TWM550236U - Auto-adjustable shock-absorbing device - Google Patents

Description

Automatically adjustable shock absorber

The present invention relates to a shock absorber, and more particularly to a shock absorber that can be automatically adjusted and a method thereof.

In recent years, as environmental awareness has gradually received the attention of the public, the number of people using bicycles has increased dramatically. Bicycles can not only become a means of transportation to work, reduce the amount of carbon dioxide emissions, but also achieve the effect of exercise and pressure.

Currently, bicycles that are commercially available are usually provided with shock absorbers to cushion the vibration caused by the unevenness of the road surface, and to keep the wheels in contact with the road surface when driving different road surfaces.

When the bicycle is driving on a flat road, you need to choose a harder shock absorber to make the rider feel comfortable and less effortless when riding. When the bicycle is driving on a paved road, you need to choose softer. The shock absorber is so that the rider does not feel uncomfortable due to vibration.

In general, if the bicycle needs to adjust the soft and hard of the shock absorber, it needs to be manually adjusted and it is not necessarily able to achieve the ideal shock and softness after adjustment, and it cannot bring the best riding comfort.

Referring to FIG. 1 , a suspension control method and a device for a locomotive of the Taiwan Patent No. I343331, the suspension control device 2 is disposed on a locomotive 1 and includes a suspension unit 21, an adjustment unit 22, and a sensing device. a unit 23, a controller 24, a switch 25, an adjustment switch 27, A display unit 26, and an adjustment switch 27.

The suspension unit 21 includes a front shock absorber 211 and a rear shock absorber. The adjustment unit 22 includes a front actuator 221 and a rear actuator 222. The sensing unit 23 includes a vehicle speed sensor 231 , a brake switch 232 , a front gravity direction sensor 233 , and a rear gravity direction sensor 234 . The display unit 26 includes a warning light 261 and an indicator light 262.

Although the prior art discloses a suspension device that can be adjusted according to the speed of the vehicle and the road condition, it still has the following disadvantages in practical use:

First, the parameters must be set in advance:

Commercially available locomotives have different weights, different wheel diameters, and different engines. Therefore, the controller must first set the judgment parameters to accurately adjust the suspension device.

Second, can not be applied to other locomotives:

The suspension device disclosed in the prior art cannot automatically adjust the parameters. The parameters of the installed locomotive must be adjusted when the locomotive leaves the factory. The suspension device after the training is not applicable to other locomotives.

Third, the best parameters cannot be adjusted:

The driving of the locomotive has different weights, different drag coefficient, and the suspension device with preset parameters cannot judge the driving information, and the suspension device cannot be adjusted to the optimal parameters.

Therefore, how to make the suspension device that can automatically change the damping, install it on different locomotives, and apply different driving is a goal that the technicians need to work hard.

In view of the above, an object of the present invention is to provide an automatically adjustable shock absorber for controlling at least one suspension member disposed on a carrier, the shock absorber comprising an actuating unit and a detecting unit. And a control unit.

The actuation unit includes an actuator that adjusts the damping of the suspension member.

The detecting unit includes a detector for detecting the vibration of the carrier and generating a vibration information.

The control unit includes a controller electrically connected to the brake and the detector for analyzing the vibration information and generating a control information specific to the vehicle to control the shock absorbing member to adjust the damping suitable for the vehicle. .

Another technical means of the present invention is that the controller has a filtering module and a determining module, and the filtering module filters the vibration information to obtain a filtering information, and the determining module operates on the filtering information. To get the control information.

Another technical means of the present invention is that the controller has a training module, and the training module analyzes the filtering information to obtain characteristic information of the specific carrier. The determining module is based on the feature. Information to determine the filtering information to obtain the control information.

A further technical means of the novel is that the filtering module uses a discrete wavelet transform to filter the vibration information to obtain the filtering information.

Another technical means of the novel is in the above training The module uses a self-organizing mapped image network to analyze the filtering information to obtain the unique feature information of the vehicle.

Another technical means of the present invention is that the controller has an actuator module for converting the control information into the motion information that the actuator can receive.

Another object of the present invention is to provide an automatically adjustable shock absorber method comprising a detecting step, a filtering step, a determining step, and an adjusting step.

First, the detecting step is performed. A detector is provided on the vehicle, and the detector detects the vibration of the vehicle and generates a vibration information.

Then, the filtering step is performed, and the detector is electrically connected to a controller, and a filter module of the controller filters the vibration information to obtain a filtering information.

Then, the determining step is performed, and one of the controllers determines that the module operates on the filtering information to obtain one of the specific control information of the vehicle.

Finally, the adjusting step is performed, the carrier is provided with at least one suspension member, and an actuator for adjusting the damping of the suspension member, and the controller of the controller converts the control information into the actuator. The consistent motion information is received to control the actuator.

Another technical means of the present invention is that in the filtering step, the filter module of the controller filters the vibration information by using a discrete wavelet transform to obtain the filtering information.

Another technical means of the present invention is that in the above determining step, the training module of the controller analyzes the filtering information. In order to obtain characteristic information of one of the specific vehicles, the judging module of the controller determines the filtering information according to the characteristic information to obtain the control information.

A further technical means of the present invention is that in the above-mentioned judging step, the training module of the controller analyzes the filtering information by using a self-organizing map image network to obtain characteristic information of the exclusive vehicle.

The utility model has the beneficial effects that the training module of the controller uses a self-organizing map image network technology to analyze the filtering information to obtain the characteristic information of the specific vehicle, and further provides the determining module to adjust the suitable information. The optimum damping of the vehicle.

C1‧‧‧Vibration information

C2‧‧‧ Filter Information

C3‧‧‧Control Information

C4‧‧‧ Characteristic Information

C5‧‧‧Acoustic Information

3‧‧‧ Vehicles

4‧‧‧Shock components

41‧‧‧

42‧‧‧ piston rod

43‧‧‧ throttle valve

44‧‧‧Control lever

45‧‧‧ fluid passage

5‧‧‧Activity unit

51‧‧‧Actuator

6‧‧‧Detection unit

61‧‧‧Detector

7‧‧‧Control unit

71‧‧‧ Controller

711‧‧‧Filter module

712‧‧‧Judgement module

713‧‧‧ training module

714‧‧‧Activity Module

901~904‧‧‧Steps

1 is a schematic view of a device for suspending control of a locomotive of Taiwan Patent No. I343331; and FIG. 2 is a schematic view of a device for explaining a preferred embodiment of the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 4 is a schematic view of a device for explaining a shock absorbing member of the preferred embodiment; and FIG. 5 is a block diagram illustrating the preferred embodiment. Shock absorber method.

The details of the related patents and the technical contents of the present invention will be clearly shown in the following detailed description of the preferred embodiments with reference to the drawings. It should be noted that before the detailed description, similar elements are denoted by the same reference numerals.

Referring to Figures 2, 3 and 4, a preferred embodiment of the self-adjusting shock absorber of the present invention is suitable for controlling at least one suspension member 4 disposed on a carrier 3. The preferred embodiment includes an actuating unit 5, a detecting unit 6, and a control unit 7.

The suspension member 4 is a shock absorber that adjusts the damping by rotating the gate, and has a barrel 41, a piston rod 42 disposed on the barrel 41, and a throttle valve 43 pivotally mounted on the rod 42. A control rod 44 connected to the throttle valve 43, a fluid passage 45 disposed in the piston rod 42, and a fluid sealed to the barrel 41.

In the preferred embodiment, the throttle valve 43 is disposed in two groups, wherein one set of throttle valves 43 has one valve, and the other set of throttle valves 43 has two valves. In actual implementation, the throttle valve The number of sets 43 and the number of valves set should be based on actual conditions and should not be limited to this.

Rotating the control rod 44 can control the state of the throttle valve 43 to change the flow rate of the fluid through the piston rod 42 to control the damping coefficient of the suspension member 4, since the shock absorber with adjustable damping has been known to the industry. And widely used in commercially available products, and will not be described in detail here.

In the preferred embodiment, the carrier 3 is a bicycle, and the number of the suspension members 4 is two for respectively absorbing the vibrations of the front wheel and the rear wheel of the carrier 3. In actual implementation, the vehicle 3 can use a locomotive, and the number of the suspension members 4 needs to be set according to actual conditions, and should not be limited thereto.

The actuating unit 5 includes an actuator 51 that adjusts the damping of the suspension member 4. The actuator 51 is a rotary motor whose shaft and The lever 44 is coupled to adjust the damping of the suspension member 4 in a rotational manner.

The detecting unit 6 includes a detector 61 for detecting the vibration of the carrier 3 and generating a vibration information C1. Preferably, the detector 61 uses a three-axis acceleration sensor and is disposed at a central position of the carrier 3, such as a position below the seat. In actual implementation, the detector 61 uses two and is respectively disposed at the front wheel and the rear wheel of the carrier 3 for respectively adjusting the suspension members 4 disposed at the front wheel and the rear wheel of the carrier 3.

When the vehicle 3 travels on the asphalt road, the road surface is relatively flat, so the vibration information C1 detected by the detector 61 is relatively flat. When the carrier 3 is traveling on the stone brick trail, the vibration information C1 detected by the detector 61 has a certain intensity and frequency. When the carrier 3 is driven on a large gravel road surface, the vibration information C1 detected by the detector 61 has a wide frequency and a strong vibration. When the carrier 3 is driven on a small gravel road, the vibration information C1 detected by the detector 61 has a short frequency and a weak vibration.

It can be seen from the above description that the detector 3 detects different vibration information C1 on different road surfaces. In addition, the detector 61 is based on different weights and speeds, including the weight of the driver, resulting in slightly different vibration information C1 detected.

The control unit 7 includes a controller 71 electrically connected to the actuator 51 and the detector 61 for analyzing the vibration information C1 and generating a control information C3 dedicated to the carrier 3 to control the suspension. The member 4 adjusts the damping suitable for the carrier 3.

The controller 71 has a filter module 711, a determination module 712, a training module 713, and an alignment module 714.

The controller 71 is a micro-programmed control unit (MCU). The filter module 711, the determination module 712, the training module 713, and the actuation module 714 are disposed in the controller 71. .

The filtering module 711 filters the vibration information C1 to obtain a filtering information C2. The determining module 712 calculates the filtering information C2 to obtain the control information C3.

The training module 713 analyzes the filter information C2 to obtain the feature information C4 of the specific vehicle 3, and the determination module 712 determines the filter information C2 according to the feature information C4 to obtain the control information C3.

The actuation module 714 is configured to convert the control information C3 into the actuation information C5 that the actuator 51 can receive. For example, the control information C3 is converted into a PWM control signal that the actuator 51 can receive to control the rotation angle of the actuator 51.

The filtering module 711 filters the vibration information C1 by using a discrete wavelet transform to obtain the filtering information C2. The filtering module 711 first performs a splitting step and then performs a lifting step.

Please refer to formula (1), which is the formula used in the separation step, where m is the number of vibration information C1, d is a vector variable, d _{2 i +1} is an odd point, and d _{2 i} is an even point.

Please refer to formula (2), the formula used for the step mentioned above, where For high frequency components, For low frequency components.

When the vibration information C1 passes through the separating step and the lifting step, the low frequency portion of the vibration information C1 is separated, and the retained high frequency component becomes the filtering information C2.

The training module 713 analyzes the filtered information C2 using a self-organizing map image network to generate feature information C4 specific to the vehicle 3.

The self-organizing map image network described above is a neural-like unsupervised learning network. The basic principle is to imitate the characteristics of the brain cells in the human brain that have similar functions, and the neural network that is developed. There are clustering rules in the learning materials, which apply to the self-organizing map network.

Please refer to formula (3) for the formula of the training module 713. Where x is the input vector (sensing value), k is the output layer vector (shock amount), n is the number of input data, and N is the number of output matrices.

Please refer to formula (4), which is the formula of the filtering information C2 received by the training module 713. among them, The weight vector for the output layer join, i and j are the index values of the columns and columns of the neuron link.

Please refer to formula (5). The learning mode of the training module 713 is an input vector connected to the output layer, and the weight vector is specified by a random random number, and is calculated by the Euclidean Distance calculation method. The best-matching output neuron b(x).

Referring to equations (6) and (7), when a most suitable neuron is found, the weights of the winner neurons and their neighbors are adjusted. Where t _k represents the current iterative index value, 0 < η _k ( t _k ) 1 is the learning speed, the learning speed will decrease with time, h _{b ( x )} ( t _k ) will be based on b(x), and the neighboring neuron calculation formula will be used. σ( t _k ) is the neighboring range using this setting. The width parameter, which will be decremented over time.

The training module 713 repeats the formula (5), the formula (6), and the formula (7) until the learning flow ends, and the end condition may set a fixed number of trainings or end when the learning result converges. Training materials such as cement, tar, hard gravel road, loose sand, icy land, etc. are added to the training module 712, such as cement, tar, hard gravel road, additional dry or wet, flat ground, upper Parameter categories such as downhill.

After the training module 713 completes the training, the output layer weight value of the determining module 712 can be used for feature grouping. Although the training steps of the training module 713 are complicated, the actual use does not need to be learned again after the completion of the learning, and the system determines the time very fast.

As described above, when the training module 713 of the controller 71 completes the training, when the vehicle 3 is traveling on different road surfaces, the detector 61 returns the vibration information C1, and the filtering module 711 of the controller 71 is returned. Obtaining the filtering information C2, the determining module 712 of the controller 71 immediately determines the type of the road surface, and analyzes the damping coefficient required by the current road surface to generate appropriate control information C3, and the actuation module 714 immediately controls the control. The information C3 is converted into an actuation information C5 that the actuator 51 can receive to control the actuator 51 to adjust the proper damping of the carrier 3.

Referring to FIG. 5, the suspension method of the preferred embodiment includes a detecting step 901, a filtering step 902, a determining step 903, and an adjusting step 904.

First, the detecting step 901 is performed, and the detector 61 disposed on the carrier 3 detects the vibration of the carrier 3 and generates the vibration information C1.

Then, the filtering step 902 is performed, and the filtering module 711 of the controller 71 filters the vibration information C1 to obtain the filtering information C2.

The filtering module 711 of the controller 71 uses a discrete wavelet transform technique to filter the low frequency portion of the vibration information C1 to obtain the filtering information C2.

Then, the determining step 903 is performed, and the determining module 712 of the controller 71 calculates the filtering information C2 to generate the control information C3 exclusive to the carrier 3.

The judging module 712 of the controller 71 uses a self-organizing map image network technology to analyze the filtering information C2 to obtain the feature information C4 of the specific vehicle 3.

In the determining step 903, the training module 713 of the controller 71 analyzes the filtering information C2 to obtain the feature information C4 of the specific carrier 3. The determining module 712 of the controller 71 is based on the feature information C4. The filter information C2 is determined to obtain the control information C3.

Finally, the adjusting step 904 is performed, and the actuation module 714 of the controller 71 converts the control information C3 into the actuation information C5 receivable by the actuator 51 to control the actuator 51 to adjust the suspension member 4 The damping is such that the carrier 3 travels on different road surfaces.

When the vehicle is riding the vehicle 3, the training module 713 of the controller 71 repeats the detecting step 901, the filtering step 902, the determining step 903, and the adjusting step 904, thereby automatically learning and accurately adjusting the exclusive vehicle. The damping coefficient of the shock absorber of 3. The suspension module 4 is quickly adjusted by the determination module 712 that provides the controller 71.

It can be seen from the above description that the shock absorber of the present invention can automatically adjust the following functions:

First, no need to set the reaction parameters

The training module 713 of the controller 71 can analyze the plurality of pieces of filtering information C2 to obtain the characteristic information C4 of the specific vehicle 3, which is not required. Set the feature parameters first.

Second, apply different vehicles

The training module 713 of the controller 71 is configured for analyzing the set vehicle 3, and the characteristic information C4 of the heavy-duty locomotive is generated by the heavy-duty locomotive, and the characteristic information C4 of the electric motor vehicle is generated by the electric motor vehicle, and is set in The bicycle will automatically generate the bicycle characteristic information C4, which is effectively applied to different types of vehicles 3.

Third, the best damping can be achieved

The training module 713 of the controller 71 can obtain the characteristic information C4 exclusive to the vehicle 3 for different weights, different road conditions, and even different horsepower, so that the determining module 712 of the controller 71 can use the suspension member 4 The optimum damping suitable for the carrier 3 is adjusted.

In summary, the training module 713 of the controller 71 analyzes the filtering information C2 by using a self-organizing map image network to obtain the feature information C4 of the specific carrier 3, and further makes the controller 71 determine the mode. The group 712 adjusts the optimal damping of the carrier 3, and can be applied to the carrier 3 of different weights, horsepower and road conditions, so that the purpose of the present invention can be achieved.

However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention cannot be limited thereto, that is, the simple equivalent change and modification made by the novel patent application scope and the novel description content, All remain within the scope of this new patent.

C1‧‧‧Vibration information

C2‧‧‧ Filter Information

C3‧‧‧Control Information

C4‧‧‧ Characteristic Information

C5‧‧‧Acoustic Information

5‧‧‧Activity unit

51‧‧‧Actuator

6‧‧‧Detection unit

61‧‧‧Detector

7‧‧‧Control unit

71‧‧‧ Controller

711‧‧‧Filter module

712‧‧‧Judgement module

713‧‧‧ training module

714‧‧‧Activity Module

Claims (6)

An automatically adjustable shock absorber adapted to control at least one shock absorbing member disposed on a carrier, the shock absorber comprising: an actuating unit comprising an actuator for adjusting damping of the shock absorbing member; The measuring unit includes a detector for detecting the vibration of the carrier and generating a vibration information; and a control unit including a controller electrically connected to the actuator and the detector for analyzing The vibration information generates a control information specific to the vehicle to control the shock absorbing member to adjust the damping suitable for the vehicle. The self-adjusting shock absorber according to the first aspect of the patent application, wherein the controller has a filter module and a determination module, and the filter module filters the vibration information to obtain a filter information. The determining module operates on the filtering information to obtain the control information. The self-adjusting shock absorber according to claim 2, wherein the controller further has a training module, and the training module analyzes the filtering information to obtain a characteristic information of the exclusive carrier. The determining module determines the filtering information according to the feature information to obtain the control information. The shock absorber device can be automatically adjusted according to claim 3, wherein the filter module filters the vibration information by using a discrete wavelet transform to obtain the filter information. The self-organizing map image network is used to analyze the filter information according to the fourth aspect of the patent application, wherein the training module analyzes the filter information to obtain characteristic information of the specific vehicle. The shock absorber device can be automatically adjusted according to claim 5, wherein the controller further has an actuating module for converting the control information into the motion information receivable by the actuator.