CN111674498B - Intelligent ABS system of bicycle - Google Patents

Intelligent ABS system of bicycle Download PDF

Info

Publication number
CN111674498B
CN111674498B CN202010815169.8A CN202010815169A CN111674498B CN 111674498 B CN111674498 B CN 111674498B CN 202010815169 A CN202010815169 A CN 202010815169A CN 111674498 B CN111674498 B CN 111674498B
Authority
CN
China
Prior art keywords
control valve
bicycle
main controller
brake
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010815169.8A
Other languages
Chinese (zh)
Other versions
CN111674498A (en
Inventor
唐旺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu University of Information Technology
Original Assignee
Chengdu University of Information Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chengdu University of Information Technology filed Critical Chengdu University of Information Technology
Priority to CN202010815169.8A priority Critical patent/CN111674498B/en
Publication of CN111674498A publication Critical patent/CN111674498A/en
Application granted granted Critical
Publication of CN111674498B publication Critical patent/CN111674498B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
    • B62L3/00—Brake-actuating mechanisms; Arrangements 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
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • 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
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/412—Speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
    • B62L3/00—Brake-actuating mechanisms; Arrangements thereof
    • B62L3/02—Brake-actuating mechanisms; Arrangements thereof for control by a hand lever
    • B62L3/026—Brake-actuating mechanisms; Arrangements thereof for control by a hand lever actuation by a turning handle or handlebar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
    • B62L3/00—Brake-actuating mechanisms; Arrangements thereof
    • B62L3/08—Mechanisms specially adapted for braking more than one wheel

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses an intelligent ABS system of a bicycle and a control method thereof. The system is activated when the bicycle is braked. The main controller is used for controlling the speed difference between the front wheel and the rear wheel to reach an interval according to speed signals transmitted by the speed sensors of the front wheel and the rear wheel. The system can judge the locking state of the wheel, starts to switch on and off the electromagnetic valve for controlling the brake cable on the wheel brake at a high speed, reduces the braking force, prevents the wheel from being completely locked due to overlarge braking force, and improves the driving safety.

Description

Intelligent ABS system of bicycle
Technical Field
The invention relates to the technical field of bicycle control, in particular to an intelligent ABS system of a bicycle and a control method thereof.
Background
ABS (antilock Brake system) is a short term for an anti-lock Brake system, and can prevent wheels from being suddenly locked during emergency braking, so that friction force and traction force are lost, and finally accidents are caused.
The brake device of the traditional bicycle is arranged on front and rear wheels, the control end of the brake device is respectively arranged at the left and right positions of a handlebar, a left hand brake controls the rear wheel to brake, and a right hand brake controls the front wheel to brake. The bicycle is only provided with a front wheel and a rear wheel, and if any one of the wheels is locked, the bicycle body can sideslip. The contact area between the bicycle wheel and the ground is very small (to reduce the riding resistance), the friction force generated by the wheel on different road surfaces is very different, the rider can control the braking of the wheel by experience very difficultly, the braking force is high, the wheel is easy to lock, the braking force is low, and the bicycle can be stopped after sliding for a longer distance.
Therefore, when the current bicycle is actually ridden and the speed is extremely high or the bicycle runs downhill or meets an emergency, sudden braking can change rolling friction of the rear wheel and the ground into sliding friction, so that traction force of grip force is lost, the situation can be more dangerous if the situation occurs on the front wheel, and the bicycle can be easily overturned and fallen if the braking force is not well controlled. Particularly, in the condition of slippery road in rainy days, the grip capacity of the wheels is obviously reduced, the wheels are easy to lock by slight braking, people and the vehicle sideslip together, and the safety device is very dangerous.
It is therefore highly desirable to provide an intelligent anti-lock braking system for bicycles to improve braking performance and safety.
Disclosure of Invention
The invention provides an intelligent ABS system for a bicycle, aiming at overcoming the technical problem of potential safety hazard in the existing bicycle braking technology (especially under the conditions of rainy days, fast running or downhill and the like).
The invention is realized by the following technical scheme:
an intelligent ABS system of a bicycle comprises a main controller, a first speed measuring sensor, a second speed measuring sensor, a first pressure sensor, a second pressure sensor, a first control valve and a second control valve;
the first speed measuring sensor and the second speed measuring sensor are respectively arranged on the front wheel and the rear wheel of the bicycle and are used for measuring the speed of the wheels;
the first pressure sensor and the second pressure sensor are respectively arranged on a left hand brake and a right hand brake of the bicycle and are used for measuring the stress condition of the hand brakes;
the first control valve is arranged at any position on a front wheel brake line of the bicycle, and the second control valve is arranged at any position on a rear wheel brake line of the bicycle;
the first control valve and the second control valve apply tension to corresponding brake cables in a non-working state; the first control valve and the second control valve do not apply tension to the brake cable in a working state;
the first pressure sensor and the second pressure sensor are in communication connection with the main controller and are used for starting the main controller to perform a braking mode of the bicycle;
the main controller controls the working state of the first control valve or the second control valve according to the detection signals of the first speed measurement sensor and the second speed measurement sensor, and the bicycle brake mode is automatically realized.
The invention utilizes ABS anti-lock principle, namely, the invention can detect whether the wheel is locked, once the wheel is locked, the wheel is forcedly released, then the wheel is locked again and then forcedly released, and the cycle is performed, thus the wheel can be always in the critical state between locking and unlocking, the wheel rotation is kept, the sideslip is not generated, and the maximum braking force is provided. The precondition for starting the ABS is to detect that the wheels are locked, i.e. the system first determines that the vehicle is not braking with a fixed braking force.
The working principle of the invention is as follows: the front wheel and the rear wheel of the bicycle are respectively connected with a hand brake through brake cables (steel wires), the hand brake is pulled, and the hand brake drives the brake cables to enable the brake cables to tightly hold the wheels, so that the running speed of the wheels is reduced. The control valves are respectively arranged at any position on the two brake lines, when the control valves are in a non-conduction state (namely, a non-working state), the control valves naturally extend and apply certain tension to the brake lines, so that the brake line is partially in a bending state, and after the control valves are in a contraction state after being electrified and conducted (namely, a working state), the control valves do not apply tension to the brake lines, so that the brake lines are in a normal stretching state; when the hand brake is pulled, the wheel is locked by the brake cable in a bent state, and after the control valve is started, the brake cable is released by the control valve, so that the holding force (friction force) of the brake to the wheel is reduced; the invention realizes the on-off control of the control valve by detecting the speed difference of the front wheel and the rear wheel of the bicycle.
Optionally, the starting of the main controller in the present invention specifically includes:
when the main controller detects the pressure signal of the first pressure sensor or the second pressure sensor, the braking mode of the bicycle is started.
Optionally, the main controller of the present invention controls the working state of the first control valve or the second control valve according to the detection signals of the first speed measurement sensor and the second speed measurement sensor, and the implementation of the auxiliary brake of the bicycle specifically includes:
the main controller is used for acquiring detection signals of the first speed measuring sensor in real time
Figure DEST_PATH_IMAGE001
And the detection signal of the second speed measuring sensor
Figure 5903DEST_PATH_IMAGE002
And calculating the difference between the two detection signals
Figure DEST_PATH_IMAGE003
；
The main controller is based on the difference
Figure 373431DEST_PATH_IMAGE004
Sign and difference of
Figure 818318DEST_PATH_IMAGE004
Absolute value of (2)
Figure DEST_PATH_IMAGE005
Controlling the operating state of the first control valve and/or the second control valve in relation to a threshold value to perform a braking mode of the bicycle by:
when in use
Figure 31125DEST_PATH_IMAGE004
Is positive, and
Figure 143438DEST_PATH_IMAGE006
when the vehicle speed is within the threshold value, the rear wheel auxiliary brake is carried out, the main controller sends a control command to the second control valve, and the second control valve is controlled to be switched on and off at preset time intervals, so that the rear wheel is in a critical state of rotation and locking;
when in use
Figure 947446DEST_PATH_IMAGE004
Is negative, and
Figure 145209DEST_PATH_IMAGE006
if the threshold value is reached, the front wheel auxiliary brake is carried out, the main controller sends a control command to the first control valve, and the first control valve is controlled to be switched on and off at preset time intervals, so that the front wheel is in a critical state of rotation and locking;
otherwise, the main controller sends out a control command to close the first control valve and the second control valve to carry out a common braking state.
Optionally, the preset time interval of the present invention is less than 0.1 s.
Optionally, the first speed sensor and the second speed sensor of the present invention both employ encoders for measuring the rotational speed of the wheel.
Optionally, the first control valve and the second control valve of the present invention both employ solenoid valves.
Optionally, the main controller of the invention adopts a single chip microcomputer.
On the other hand, the invention also provides a control method of the intelligent ABS system of the bicycle, which comprises the following steps:
step one, when the main controller detects a pressure signal of a first pressure sensor or a second pressure sensor, the main controller starts to execute step two and step three;
step two, the main controller collects the detection value of the first speed measuring sensor in real time
Figure 692865DEST_PATH_IMAGE001
And the detection value of the second speed measurement sensor
Figure 456421DEST_PATH_IMAGE002
And calculating the difference between the two
Figure 431331DEST_PATH_IMAGE003
；
Step three, the main controller is used for calculating the difference value
Figure 116390DEST_PATH_IMAGE004
Sign and difference of
Figure 202157DEST_PATH_IMAGE004
Absolute value of (2)
Figure 286133DEST_PATH_IMAGE005
The operating state of the first control valve and/or the second control valve is controlled in relation to a threshold value to implement a braking mode of the bicycle.
Optionally, the specific control process of step three of the present invention is as follows:
when in use
Figure 431943DEST_PATH_IMAGE004
Is positive, and
Figure 338719DEST_PATH_IMAGE006
when the vehicle speed is within the threshold value, the rear wheel auxiliary brake is carried out, the main controller sends a control command to the second control valve, and the second control valve is controlled to be switched on and off at preset time intervals, so that the rear wheel is in a critical state of rotation and locking;
when in use
Figure 228178DEST_PATH_IMAGE004
Is negative, and
Figure 966327DEST_PATH_IMAGE006
if the threshold value is reached, the front wheel auxiliary brake is carried out, the main controller sends a control command to the first control valve, and the first control valve is controlled to be switched on and off at preset time intervals, so that the front wheel is in a critical state of rotation and locking;
otherwise, the main controller sends out a control command to close the first control valve and the second control valve to carry out a common braking state.
The invention has the following advantages and beneficial effects:
1. the invention utilizes the ABS principle to realize the automatic auxiliary braking of the bicycle, can solve the technical problem of potential safety hazard of the bicycle wheel in a locking state, and is particularly suitable for the conditions that the bicycle runs fast, runs downhill, rains or encounters an emergency and the like.
2. The system structure of the invention is simple and easy to realize;
drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a schematic diagram of the working principle of the control valve of the present invention. Wherein, (a) is in the state that the control valve does not work (is not electrified); (b) in the working (energized) state of the control valve.
Detailed Description
Hereinafter, the term "comprising" or "may include" used in various embodiments of the present invention indicates the presence of the invented function, operation or element, and does not limit the addition of one or more functions, operations or elements. Furthermore, as used in various embodiments of the present invention, the terms "comprises," "comprising," "includes," "including," "has," "having" and their derivatives are intended to mean that the specified features, numbers, steps, operations, elements, components, or combinations of the foregoing, are only meant to indicate that a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as first excluding the existence of, or adding to the possibility of, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
In various embodiments of the invention, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B, or may include both a and B.
Expressions (such as "first", "second", and the like) used in various embodiments of the present invention may modify various constituent elements in various embodiments, but may not limit the respective constituent elements. For example, the above description does not limit the order and/or importance of the elements described. The foregoing description is for the purpose of distinguishing one element from another. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present invention.
It should be noted that: if it is described that one constituent element is "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and a third constituent element may be "connected" between the first constituent element and the second constituent element. In contrast, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.
The terminology used in the various embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the invention. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
Compare in the problem that there is the potential safety hazard in traditional bicycle's brake equipment, this embodiment utilizes the ABS principle, has proposed a bicycle intelligence ABS system.
The system main part of this embodiment is main control unit, two solenoid valves of installing on the brake line, two pressure sensor of installing on the speed sensor of installing on the wheel and installing on the brake. The principle of the system is that the system is activated when the bicycle is braked. The main controller is used for controlling the speed difference between the front wheel and the rear wheel to reach an interval according to speed signals transmitted by the speed sensors of the front wheel and the rear wheel. The system can judge the locking state of the wheel, starts to switch on and off the electromagnetic valve for controlling the brake cable on the wheel brake at a high speed, so that the braking force is reduced, and the wheel is prevented from being completely locked due to overlarge braking force. The braking state is always at the best point, so that a relatively good braking effect is achieved, and the driving safety is ensured. After the bicycle is decelerated, once the system singlechip detects that the wheel locking state disappears (the difference of the rotating speeds of the front wheel and the rear wheel is smaller than a set interval) or the brake is released from the state of pressing down the bottom, the system singlechip closes the electromagnetic valve, so that the system is switched to the ordinary braking state to work.
As shown in fig. 1, the system of the present embodiment includes: the system comprises a main controller, a first speed measuring sensor, a second speed measuring sensor, a first pressure sensor, a second pressure sensor, a first control valve and a second control valve;
the first speed measuring sensor and the second speed measuring sensor are respectively arranged on the front wheel and the rear wheel of the bicycle and are used for measuring the speed of the wheels;
the first pressure sensor and the second pressure sensor are respectively arranged on a left hand brake and a right hand brake of the bicycle and are used for measuring the stress condition of the hand brakes;
the first control valve is arranged at any position on a front wheel brake line of the bicycle, and the second control valve is arranged at any position on a rear wheel brake line of the bicycle;
the first control valve and the second control valve apply tension to corresponding brake cables in a non-working state; the first control valve and the second control valve do not apply tension to the brake cable in a working state;
the detection signal of the first pressure sensor or the second pressure sensor is used for starting the main controller to perform auxiliary braking on the bicycle;
the main controller controls the working state of the first control valve or the second control valve according to the detection signals of the first speed measurement sensor and the second speed measurement sensor, and the bicycle brake mode is automatically realized.
This embodiment is through set up a control valve respectively in two brake lines optional position, and the control valve of this embodiment all adopts the solenoid valve.
As shown in fig. 2, the operation principle of the control valve on one of the brake cables is described as an example: when the control valve 2 is in a non-conducting state (i.e. a non-operating state), as shown in fig. 2 (a), the control valve 2 naturally extends, and applies a certain tension to the brake cable 1, so that the brake cable 1 is partially in a bent state; after the power is switched on (i.e. the working state), as shown in fig. 2 (b), the control valve 2 is in a contraction state, and does not apply a tension to the brake cable 1, so that the brake cable 1 is in a normal tension state; when the hand brake is pulled, the wheel is locked by the brake cable 1 in a bent state, and after the control valve 2 is started, the brake cable 1 is released by the control valve 2, so that the locking force (friction force) of the brake to the wheel is reduced. The working principle of the control valve on the other brake cable is the same as that of the control valve.
The embodiment specifically adopts the encoder as the speed sensor to measure the rotational speed of wheel.
When the main controller detects the pressure signal of the first pressure sensor or the second pressure sensor, the braking mode is started, namely the main controller executes the following operations:
the main controller obtains the output value of the encoder on the front wheel of the bicycle in real time
Figure 283038DEST_PATH_IMAGE001
And the output value of an encoder on the rear wheel of the bicycle
Figure 677111DEST_PATH_IMAGE002
And calculating the difference between the two
Figure 370260DEST_PATH_IMAGE004
Namely:
Figure 166178DEST_PATH_IMAGE003
；
the main controller is based on the difference
Figure 653791DEST_PATH_IMAGE004
Sign and difference of
Figure 535159DEST_PATH_IMAGE004
Absolute value of (2)
Figure 766421DEST_PATH_IMAGE005
With a threshold valueControlling the first control valve and/or the second control valve in relation to achieve a braking mode of the bicycle; the specific control process comprises the following steps:
when in use
Figure 416845DEST_PATH_IMAGE004
Is positive, and
Figure 340938DEST_PATH_IMAGE006
if the threshold value (the threshold value in this embodiment is determined comprehensively according to the detection accuracy, the control accuracy, and the like), the rear wheel auxiliary brake is performed, the main controller sends a control command to the second control valve, and the second control valve is controlled to be on or off at preset time intervals (the preset time intervals adopted in this embodiment are 0.05 s), so that the rear wheel is in a critical state of rotation and locking, and the maximum braking force is generated;
when in use
Figure 506341DEST_PATH_IMAGE004
Is negative, and
Figure 541293DEST_PATH_IMAGE006
if the value is a threshold value, performing auxiliary braking on the front wheel, sending a control command to the first control valve by the main controller, and controlling the on-off of the first control valve at a preset time interval (the preset time interval adopted in the embodiment is 0.05 s), so that the front wheel is in a critical state of rotation and locking, and simultaneously, the maximum braking force is generated;
otherwise, the main controller sends out a control command to close the first control valve and the second control valve to carry out a common braking state.
The main controller of this embodiment can be implemented by, but not limited to, a single chip, a programmable logic device, and a DSP device.
This embodiment can realize the self-actuating brake of bicycle through above-mentioned control process, can guarantee not locking the wheel when providing the biggest brake force, avoids appearing the potential safety hazard.
The control process of the system of the embodiment is as follows:
1. when the main controller detects a pressure signal of the first pressure sensor or the second pressure sensor, a bicycle braking process is started, as in the following processes 2 and 3;
2. the main controller collects the detection value of the first speed measuring sensor in real time
Figure 46223DEST_PATH_IMAGE001
And the detection value of the second speed measurement sensor
Figure 875639DEST_PATH_IMAGE002
And calculating the difference between the two
Figure 722811DEST_PATH_IMAGE003
；
3. The main controller is based on the difference
Figure 92612DEST_PATH_IMAGE004
Sign and difference of
Figure 717628DEST_PATH_IMAGE004
Absolute value of (2)
Figure 983525DEST_PATH_IMAGE005
And controlling the working state of the first control valve and/or the second control valve according to the relation with the threshold value so as to execute the braking mode of the bicycle, specifically:
when in use
Figure 795623DEST_PATH_IMAGE004
Is positive, and
Figure 437957DEST_PATH_IMAGE006
when the vehicle speed is within the threshold value, the rear wheel auxiliary brake is carried out, the main controller sends a control command to the second control valve, and the second control valve is controlled to be switched on and off at preset time intervals, so that the rear wheel is in a critical state of rotation and locking;
when in use
Figure 714217DEST_PATH_IMAGE004
Is negative, and
Figure 151015DEST_PATH_IMAGE006
if the threshold value is reached, the front wheel auxiliary brake is carried out, the main controller sends a control command to the first control valve, and the first control valve is controlled to be switched on and off at preset time intervals, so that the front wheel is in a critical state of rotation and locking;
otherwise, the main controller sends out a control command to close the first control valve and the second control valve to carry out a common braking state.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (4)

1. An intelligent ABS system of a bicycle is characterized by comprising a main controller, a first speed measuring sensor, a second speed measuring sensor, a first pressure sensor, a second pressure sensor, a first control valve and a second control valve;
the first speed measuring sensor and the second speed measuring sensor are respectively arranged on the front wheel and the rear wheel of the bicycle and are used for measuring the speed of the wheels;
the first pressure sensor and the second pressure sensor are respectively arranged on a left hand brake and a right hand brake of the bicycle and are used for measuring the stress condition of the hand brakes;
the first control valve is arranged at any position on a front wheel brake line of the bicycle, and the second control valve is arranged at any position on a rear wheel brake line of the bicycle;
the first control valve and the second control valve apply tension to corresponding brake cables under the non-working state, so that the brake cable parts are in a bent state; the first control valve and the second control valve do not apply tension to the brake cable in a working state; so that the brake cable is in a normal stretching state;
the first pressure sensor and the second pressure sensor are in communication connection with the main controller and are used for starting the main controller to perform a braking mode of the bicycle;
the main controller controls the working state of the first control valve or the second control valve according to the detection signals of the first speed measurement sensor and the second speed measurement sensor, and the bicycle brake mode is automatically realized;
the main control unit controls the working state of the first control valve or the second control valve according to the detection signals of the first speed measurement sensor and the second speed measurement sensor, and the auxiliary brake of the bicycle is realized by the following steps:
the main controller is used for acquiring detection signals of the first speed measuring sensor in real time
Figure DEST_PATH_IMAGE002
And the detection signal of the second speed measuring sensor
Figure DEST_PATH_IMAGE004
And calculating the difference between the two detection signals
Figure DEST_PATH_IMAGE006
；
The main controller is based on the difference
Figure DEST_PATH_IMAGE008
Sign and difference of
Figure 420620DEST_PATH_IMAGE008
Absolute value of (2)
Figure DEST_PATH_IMAGE010
Controlling the operating state of the first control valve and/or the second control valve in relation to a threshold value to perform a braking mode of the bicycle by:
when in use
Figure 400077DEST_PATH_IMAGE008
Is positive, and
Figure DEST_PATH_IMAGE012
when the vehicle speed is within the threshold value, the rear wheel auxiliary brake is carried out, the main controller sends a control command to the second control valve, and the second control valve is controlled to be switched on and off at preset time intervals, so that the rear wheel is in a critical state of rotation and locking;
when in use
Figure 992864DEST_PATH_IMAGE008
Is negative, and
Figure 388073DEST_PATH_IMAGE012
if the threshold value is reached, the front wheel auxiliary brake is carried out, the main controller sends a control command to the first control valve, and the first control valve is controlled to be switched on and off at preset time intervals, so that the front wheel is in a critical state of rotation and locking;
otherwise, the main controller sends out a control command to close the first control valve and the second control valve to carry out a common braking state;
wherein the threshold value is comprehensively determined according to the detection precision and the control precision; the preset time interval is 0.05 s;
and the first control valve and the second control valve are both electromagnetic valves.
2. The intelligent ABS system for bicycles of claim 1, wherein the controller for starting the main controller is specifically:
when the main controller detects the pressure signal of the first pressure sensor or the second pressure sensor, the braking mode of the bicycle is started.
3. An intelligent ABS system for a bicycle according to any of claims 1-2, wherein the first tachometer sensor and the second tachometer sensor each employ an encoder for measuring the rotational speed of the wheel.
4. The intelligent ABS system for bicycles of any of claims 1-2, wherein the main controller is a single chip microcomputer.
CN202010815169.8A 2020-08-14 2020-08-14 Intelligent ABS system of bicycle Active CN111674498B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010815169.8A CN111674498B (en) 2020-08-14 2020-08-14 Intelligent ABS system of bicycle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010815169.8A CN111674498B (en) 2020-08-14 2020-08-14 Intelligent ABS system of bicycle

Publications (2)

Publication Number Publication Date
CN111674498A CN111674498A (en) 2020-09-18
CN111674498B true CN111674498B (en) 2020-11-24

Family

ID=72458285

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010815169.8A Active CN111674498B (en) 2020-08-14 2020-08-14 Intelligent ABS system of bicycle

Country Status (1)

Country Link
CN (1) CN111674498B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115416630A (en) * 2022-04-06 2022-12-02 王志鹏 Electronic anti-lock brake control system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109733410A (en) * 2018-12-21 2019-05-10 浙江万安科技股份有限公司 A kind of real-time pavement identification method of ABS and system
CN111361533A (en) * 2020-02-25 2020-07-03 苏州挚途科技有限公司 Anti-lock control method and device

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06255558A (en) * 1993-03-09 1994-09-13 Yokohama Rubber Co Ltd:The Braking device for bicycle
CN103287409B (en) * 2012-03-02 2017-03-08 博世汽车部件(苏州)有限公司 Vehicle brake anti-lock device and method
CN104742887B (en) * 2013-12-31 2018-08-28 博世汽车部件(苏州)有限公司 Complemental brake system and motor vehicle braking system
CN204210677U (en) * 2014-10-21 2015-03-18 南京大石电子科技有限公司 A kind of electric bicycle braking barre breaker device
JP6711301B2 (en) * 2017-03-02 2020-06-17 株式会社アドヴィックス Brake control device
CN111098969A (en) * 2020-01-16 2020-05-05 宁波赛福汽车制动有限公司 Novel anti-lock braking system of two-wheel vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109733410A (en) * 2018-12-21 2019-05-10 浙江万安科技股份有限公司 A kind of real-time pavement identification method of ABS and system
CN111361533A (en) * 2020-02-25 2020-07-03 苏州挚途科技有限公司 Anti-lock control method and device

Also Published As

Publication number Publication date
CN111674498A (en) 2020-09-18

Similar Documents

Publication Publication Date Title
EP1193152A3 (en) Hydraulic circuit for antiskid control system
CN111674498B (en) Intelligent ABS system of bicycle
KR101619418B1 (en) Brake appararatus of vehicle and method thereof
JPH04201772A (en) Antiskid brake device for vehicle
CN110962985B (en) Anti-lock brake control method and system
CN105142998B (en) The motorcycle and its method of speed of benchmark car body change detection are carried out in 1 passage ABS system
EP4206048A1 (en) Control device and control method
DE10393098D2 (en) Method for adaptive braking torque control
JP3235751B2 (en) Anti-skid brake system for vehicles
JP2008189127A (en) Brake controller for vehicle
CN109506956B (en) Motorcycle brake detection system and detection method
JP4138054B2 (en) Vehicle stop determination device
JP3451716B2 (en) Wheel speed detection device and wheel slip control device
JP2897262B2 (en) Anti-skid control device
JPH04191158A (en) Antiskid brake device of vehicle
US6496769B1 (en) Four wheel drive anti-lock brake control having torque transfer alleviation
CN109596367B (en) Motorcycle detection system and detection method based on rotation speed detection
JP3599245B2 (en) Brake control method
JPH089324B2 (en) Anti-skid device for motorcycles
KR20080098169A (en) Method to detect variety tire for vehicle
US10737670B2 (en) Vehicle brake hydraulic control device
RU2225303C1 (en) Vehicle wheel braking automatic control method
JP3913993B2 (en) Anti-lock brake control method for motorcycles
JP2960986B2 (en) Anti-skid control device
JPH06329009A (en) Vehicle slip control device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant