CN106585849A - Method for achieving intelligent assistance for bicycle through three-axis acceleration sensor - Google Patents
Method for achieving intelligent assistance for bicycle through three-axis acceleration sensor Download PDFInfo
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- CN106585849A CN106585849A CN201611023520.XA CN201611023520A CN106585849A CN 106585849 A CN106585849 A CN 106585849A CN 201611023520 A CN201611023520 A CN 201611023520A CN 106585849 A CN106585849 A CN 106585849A
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- Prior art keywords
- axis
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/10—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device
- B60R25/102—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device a signal being sent to a remote location, e.g. a radio signal being transmitted to a police station, a security company or the owner
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H5/00—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles
- B62H5/20—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles indicating unauthorised use, e.g. acting on signalling devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2325/00—Indexing scheme relating to vehicle anti-theft devices
- B60R2325/30—Vehicles applying the vehicle anti-theft devices
- B60R2325/306—Motorcycles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention proposes a method for achieving the intelligent assistance for a bicycle through a three-axis acceleration sensor, and the method comprises the steps: adding the three-axis acceleration sensor on a motor controller; obtaining the acceleration values in three directions: x, y and z; judging the current state of a vehicle according to the acceleration values in three directions, and providing accurate assistance. The method can achieve all functions of conventional bicycle assistance without an external hand-turning sensor or twisting force sensor.
Description
Technical field
The invention belongs to moped field, is especially related to one kind and is realized voluntarily by 3-axis acceleration sensor
The method of car intelligence power-assisted.
Background technology
Existing bicycle power-assisted typically realizes bicycle power-assisted using handle controlled output and torque value collection output；Therefore
Needs realize assist function according to external handle sensor or torsion torque sensor, if carry out later stage repacking to need to install motor additional
Controller and external handle sensor or torsion torque sensor, on the one hand increased repacking complexity, and still further aspect increased
Extra-pay.
Therefore needing one kind badly at present does not need external handle sensor or torsion torque sensor just to realize tradition voluntarily
Car power-assisted institute functional method.
The content of the invention
In view of this, the present invention proposes a kind of method for realizing bicycle intelligence power-assisted by 3-axis acceleration sensor,
External handle sensor or torsion torque sensor is not needed just to realize that the institute of standard bicycle power-assisted is functional.
To reach above-mentioned purpose, the technical scheme is that what is be achieved in that：One kind passes through 3-axis acceleration sensor
The method for realizing bicycle intelligence power-assisted, adds 3-axis acceleration sensor on electric machine controller, and Real-time Collection draws three axles
The accekeration in three directions of acceleration transducer x, y, z, according to the accekeration in three directions the current state of vehicle is judged,
And impose correct power-assisted.
Further, the accekeration in three directions is further processed, and method is：Adopt to all in special time
The accekeration of the 3-axis acceleration sensor for collecting filtered, sued for peace, averagely, draw three sides of x, y, z in special time
To accekeration.
Further, the method for judging the current state of vehicle is：
(1) three value long-times of x, y, z are not changed in judging that vehicle remains static；
(2) x, y-axis value are that 0, z-axis is G, judge that vehicle is parallel and ride do not have climb and fall state；
(3) y-axis value is that 0, x-axis value has on the occasion of, z-axis value less than G, judges vehicle driving up；
(4) y-axis value is that 0, x-axis value has negative value, z-axis value less than G, judges vehicle descending；
(5) x-axis value be 0, z-axis value be G, y-axis value have on the occasion of or negative value, representative rides and swings.
Further, gradient size is further calculated in vehicle driving up, descending state, computational methods are：A=gsinQ；
Wherein a is the value of x-axis sampling, and g is acceleration of gravity, and by this formula Q is drawn；Q is inclined-plane and big ground level
Angle；The bigger upgrade of positive-angle is bigger, and the less descending slope of negative angle is bigger.
Relative to prior art, one kind of the present invention realizes bicycle intelligence power-assisted by 3-axis acceleration sensor
Method, mainly there is following advantage：
The present invention is sentenced by adding 3-axis acceleration sensor on electric machine controller according to the accekeration in three directions
The current state of disconnected vehicle, it is not necessary to which external handle sensor or torsion torque sensor can just realize standard bicycle power-assisted
Institute is functional；And by gathering accekeration, it can be determined that whether vehicle there occurs displacement, if occurred in the case of setting up defences
Displacement, illustrates that vehicle is stolen, and notifies car owner by GPRS network.So as to play anti-theft function.
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment and the feature in embodiment in the present invention can phase
Mutually combination.
The present invention is described in detail below in conjunction with embodiment.
The present invention adds 3-axis acceleration sensor on electric machine controller, and 3-axis acceleration sensor adopts model：
MMA8451QR1；By cpu to its real-time employing, the accekeration in three directions of x, y, z can be obtained.Can be with after getting parms
The accekeration in three directions is drawn in real time, if the gravity for having a earth G in z-axis direction when stationary vehicle accelerates
Degree；There is acceleration change in three directions in ride.Calculating process：By cpu within the specific time to all collections
To acceleration transducer filtered, sued for peace, being done and averagely show that three directional accelerations are relative to the earth G's in particular moment
One value.
The value that three directions of sensor are got relative to the earth G is later it may determine that the current state of vehicle：
1st, three value long-times of x, y, z are not changed in may determine that vehicle is in illegal state；2nd, x, y-axis value are that 0, z-axis is G, it is believed that
Vehicle is parallel to ride, and does not have climb and fall state；3rd, y-axis is that 0, x-axis has and certain thinks vehicle driving up less than G on the occasion of, z-axis；4、y
Axle is that 0, x-axis has certain negative value, z-axis to think vehicle descending less than G；5th, x-axis is that 0, z-axis has certain positive and negative values for G, y-axis,
Representative is ridden and is swung.This state analysis is Plain or opposed flattened ground according to original state, if vehicle is on mountain
Area or in the more areas of slope change, by algorithm initial value is adjusted to it automatically, and draws correct power-assisted.
Formula is according to inclined-plane Acceleration Formula, a=gsinQ；Wherein a is the value of x-axis sampling, and g is the earth acceleration of gravity,
Q can be drawn by this formula；Q is inclined-plane in the angle of big ground level；The bigger upgrade of positive-angle is bigger, under negative angle is less
The gradient is bigger.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (4)
1. it is a kind of by 3-axis acceleration sensor realize bicycle intelligence power-assisted method, it is characterised in that in motor control
3-axis acceleration sensor is added on device, Real-time Collection draws the accekeration in three directions of 3-axis acceleration sensor x, y, z,
The current state of vehicle is judged according to the accekeration in three directions, and imposes correct power-assisted.
2. it is according to claim 1 it is a kind of by 3-axis acceleration sensor realize bicycle intelligence power-assisted method, its
It is characterised by, the accekeration in three directions is further processed, and method is：In special time to it is all collect three
The accekeration of axle acceleration sensor filtered, sued for peace, averagely, draw the acceleration in three directions of x, y, z in special time
Angle value.
3. it is according to claim 1 and 2 it is a kind of by 3-axis acceleration sensor realize bicycle intelligence power-assisted method,
Characterized in that, the method for judging the current state of vehicle is：
(1) three value long-times of x, y, z are not changed in judging that vehicle remains static；
(2) x, y-axis value are that 0, z-axis is G, judge that vehicle is parallel and ride do not have climb and fall state；
(3) y-axis value is that 0, x-axis value has on the occasion of, z-axis value less than G, judges vehicle driving up；
(4) y-axis value is that 0, x-axis value has negative value, z-axis value less than G, judges vehicle descending；
(5) x-axis value be 0, z-axis value be G, y-axis value have on the occasion of or negative value, representative rides and swings.
4. it is according to claim 3 it is a kind of by 3-axis acceleration sensor realize bicycle intelligence power-assisted method, its
It is characterised by, further calculate gradient size in vehicle driving up, descending state, computational methods are：
A=gsinQ；
Wherein a is the value of x-axis sampling, and g is acceleration of gravity, and by this formula Q is drawn；Q is the angle on inclined-plane and big ground level；
The bigger upgrade of positive-angle is bigger, and the less descending slope of negative angle is bigger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023520.XA CN106585849A (en) | 2016-11-21 | 2016-11-21 | Method for achieving intelligent assistance for bicycle through three-axis acceleration sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023520.XA CN106585849A (en) | 2016-11-21 | 2016-11-21 | Method for achieving intelligent assistance for bicycle through three-axis acceleration sensor |
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| Publication Number | Publication Date |
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| CN106585849A true CN106585849A (en) | 2017-04-26 |
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| CN201611023520.XA Pending CN106585849A (en) | 2016-11-21 | 2016-11-21 | Method for achieving intelligent assistance for bicycle through three-axis acceleration sensor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107677460A (en) * | 2017-09-06 | 2018-02-09 | 李星仪 | A kind of apparatus and method for monitoring bicycle brake performance |
| CN108398964A (en) * | 2018-02-08 | 2018-08-14 | 西北工业大学 | A kind of scooter starts and method for control speed |
| CN108482568A (en) * | 2018-02-06 | 2018-09-04 | 浙江齐享科技有限公司 | A kind of electricity power-assisted shares the method and system of vehicle auxiliary vehicle climb and fall |
| CN108499085A (en) * | 2018-03-23 | 2018-09-07 | 南京工业职业技术学院 | A kind of intelligence scooter control speed method |
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| EP0734945A1 (en) * | 1995-03-27 | 1996-10-02 | Sanyo Electric Co. Ltd | Electrically powered bicycle |
| JPH08268373A (en) * | 1995-03-28 | 1996-10-15 | Tec Corp | Power assist for bicycle |
| CN102180163A (en) * | 2011-04-07 | 2011-09-14 | 芜湖伯特利汽车安全系统有限公司 | Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle |
| CN103632062A (en) * | 2013-12-06 | 2014-03-12 | 北京乾图方园软件技术有限公司 | Method and device for determining uphill and downhill running states of vehicle by utilizing acceleration sensor and gyroscope |
| CN203528738U (en) * | 2013-08-30 | 2014-04-09 | 孙敏 | Electric assisting bicycle drive system capable of recognizing road states |
| US20150142241A1 (en) * | 2013-11-15 | 2015-05-21 | Mando Corporation | Electric bicycle and control method thereof |
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2016
- 2016-11-21 CN CN201611023520.XA patent/CN106585849A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0734945A1 (en) * | 1995-03-27 | 1996-10-02 | Sanyo Electric Co. Ltd | Electrically powered bicycle |
| JPH08268373A (en) * | 1995-03-28 | 1996-10-15 | Tec Corp | Power assist for bicycle |
| CN102180163A (en) * | 2011-04-07 | 2011-09-14 | 芜湖伯特利汽车安全系统有限公司 | Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle |
| CN203528738U (en) * | 2013-08-30 | 2014-04-09 | 孙敏 | Electric assisting bicycle drive system capable of recognizing road states |
| US20150142241A1 (en) * | 2013-11-15 | 2015-05-21 | Mando Corporation | Electric bicycle and control method thereof |
| CN103632062A (en) * | 2013-12-06 | 2014-03-12 | 北京乾图方园软件技术有限公司 | Method and device for determining uphill and downhill running states of vehicle by utilizing acceleration sensor and gyroscope |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107677460A (en) * | 2017-09-06 | 2018-02-09 | 李星仪 | A kind of apparatus and method for monitoring bicycle brake performance |
| CN108482568A (en) * | 2018-02-06 | 2018-09-04 | 浙江齐享科技有限公司 | A kind of electricity power-assisted shares the method and system of vehicle auxiliary vehicle climb and fall |
| CN108398964A (en) * | 2018-02-08 | 2018-08-14 | 西北工业大学 | A kind of scooter starts and method for control speed |
| CN108499085A (en) * | 2018-03-23 | 2018-09-07 | 南京工业职业技术学院 | A kind of intelligence scooter control speed method |
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Application publication date: 20170426 |
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| RJ01 | Rejection of invention patent application after publication |