bicycle turns and brakes, the received 3-axis angular velocity sensor (gyroscope) is used. When connected to the three-axis magnetometer, digital motion processing is used to calculate and control the on and off of the turn signal lamp to solve the problem that the bicycle lacks a turning signal system and can obtain the road turning intention of the rider by the drivers and pedestrians on the road in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is the system structure schematic diagram of a bicycle turning warning system based on a digital motion processing algorithm of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will further elaborate on the technical solutions of the present invention with reference to the drawings:

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention. The present invention will be described in detail below according to the drawings and preferred embodiments. The purpose and effect of the present invention will become more apparent. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] A bicycle turning warning system based on a digital motion processing algorithm, as Figure 1As shown, it includes a motion sensor module, a digital motion processing module, a microcontroller module, a Zigbee module, an alarm module, and a power module; the motion sensor module includes a pitch angle sensor, a roll angle sensor, a yaw angle sensor, and an angular acceleration sensor; the pitch angle sensor, the roll angle sensor, the yaw angle sensor, and the angular acceleration sensor are respectively connected to the digital motion processing module, the digital motion processing module is connected to the microcontroller module, and the Zigbee module, the alarm module, and the power module are respectively connected to the microcontroller module;

[0026] Among them, the pitch angle sensor is used to collect the pitch angle parameters of the bicycle in real time;

[0027] The roll angle sensor is used to collect the roll angle parameters of the bicycle in real time;

[0028] The yaw angle sensor is used to collect the yaw angle parameters of the bicycle in real time;

[0029] The angular acceleration sensor is used to collect the angular acceleration parameters of the bicycle in real time;

[0030] The digital motion processing module is used to perform calculations through digital motion processing algorithms based on the collected pitch angle parameters, roll angle parameters, yaw angle parameters, and angular acceleration parameters, and then upload the calculation results to the microcontroller module;

[0031] The microcontroller module is used to control and give warnings to the bicycle according to the calculation results of the digital motion processing module.

[0032] The digital motion processing module performs calculations through digital motion processing algorithms, and the specific calculations are as follows:

[0033]

[0034] Among them, q0, q1, q2, q3 are the three-dimensional coordinates of the vector, which are x, y, z, and w represents the angle, that is, the rotation angle; pitch, roll, and yaw are the angular representation forms of the attitude.

[0035] With the development of intelligent devices, the research on safety performance is becoming more and more in-depth. The present invention is based on the 32-bit microcontroller (STM32 for short) of the ARM Cortex core and is matched with the MPU-60X0 integrated 9-axis motion processing sensor. When the bicycle is turning and braking, the received 3-axis angular velocity sensor (gyroscope) is used. When connected to the three-axis magnetometer, the digital motion processing (DMP: Digital Motion Processing) is used to calculate the acquisition of the attitude angle and control the turn signal on and off, so as to solve the current situation that the bicycle lacks a turning signal system, especially in bad weather or insufficient light conditions, and the risk factor of the warning effect is high only through the driver's gesture. Therefore, it is necessary to design a set of easy-to-identify, safe, and real-time bicycle turning warning system, which can enable drivers and pedestrians on the road to obtain the cyclist's road turning intention. With the support of the algorithm of the digital motion processing (DMP: Digital Motion Processing) of the MPU-60X0, the fully automatic human-computer interaction intelligent communication effect that is separated from the traditional button-type is basically achieved. In addition, the turn signal part is connected with the steering system through wireless Zigbee. The advantages of Zigbee are self-organizing network; low power consumption, in low-power standby mode, two ordinary No. 5 batteries can be used for 6 to 24 months; low cost; large network capacity, the network can accommodate 65,000 devices; short delay, typical search device delay is 30ms, sleep activation delay is 15ms, active device channel access delay is 15ms; the network has strong self-organization and self-healing capabilities, reliable communication; data security, Zigbee provides data integrity check and soundness functions, using AES-128 encryption algorithm, each application can flexibly determine its security attributes, ZigBee technology has unparalleled application advantages in low power consumption, low cost and networking capabilities. ZigBee is an internationally accepted wireless communication technology. Each of its network ports can access up to 65,000 ports, suitable for use in many fields such as home, industry, agriculture, etc., while Bluetooth and Wi-Fi network terminals can only access 10 ports, which obviously cannot meet family needs.

[0036] Motion sensor deflection sensing control warning. When the motion sensor senses the deflection, it means that the three-axis magnetometer is used to sense the tilt change of the riding posture when turning to control the turn indicator light switch attached to the bicycle or wearable device. The motion sensor processor mainly includes pitch angle, roll angle, yaw angle, angular acceleration sensor, etc. Compared with the dangerous situation of stretching out your hand to give a turn warning when the riding turn has already changed, the present invention automatically identifies the change of the turning posture in real time and gives a warning through the motion sensor processor, which is more convenient, intelligent and safer.

[0037] In practical applications, device resources are extremely valuable. Many limitations of real-time systems also prevent the implementation of algorithms with high complexity. Even if they are implemented, it will lead to a series of problems that run counter to the original design intention of this system, such as high cost, high energy consumption, high complexity, and low real-time performance. Therefore, the main idea is to design an algorithm that is as "simple and precise" as possible under the premise of being "effective" to reduce the time complexity and space complexity of the algorithm.

[0038] The characteristics of bicycle steering lie in the change of the steering angle of the bicycle handlebar during the turning process, as well as the change of the overall inclination of the bicycle and the angular acceleration of the three axes. Through the algorithm analysis of these points, the steering discrimination is carried out simultaneously. If only the acceleration changes in three orthogonal directions are used to determine whether the user is making a riding turn, this method is too single as a judgment basis, resulting in poor system reliability and prone to missed and false judgments. In this study, the MPU60X0 is used to collect digital motion processing (DMP: Digital Motion Processing) and detect the three-axis angular velocity of the bicycle at the same time. Through experimental tests, the left and right deflection angles of the handlebar steering system are read, including the read subroutine, timer subroutine, interruptor subroutine, digital motion processing (DMP: Digital Motion Processing) solution under inertial state, and steering state subroutine to monitor and determine the riding turn.

[0039] By establishing a coordinate system for the bicycle handlebar steering system, the front-back direction is the y-axis, the left-right direction is the x-axis, the vertical direction is the z-axis, and the coordinate origin is the installation position of the detection device MPU6050, which is at the connection between the head tube and the top tube. Placing it in this position takes into account that this position is at the core of the bicycle handlebar and can better identify the changes in the bicycle steering system and the overall changes of the bicycle.

[0040] Based on a 32-bit microcontroller with an ARM Cortex core (abbreviation: STM32) paired with an MPU-60X0 integrated 9-axis motion processing sensor, when the bicycle is turning and braking, the three-axis angular acceleration received is analyzed for pitch angle, roll angle, and yaw angle through digital motion processing (DMP: Digital Motion Processing). As the spatial position of the MPU60X0 module changes, the corresponding turning lights are turned on and off. That is, mainly centered on the axis of the bicycle steering system, the MPU60X0 attitude sensor chip is embedded, and LED turning lights are connected to the bicycle to achieve the on and off of the LED turning lights when there is a turning attitude angle. In addition, when the bicycle braking system is activated, through a certain algorithm of the inertial quantitative range value, the MPU6050 attitude angle recognizes the braking attitude and makes the brake lights light up emergently, with good real-time performance. For the turning light part, wireless ZigBee is used to connect to the steering system to achieve wireless intelligent interaction, reduce wire loss, and make the installation experience and use more convenient.

[0041] Although the DMP library built into the MPU6050 can directly output quaternions, reducing the computational burden on the STM32, this technical invention is based on reading the data of the MPU6050 through the hardware I2C of the STM32. Fortunately, the I2C function can be modified in the DMP library. The accelerometer and gyroscope of the MPU6050 each have their own advantages and disadvantages. The triaxial acceleration values have no cumulative error, and the inclination angle can be obtained by calculating tan(). However, it contains too much noise (because acceleration is generated when the object to be measured moves, vibration is generated when the motor runs, and certain heat is generated when the chip, other hardware, and circuit board work for a long time, and this is inevitable, etc.) and cannot be used directly; the gyroscope is less affected by external vibration and has high precision. The inclination angle can be obtained by integrating the angular velocity, but it will generate cumulative error. Therefore, the accelerometer or gyroscope of the MPU6050 cannot be used alone to obtain the inclination angle, and they need to complement each other.

[0042] Currently, the sensing accuracy of motion sensors is affected by individual differences in riding postures and environmental factors. The measurement errors of gyroscopes include drift errors caused by temperature, friction, and unstable torque, as well as scale factor errors. The drift error caused by the influence of temperature and noise is the main error. The timeliness and safety accuracy of riding turn warnings need to be solved.

[0043] Currently, the sampling frequency of ordinary gyroscope sensors can reach 8KHZ, which can already meet the accuracy requirements of most applications to obtain a relatively accurate angle using a gyroscope. This invention will use filtering methods such as complementary filtering and Kalman filtering, and cooperate with increasing the sampling frequency of the gyroscope sensor to reduce integration errors. On this basis, we have introduced a sensor for detecting the inclination angle, and the MPU6050 can simultaneously detect the motion data of triaxial acceleration, triaxial gyroscope, and triaxial angular velocity, as well as temperature data. Using the DMP module in the MPU050 chip, the sensor data can be filtered and fused, and it directly outputs the attitude data after attitude calculation to the master controller through the I2C interface, reducing the computational amount of the master controller. The final angle can be obtained by this method.

[0044] Those of ordinary skill in the art can understand that the above are only preferred examples of the invention and are not used to limit the invention. Although the invention has been described in detail with reference to the foregoing examples, for those skilled in the art, they can still modify the technical solutions described in the foregoing examples, or perform equivalent replacements for some of the technical features. All modifications, equivalent replacements, etc. made within the spirit and principle of the invention shall be included within the protection scope of the invention. All technical features in this embodiment can be freely combined according to actual needs.

[0045] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A bicycle turning warning system based on a digital motion processing algorithm, characterized in that: It includes a motion sensor module, a digital motion processing module, a microcontroller module, a Zigbee module, an alarm module, and a power supply module; the motion sensor module includes a pitch angle sensor, a roll angle sensor, a yaw angle sensor, and an angular acceleration sensor; the pitch angle sensor, the roll angle sensor, the yaw angle sensor, and the angular acceleration sensor are respectively connected to the digital motion processing module, the digital motion processing module is connected to the microcontroller module, and the Zigbee module, the alarm module, and the power supply module are respectively connected to the microcontroller module; Among them, the pitch angle sensor is used to collect the pitch angle parameters of the bicycle in real time; The roll angle sensor is used to collect the roll angle parameters of the bicycle in real time; The yaw angle sensor is used to collect the yaw angle parameters of the bicycle in real time; The angular acceleration sensor is used to collect the angular acceleration parameters of the bicycle in real time; The digital motion processing module is used to perform calculations through a digital motion processing algorithm based on the collected pitch angle parameters, roll angle parameters, yaw angle parameters, and angular acceleration parameters, and then upload the calculation results to the microcontroller module; The microcontroller module is used to control and give warnings to the bicycle according to the calculation results of the digital motion processing module.

2. The bicycle turning warning system based on a digital motion processing algorithm according to claim 1, characterized in that: The digital motion processing module performs calculations through a digital motion processing algorithm, and the specific calculation is as follows: or Among them, q0, q1, q2, q3 are the three-dimensional coordinates of the vector, which are x, y, and z, and w represents the angle, that is, the rotation angle; pitch, roll, and yaw are the angular representation forms of the attitude.

3. The bicycle turning warning system based on the digital motion processing algorithm according to claim 1, characterized in that: The microcontroller module uses a 32-bit microcontroller with an ARM Cortex kernel.

4. The bicycle turning warning system based on a digital motion processing algorithm according to claim 1, wherein: The digital motion processing module uses an MPU-60X0 integrated 9-axis motion processor.

5. The bicycle turning warning system based on the digital motion processing algorithm according to claim 1, characterized in that: It also includes an inclination sensor for detecting the inclination angle of the bicycle.

6. The bicycle turning warning system based on the digital motion processing algorithm according to claim 1, wherein: The alarm module uses a turn indicator light on / off switch attached to a wearable device.

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