CN107264689A - Intelligent controlling device and its intelligent bicycle and its control method - Google Patents
Intelligent controlling device and its intelligent bicycle and its control method Download PDFInfo
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- CN107264689A CN107264689A CN201710631437.9A CN201710631437A CN107264689A CN 107264689 A CN107264689 A CN 107264689A CN 201710631437 A CN201710631437 A CN 201710631437A CN 107264689 A CN107264689 A CN 107264689A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000011664 signaling Effects 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 230000033228 biological regulation Effects 0.000 claims description 7
- 230000028838 turning behavior Effects 0.000 claims description 6
- 230000014759 maintenance of location Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
- B62J6/05—Direction indicators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
- B62J6/05—Direction indicators
- B62J6/055—Electrical means, e.g. lamps
- B62J6/056—Electrical means, e.g. lamps characterised by control means
- B62J6/057—Automatic activation, e.g. by sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Intelligent controlling device, it is characterized in that, intelligent controlling device, including gyrosensor, processor and radio transmitting and receiving chip, the gyrosensor is located on the handlebar, the gyrosensor detects the angular speed that the handlebar is produced, and the processor is connected with the gyrosensor, the radio transmitting and receiving chip respectively, and the radio transmitting and receiving chip sends information to the signaling lamp.And use the bicycle of above-mentioned intelligent controlling device.Its control method comprises the following steps：S1, the angular speed w (t) that gyrosensor detection handlebar is produced；S2, processor setting thresholding, processor processing angular velocity information, and the information after processing and thresholding are compared, judge whether vehicle turns；S3, judges Vehicular turn；S4, radio transmitting and receiving chip sends information to signaling lamp；S5, signaling lamp shows turn information.The present invention makes steering signal according to direction information, and nearby vehicle, pedestrian can be allowed to observe the travel situations of bicycle in time.
Description
Technical field
The present invention relates to bicycle and its field of control method, in particular to intelligent controlling device and its intelligence
Bicycle and its control method.
Background technology
At present, bicycle turns into the walking-replacing tool being becoming increasingly popular, on and off duty, daily to ride as being good for that people favor
The mode of riding instead of walk of health.However, the bicycle commercially sold all does not have to deposit during reminding turning device, turning of bicycle
In serious signal problem, cause to illustrate trouble in ride and dangerous.Especially in the rainy day, the greasy weather, night etc. the visual field
Under not good environment, traffic accident is easily caused.
The content of the invention
The invention provides intelligent controlling device, it is intended to improves the existing Intelligent Measurement, signal of lacking on bicycle and turns
To control device the problem of.
The invention provides the automatic intelligent bicycle for obtaining direction information, it is intended to improves existing bicycle signal tired
Difficulty, the problem of being easily caused traffic accident.
The invention provides the control method of the automatic intelligent bicycle for obtaining direction information, it is intended to improve it is existing voluntarily
Car lacks the intelligent indication device of steering, the problem of signal is difficult.
What the present invention was realized in：
Intelligent controlling device, intelligent controlling device, including gyrosensor, processor and radio transmitting and receiving chip, the top
Spiral shell sensor is located on the handlebar, and the gyrosensor detects the angular speed that the handlebar is produced, the processor difference
It is connected with the gyrosensor, the radio transmitting and receiving chip, the radio transmitting and receiving chip sends information to the signaling lamp.
The automatic intelligent bicycle for obtaining direction information, the intelligent bicycle uses above-mentioned intelligent controlling device, institute
Stating intelligent bicycle also includes vehicle, and the vehicle includes handlebar, vehicle body, and the vehicle body is provided with signaling lamp.
Further, in preferred embodiments of the present invention, the gyrosensor is lain in a horizontal plane in and the handlebar
On the vertical horizontal plane of rotating shaft.
Further, in preferred embodiments of the present invention, the gyrosensor is located at the middle part of the handlebar.
The control method of the automatic intelligent bicycle for obtaining direction information, the control method comprises the following steps：
S1, the angular speed w (t) that gyrosensor detection handlebar is produced；
S2, processor setting thresholding, processor processing angular velocity information, and the information after processing and thresholding are compared, sentence
Whether disconnected vehicle turns；
S3, judges Vehicular turn；
S4, radio transmitting and receiving chip sends information to signaling lamp；
S5, signaling lamp shows turn information.
Further, in preferred embodiments of the present invention, the step S2 processors set thresholding, processor processing angle
Velocity information, and the information after processing and thresholding are compared, judge whether vehicle turns, specifically include following steps：
S21, processor record produces the time T of angular speed, and the angular speed in T time is integrated：
Obtain the angle, θ that bicycle is rotated；
S22, processor setting thresholding；
S23, according to the thresholding of setting, judges whether bicycle occurs turning behavior.
Further, in preferred embodiments of the present invention, the door of the step S22 processors setting time and angle
Limit, specifically includes following steps：
S221, presets bend length C；
S222, according to default bend length C and bicycle actual travel speed V, when processor acquisition bicycle prerotation is curved
Between τy, pair it is adjusted with turning time：
τ0=k τy
The setting time value of thresholding is obtained, wherein k is regulation coefficient.
Further, in preferred embodiments of the present invention, whether step S23 judges bicycle according to the thresholding of setting
Generation turning behavior, it is specific as follows：
In retention time τ ＞ τ of actually turning0, and θ ＞ π/18, then judge turning of bicycle；Conversely, not turning then.
Further, in preferred embodiments of the present invention, Vehicular turn is judged in step S3, it is specific as follows：
The positive and negative values for the angle, θ that the bicycle obtained according to step S21 is rotated judge the left and right turn of bicycle.
Further, in preferred embodiments of the present invention, regulation coefficient k is 0.3 to 0.8.
The beneficial effects of the invention are as follows：The intelligent controlling device that the present invention is obtained by above-mentioned design, and passed by gyro
Sensor detects direction information, and controls to make steering signal according to direction information.Intelligent controlling device can be arranged on bicycle
On, facilitate nearby vehicle, pedestrian to observe the travel situations of bicycle in time.The present invention handles angular speed by processor and believed
Breath, and by setting thresholding so that processor is rocked and caused may judged by accident during can excluding bicycle running.Processor
Steering to bicycle is judged so that signaling lamp can send different signals according to different steerings.Realize that intelligence is shown
Meaning turning of bicycle, the in real time accurately steering of signal bicycle, has the advantages that the signal degree of accuracy is high, practical.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of embodiment of the present invention, it will use below required in embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not to be seen as
It is the restriction to scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other related accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the embodiment of the present invention, structural representation of the bicycle under the first visual angle；
Fig. 2 is the embodiment of the present invention, the block diagram of intelligent controlling device；
Fig. 3 is the embodiment of the present invention, the schematic flow sheet of intelligent control method；
Icon：Vehicle 1；Vehicle body 11；Handlebar 12；Foot-operated 13；Intelligent controlling device 2；Signaling lamp 21.
Embodiment
To make the purpose, technical scheme and advantage of embodiment of the present invention clearer, below in conjunction with present invention implementation
Accompanying drawing in mode, the technical scheme in embodiment of the present invention is clearly and completely described, it is clear that described reality
The mode of applying is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of protection.Therefore, the detailed description of embodiments of the present invention below to providing in the accompanying drawings, which is not intended to limit, wants
The scope of the present invention of protection is sought, but is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, belongs to this
Invent the scope of protection.
In the description of the invention, it is to be understood that term "front", "rear", "left", "right", " vertical ", " level ",
The orientation or position relationship of the instructions such as " interior ", " outer " are, based on orientation shown in the drawings or position relationship, to be for only for ease of and retouch
State the present invention and simplify description, rather than indicate or imply that the equipment or element of meaning there must be specific orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not direct contact but by it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " fisrt feature that includes are immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
Embodiment 1, referring to figs. 1 to shown in 3：
Intelligent bicycle includes vehicle 1 and the intelligent controlling device 2 being located on vehicle 1, and intelligent controlling device 2 is used to examine
Turning of bicycle information is surveyed, and is outwardly illustrated.So that timely and effectively can outwardly illustrate to turn during bicycle running
To the security of raising bicycle running.
In embodiment, vehicle 1 includes handlebar 12, vehicle body 11, and vehicle body 11 is provided with signaling lamp 21.It is preferred that, signaling lamp 21
The rear portion of vehicle body 11 is located at, signaling lamp 21 indicates by showing that the arrow on the right side of arrow pointing left or sensing is realized
Illustrate to signal with right turn.
In embodiment, intelligent controlling device 2 includes gyrosensor, processor and radio transmitting and receiving chip, gyrosensor
Be located on handlebar 12, gyrosensor detection handlebar 12 produce angular speed, processor respectively with gyrosensor, wireless receiving and dispatching
Chip is connected, and radio transmitting and receiving chip sends information to signaling lamp.Processor is contained using integrated circuits such as single-chip microcomputer or CPU
There is computer program, instruction and processing data can be completed.
It is preferred that, the gyrosensor is lain in a horizontal plane on the horizontal plane vertical with the rotating shaft of the handlebar 12 so that
Gyrosensor can more accurately detect the information of the left-right rotation of handlebar 12.It is furthermore preferred that the gyrosensor is located at institute
State the middle part of handlebar 12 so that gyrosensor detects that angular speed and the actual angular speed produced of handlebar 12 are closer, further
Improve the accuracy of detection structure.
It is preferred that, intelligent controlling device 2 is using relatively integral code table structure.It is furthermore preferred that intelligent controlling device 2 is used
Intelligent controlling device 2 with display terminal, gyrosensor, processor, radio transmitting and receiving chip, terminal are filled into one
Put, and installed in the position of handlebar 12.Both the function that the intelligent monitoring of bicycle is turned to had been realized, also with simplified intelligent control device
2 advantage, it is adaptable to the limited bicycle in space.It is preferred that, intelligent controlling device 2 is arranged on the middle part of handlebar 12, is easy to ride
Passerby observes.
Turning of bicycle information is detected by setting up intelligent controlling device 2, and by gyrosensor, and controls foundation to turn
Steering signal is made to information, nearby vehicle 1, pedestrian can be allowed to observe the travel situations of bicycle in time.
Embodiment 2, referring to figs. 1 to shown in 3：
Bicycle in Application Example 1, its control method comprises the following steps：
S1, the angular speed w (t) that gyrosensor detection handlebar 12 is produced；
S2, processor setting thresholding, processor processing angular velocity information, and the information after processing and thresholding are compared, sentence
Whether disconnected vehicle 1 turns；
S3, judges that vehicle 1 is turned to；
S4, radio transmitting and receiving chip sends information to signaling lamp；
S5, signaling lamp shows turn information.
Angular velocity information is handled by processor, and by setting thresholding so that processor can exclude bicycle running
During rock may caused by judge by accident.Steering of the processor to bicycle is judged so that signaling lamp 21 can be according to not
Different signals are sent with what is turned to.Intelligence signal turning of bicycle is realized, the accurately steering of signal bicycle, has in real time
The advantage for illustrating the degree of accuracy high, practical.
Further, step S2 processors setting thresholding, processor processing angular velocity information, and by the letter after processing
Breath is compared with thresholding, is judged whether vehicle 1 turns, is specifically included following steps：
S21, processor record produces the time T of angular speed, and the angular speed in T time is integrated：
Obtain the angle, θ that bicycle is rotated；
It is preferred that, the positive and negative values for the angle, θ that the bicycle obtained according to step S21 is rotated judge the left/right rotation of bicycle
To.
S22, processor setting thresholding；
S23, according to the thresholding of setting, judges whether bicycle occurs turning behavior.
By being integrated to the angular speed in record time T so that due to the unstable double swerve of traveling, it is most of all
It can mutually eliminate after integration, obtain more real rotational angle, it is to avoid because the unstable generation of rocking of traveling is judged by accident.
Further, the thresholding of the step S22 processors setting time and angle, specifically includes following steps：
S221, presets bend length C；
S222, according to default bend length C and bicycle actual travel speed V, when processor acquisition bicycle prerotation is curved
Between τy, pair it is adjusted with turning time：
τ0=k τy
The setting time value of thresholding is obtained, wherein k is regulation coefficient.
It is preferred that, it is 1m to 10m to preset bend length C, and regulation coefficient k is 0.3 to 0.8, and above-mentioned choosing is obtained by studying
Take scope, obtain the more rational threshold sets time, retain true direction information, exclude the interference information for the generation such as rocking.
It is furthermore preferred that default bend length C is 1.5m, regulation coefficient k is 0.6.
Further, in preferred embodiments of the present invention, whether step S23 judges bicycle according to the thresholding of setting
Generation turning behavior, it is specific as follows：
In retention time τ ＞ τ of actually turning0, and θ ＞ π/18, then judge turning of bicycle；Conversely, not turning then.
θ ＞ π/18 are obtained by various research meanses such as statistics, simulations, the key element that can be used in judging.Passage time with
Two key elements of angle judge jointly, improve the accuracy judged.
The preferred embodiment of the present invention is the foregoing is only, is not intended to limit the invention, for this area
For technical staff, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made is any
Modification, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. intelligent controlling device, it is characterised in that intelligent controlling device, including gyrosensor, processor and wireless receiving and dispatching core
Piece, the gyrosensor is located on the handlebar, and the gyrosensor detects the angular speed that the handlebar is produced, the place
Reason device is connected with the gyrosensor, the radio transmitting and receiving chip respectively, and the radio transmitting and receiving chip is sent out to the signaling lamp
Deliver letters breath.
2. the intelligent bicycle of direction information is obtained automatically, it is characterised in that described in the intelligent bicycle usage right requirement 1
Intelligent controlling device, in addition to vehicle, the vehicle includes handlebar, vehicle body, and the vehicle body is provided with signaling lamp.
3. intelligent controlling device according to claim 2, it is characterised in that the gyrosensor is lain in a horizontal plane in and institute
State on the vertical horizontal plane of rotating shaft of handlebar.
4. intelligent controlling device according to claim 3, it is characterised in that the gyrosensor is located at the handlebar
Middle part.
5. the control method of the intelligent bicycle of direction information is obtained automatically, it is characterised in that the control method includes following
Step：
S1, the angular speed w (t) that gyrosensor detection handlebar is produced；
S2, processor setting thresholding, processor processing angular velocity information, and the information after processing and thresholding are compared, judge car
Whether turn；
S3, judges Vehicular turn；
S4, radio transmitting and receiving chip sends information to signaling lamp；
S5, signaling lamp shows turn information.
6. the control method of the intelligent bicycle of automatic acquisition direction information according to claim 1, it is characterised in that institute
Step S2 processors setting thresholding, processor processing angular velocity information are stated, and the information after processing and thresholding are compared, car is judged
Whether turn, specifically include following steps：
S21, processor record produces the time T of angular speed, and the angular speed in T time is integrated：
<mrow>
<mi>&theta;</mi>
<mo>=</mo>
<msubsup>
<mo>&Integral;</mo>
<mn>0</mn>
<mi>T</mi>
</msubsup>
<mi>w</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
Obtain the angle, θ that bicycle is rotated；
S22, processor setting thresholding；
S23, according to the thresholding of setting, judges whether bicycle occurs turning behavior.
7. the control method of the intelligent bicycle of automatic acquisition direction information according to claim 6, it is characterised in that institute
The thresholding of step S22 processors setting time and angle is stated, following steps are specifically included：
S221, presets bend length C；
S222, according to default bend length C and bicycle actual travel speed V, processor obtains the curved time τ of bicycle prerotationy,
Pre- turning time is adjusted：
τ0=k τy
The setting time value of thresholding is obtained, wherein k is regulation coefficient.
8. the control method of the intelligent bicycle of automatic acquisition direction information according to claim 7, it is characterised in that step
Rapid S23 judges whether bicycle occurs turning behavior according to the thresholding of setting, specific as follows：
In retention time τ ＞ τ of actually turning0, and θ ＞ π/18, then judge turning of bicycle；Conversely, not turning then.
9. the control method of the intelligent bicycle of automatic acquisition direction information according to claim 6, it is characterised in that
Step S3 judges Vehicular turn, specific as follows：
The positive and negative values for the angle, θ that the bicycle obtained according to step S21 is rotated judge the left and right turn of bicycle.
10. the control method of the intelligent bicycle of automatic acquisition direction information according to claim 7, it is characterised in that
Regulation coefficient k is 0.3 to 0.8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710631437.9A CN107264689A (en) | 2017-07-28 | 2017-07-28 | Intelligent controlling device and its intelligent bicycle and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710631437.9A CN107264689A (en) | 2017-07-28 | 2017-07-28 | Intelligent controlling device and its intelligent bicycle and its control method |
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| Publication Number | Publication Date |
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| CN107264689A true CN107264689A (en) | 2017-10-20 |
Family
ID=60074830
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710631437.9A Pending CN107264689A (en) | 2017-07-28 | 2017-07-28 | Intelligent controlling device and its intelligent bicycle and its control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107861106A (en) * | 2017-10-31 | 2018-03-30 | 加驰（厦门）智能科技有限公司 | The intelligent bicycle and calibration method of automatic correction millimetre-wave radar longitudinal bias |
| CN107918489A (en) * | 2017-11-14 | 2018-04-17 | 奇酷互联网络科技（深圳）有限公司 | One kind is ridden auxiliary device and its apparatus and method |
| CN111152867A (en) * | 2019-08-30 | 2020-05-15 | 上海钧正网络科技有限公司 | Vehicle, controller, light projection device, method, system and medium |
| CN111152869A (en) * | 2019-12-27 | 2020-05-15 | 深圳市众鸿科技股份有限公司 | Automatic steering prompting method and system for new energy riding vehicle |
| WO2021223140A1 (en) * | 2020-05-07 | 2021-11-11 | 深圳乐行天下科技有限公司 | Vehicle steering control method, system and apparatus, terminal device, and storage medium |
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| CN111152869A (en) * | 2019-12-27 | 2020-05-15 | 深圳市众鸿科技股份有限公司 | Automatic steering prompting method and system for new energy riding vehicle |
| WO2021223140A1 (en) * | 2020-05-07 | 2021-11-11 | 深圳乐行天下科技有限公司 | Vehicle steering control method, system and apparatus, terminal device, and storage medium |
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