CN103162738B - For condition checkout gear and the method for balanced car with two wheels - Google Patents
For condition checkout gear and the method for balanced car with two wheels Download PDFInfo
- Publication number
- CN103162738B CN103162738B CN201110428330.7A CN201110428330A CN103162738B CN 103162738 B CN103162738 B CN 103162738B CN 201110428330 A CN201110428330 A CN 201110428330A CN 103162738 B CN103162738 B CN 103162738B
- Authority
- CN
- China
- Prior art keywords
- pressure
- wheels
- tire
- balanced car
- state
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000008859 change Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 230000037396 body weight Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 description 6
- 238000005303 weighing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
Landscapes
- Measuring Fluid Pressure (AREA)
Abstract
The invention discloses a kind of condition checkout gear for balanced car with two wheels and method, this device, comprising: the first pressure transducer, for measuring the pressure of the first tire; Second pressure transducer, for measuring the pressure of the second tire; The signal processor be connected with the second pressure transducer with described first pressure transducer; The first wireless transceiver be connected with signal processor; The second wireless transceiver matched with the first wireless transceiver; The central control unit be connected with the second wireless transceiver, for the pressure data of the first tire after treatment described in receiving and the pressure data of the second tire, and according to the change value of pressure of the first tire under previous state and current state and the change value of pressure of the second tire, determine the running status that this balanced car with two wheels is current.Condition checkout gear for balanced car with two wheels of the present invention and method, can judge the running status of balanced car with two wheels.
Description
Technical field
The present invention relates to the auxiliary driving of the vehicles, more specifically, is a kind of condition checkout gear for balanced car with two wheels and method.
Background technology
Self-balancing electronic two wheeler is a kind of Personal Transporter of environmental protection.It adopts storage battery power supply, and its center of gravity is inverted in the top of wheel shaft, two parallel coaxial placements of wheel, and respectively has a servo motor driven.As shown in Figure 1, be the view that driver 10 uses balanced car with two wheels 20.Under uncontrolled state, this system is a time-dependent system.When the systems are operating normally, the controller of two wheeler 20 accepts the information of body gesture sensor, and according to the principle of work of reversible pendulum system, controls servomotor action, thus make vehicle body maintain a dynamic balance state.When overall center of gravity top rake with balanced car with two wheels 20 of driver 10, built-in servo-electric chance in vehicle body produces strength forward, balance the moment of torsion that people 10 topples over car 20 on the one hand forward, another aspect produces the acceleration allowing vehicle 20 advance and balances to maintain car body, contrary, when the center of gravity of driver is toward hypsokinesis, also the strength that can produce backward reaches counterbalance effect.Therefore, if driver 10 change oneself health angle forward or toward hypsokinesis, balanced car with two wheels 20 will according to the side tilted forward or backward.
Control system in balanced car with two wheels 20 be a multivariate, strong coupling, non-linear and time become complication system, the load quality of vehicle and pavement behavior affect very large on the handling of vehicle, when vehicle load increases, vehicle response speed is slack-off, easily cause balanced car with two wheels out of trim, and when vehicle load reduces, the response speed of vehicle is accelerated, easily cause system to shake, during low speed, occur the phenomenons such as shake.Because development difficulty is comparatively large, at present on the market balanced car with two wheels all there is no load function of weighing, so require higher to the body weight of driver, part is kicked the beam or overweight people cannot drive balanced car with two wheels.
Therefore, need a kind of apparatus and method of innovation, make not need too much technological development or parts to set up, namely the change according to vehicle load situation can be realized, realize the correct detection to vehicle-state and judgement, and then according to this status information, adjustment balance parameters, makes the handling of vehicle operate in optimum state.
Summary of the invention
One object of the present invention, is to provide a kind of condition checkout gear for balanced car with two wheels newly.
Condition checkout gear for balanced car with two wheels of the present invention, comprising:
First pressure transducer, described first pressure transducer is arranged on the first tire of this balanced car with two wheels, for measuring the pressure of the first tire;
Second pressure transducer, described second pressure transducer is arranged on the second tire of this balanced car with two wheels, for measuring the pressure of the second tire;
The signal processor be connected with the second pressure transducer with described first pressure transducer, for carrying out data processing to the pressure data of the first tire measured and the pressure data of the second tire;
The first wireless transceiver be connected with signal processor, for the pressure data of the pressure data and the second tire that send the first tire after described signal processor processes;
The second wireless transceiver matched with described first wireless transceiver, for receiving described in the first wireless transceiver sends the pressure data of the first tire after treatment and the pressure data of the second tire;
The central control unit be connected with the second wireless transceiver, for the pressure data of the first tire after treatment described in receiving and the pressure data of the second tire, and according to the change value of pressure of the first tire under previous state and current state and the change value of pressure of the second tire, determine the running status that this balanced car with two wheels is current.
Another object of the present invention, is the condition detection method providing a kind of balanced car with two wheels.
Condition detection method for balanced car with two wheels of the present invention, comprises the following steps:
A, measures the first state pressure value of two tires of this balanced car with two wheels under laststate respectively;
B, measures the current state force value of described two tires under current state respectively, and according to described first state pressure value and current state force value, calculates the pressure variety of two tires under laststate and current state;
C, according to the pressure variety of described two tires, judges the running status of this balanced car with two wheels.
Preferably, in described step a, state when this balanced car with two wheels is unloaded is set as the first state;
In described step b, state when driver being stood on balanced car with two wheels is set as current state;
In described step c, comprise and judge that driver drives the step of attitude, this step comprises:
Determine that driver to weigh value in the standard that standard is driven under attitude;
Compared with value of pressure variety and this standard being weighed, determine that whether the driving attitude of driver is correct.
Preferably, in described step c, comprise and judge pavement behavior determining step in driving, this step comprises:
When this pressure variety is greater than 5% of the mean value of the first state pressure value of these two tires, judge that the road conditions under current state are rugged and rough road surface.
Preferably, in described step c, comprise and judge to turn to condition adjudgement step in driving, this step comprises:
When the pressure variety of a described tire is negative value, and the pressure variety of another tire be on the occasion of time, judge that current state is turn condition.
Preferably, in described step c, comprise and judge free falling body state step in driving, this step comprises:
When this pressure variety equal adding of the car body weight of this balanced car with two wheels and load weight and time, judge that current state is free falling body state.
Preferably, in described step c, comprise and judge whether this balanced car with two wheels is in the step of unmanned state, this step comprises:
When this pressure variety equals the load weight of this balanced car with two wheels, judge that current state is unmanned state.
Another object of the present invention, is to provide a kind of method of weighing to the load-carrying of balanced car with two wheels.
Method of weighing to the load-carrying of balanced car with two wheels of the present invention, comprises the following steps:
A, for two tires of balanced car with two wheels set the first parameter P1 to be calibrated and the second parameter P2 respectively, and these two tire force value Fs1 separately, Fs2 when measuring unloaded;
B, is separately positioned on the loads that two pieces of quality are M1 for the position that driver's both feet are trampled on balanced car with two wheels, and measures now these two tire force value Fe1 separately, Fe2;
C, be separately positioned on by the loads that two pieces of quality are M2 for the position that driver's both feet are trampled on balanced car with two wheels, and measure now these two tire force value Fe3 separately, Fe4, wherein said M2 and M1 is different;
D, determines P1, P2 according to following equation:
2M1=P1 × (Fe1-Fs1)+P2 × (Fe2-Fs2), and
2M2＝P1×(Fe3-Fs1)+P2×(Fe4-Fs2)；
E, when this balanced car with two wheels is under load condition, calculates load-carrying L according to following formula:
L＝P1×ΔF1+P2×ΔF2，
Wherein, the pressure variety of these two tires under Δ F1, Δ F2 are respectively load condition and under light condition.
Condition checkout gear for balanced car with two wheels of the present invention and method, according to the tyre pressure sensor be arranged in the tire of left and right, calculate the change of tire pressure, and then obtain the running status of system.The state that control system can be judged according to this, the controling parameters of adjustment balance in real time, or safety traffic prompting is sent to driver, thus ensure that the handling of vehicle operates in optimum state.
Accompanying drawing explanation
Fig. 1 is the view that driver drives balanced car with two wheels;
Fig. 2 is the composition schematic diagram of the condition checkout gear for balanced car with two wheels of the present invention;
Fig. 3 is the schematic flow sheet of the condition detection method for balanced car with two wheels of the present invention.
Embodiment
Below with reference to the accompanying drawings and embodiment, the composition of the condition checkout gear for balanced car with two wheels of the present invention and method, step are described in more detail.
In general, feature of the present invention, be to utilize the variable quantity of the force value measured by pressure transducer under different conditions be arranged on balanced car with two wheels two tires, judge the state of balanced car with two wheels, such as driver drives attitude whether normal, pavement state, steering state, free falling body state or unmanned state etc.Central control unit in balanced car with two wheels judges according to above state further, can propose corresponding suggestion to driver, or directly controls balanced car with two wheels.
As shown in Figure 2, it is the composition schematic diagram of the condition checkout gear for balanced car with two wheels of the present invention, composition graphs 1, particularly, this is used for the condition checkout gear of balanced car with two wheels, comprise: the first pressure transducer 116, this first pressure transducer 116 is arranged on the first tire 21 of this balanced car with two wheels 20, for measuring the pressure of the first tire 21; Second pressure transducer 118, second pressure transducer 118 is arranged on the second tire 22 of this balanced car with two wheels 20, for measuring the pressure of the second tire 22; The signal processor 120 be connected with the second pressure transducer 118 with the first pressure transducer 116, for carrying out data processing to the pressure data of the first tire 21 measured and the pressure data of the second tire 22; The first wireless transceiver 130 be connected with signal processor 120, for sending the pressure data of the first tire 21 after signal processor 120 processes and the pressure data of the second tire 22; The second wireless transceiver 210 matched with the first wireless transceiver 130, for receiving described in the first wireless transceiver 130 sends the pressure data of the first tire 21 after treatment and the pressure data of the second tire 22; The central control unit 220 be connected with the second wireless transceiver 210, for the pressure data of the pressure data and the second tire 22 that receive the first tire 21 after treatment, and according to the change value of pressure of the first tire 21 under previous state and current state and the change value of pressure of the second tire 22, determine the running status that this balanced car with two wheels 20 is current.
First pressure transducer 116, second pressure transducer 118, signal processor 120 and the first wireless transceiver 130 be composition signals collecting end 100 jointly.Second wireless transceiver 210 and central control unit 220 composition Signal reception and end for process 200 jointly.Particularly, described first pressure transducer 116 and the second pressure transducer 118 all adopt the conventional pressure transducer that can detect the tire pressure of balanced car with two wheels; Signal processor 120 adopts conventional signal handling equipment, such as, and the process processed the transducing signal that the first pressure transducer 116 and the second pressure transducer 118 export is same as the prior art, comprises the signal transacting step that analog to digital conversion, filtering, amplification etc. are conventional.First wireless transceiver 130 and the second wireless transceiver 210 adopt conventional wireless transmitting device.Central control unit 220, as control module, for receiving the signal that the second wireless transceiver 210 sends, and carries out running status judgement according to these signals and controls the running status of balanced car with two wheels further.For the present invention, the tire pressure of the first tire 21 that central control unit 220 can detect according to the first pressure transducer 116 and the second pressure transducer 118 and the second tire 22, judges the running status of balanced car with two wheels.This by following to the description of the condition detection method for balanced car with two wheels of the present invention in be described in detail.
As shown in Figure 3, be the process flow diagram of the condition detection method for balanced car with two wheels utilizing said apparatus.The method comprising the steps of S100-S300.In the step s 100, the first state pressure value of two tires of this balanced car with two wheels under laststate is measured respectively; In step s 200, measure the current state force value of described two tires under current state respectively, and according to above-mentioned first state pressure value and current state force value, calculate the pressure variety of two tires under laststate and current state; In step S300, according to the pressure variety of described two tires, judge the running status of this balanced car with two wheels.Below further combined with accompanying drawing 1,2,3, each step is described in more detail.
Step S100.In this step, utilize the first pressure transducer 116 and the second pressure transducer 118, the first tire 21 of balanced car with two wheels under laststate 20 and the force value of the second tire 22 are measured.After measurement after signal processing unit 120 processes, be transported in central control unit 220 by the first wireless transceiver 130, second wireless transceiver 210.
Step S200.In this step, utilize the first pressure transducer 116 and the second pressure transducer 118, the first tire 21 of balanced car with two wheels under current state 20 and the force value of the second tire 22 are measured.Similarly, after measurement after signal processing unit 120 processes, be transported in central control unit 220 by the first wireless transceiver 130, second wireless transceiver 210.
Step S300.In this step, by the change value of pressure of current state compared to laststate, judge the running status of balanced car with two wheels.After judging running status, central control unit can send prompting according to actual conditions, or carries out control adjustment to the running status of balanced car with two wheels.
Above-mentioned motion state judges the pavement state judgement, steering state judgement, free falling body state judgement, unmanned state judgement etc. that can comprise the driving pose discrimination of driver, current driving.Below in conjunction with each embodiment, the method that above each state judges is described in detail.
embodiment 1, drives attitude and judges.
In this embodiment, can pressure variety be utilized, the driving attitude correctness of driver is judged.This is because, in the process of driver, owing to driving the incorrect of attitude, such as pin steps on the difference of position and the difference of double-legged assigner's body weight, likely cause the front and back pressure change difference of two tires greatly, this can cause easily occurring the accidents such as rollover when turning, and is unfavorable for traffic safety.By the present invention, can work as drive attitude incorrect time, driver is reminded, allows its adjustment standing place or bipod reasonable distribution body weight.Particularly:
In step 100, state during this balanced car with two wheels zero load is set as the first state;
In step 200, state when driver being stood on balanced car with two wheels is set as current state;
In step 300, comprise and judge that driver drives the step of attitude, this step comprises: (1) determines that driver to weigh value in the standard that standard is driven under attitude; (2), compared with value of pressure variety and this standard being weighed, determine that whether the driving attitude of driver is correct.This standard value of weighing refers to the weight of the driver when correctly standing.Such as, to weigh 1/10 of value if pressure variety has exceeded this standard, be then judged as that the driving attitude of driver is incorrect, now central controller sends prompting, reminds driver to line up, or bipod reasonable distribution body weight.
embodiment 2, pavement behavior judges.
In this embodiment, according to pressure variety, road conditions can be judged.When balanced car with two wheels travels on the road surface of different road conditions, such as flat road surface and rugged road surface, two pressure transducers 116 and 118 be arranged in tire 21,22 can collect the pressure change brought on different road surface.Amplitude as periodically variable in tire pressure in flat road surface is less, get rid of tyre temperature to the impact of pressure, tire pressure change is less than 5% of tire average gas pressure, and rugged and rough road surface is up sail time, pressure transducer can collect the spike force value changed greatly, get rid of tyre temperature to the impact of pressure, tire pressure change is between the 5%-10% of tire average gas pressure, indivedual larger tire pressure change of jolting can exceed 10% of tire average gas pressure, but this spike force value half the time is all very short, majority is less than 0.5s, therefore, the amplitude that can be changed by force value and duration and identifiable design flat road surface and rugged and rough road surface.Identify travel on rugged and rough road surface time, now can advise that driver reduces the speed of a motor vehicle or automatically reduces the speed of a motor vehicle to guarantee safe driving.
Therefore, in step 300, can comprise and judge pavement behavior determining step in driving, this step comprises: when this pressure variety is greater than 5% of the mean value of the first state pressure value of two tires, judges that the road conditions under current state are rugged and rough road surface.Thus can propose to slow down accordingly suggestion to driver.Easy understand, in this embodiment, the mensuration of the first state pressure value, carries out after driver gets on the bus.
embodiment 3, steering state judges.
In this embodiment, tire pressure variable quantity can be utilized, vehicle steering state is in the process of moving judged.Particularly, in step 300, can comprise judge drive in turn to condition adjudgement step, this step comprises: when the pressure variety of a described tire is negative value, and the pressure variety of another tire be on the occasion of time, judge that current state is turn condition.
When balanced car with two wheels is when turning, because the center of gravity of balanced car with two wheels is higher, if excessive velocities, under the influence of centrifugal force, turning side wheel likely departs from ground thus causes overturning, in such cases, tyre pressure sensor can detect the pressure change of both sides tire, as wall pressure of turning diminishes and opposite side pressure becomes large, coordinate signal for turn, when central control unit identification is turned, whether the pressure of both sides tire has obvious change, can judge car is to which lopsidedness by tire pressure change, as wall pressure of turning diminishes and opposite side pressure becomes large, then car tilts laterally, as turned, wall pressure change is large and opposite side pressure diminishes, then car tilts to the inside, thus can judge turn not enough or turn excessive, can advise that the sensitivity of driver or the adjustment speed of a motor vehicle and turning is automatically to guarantee safe driving.
embodiment 4, free falling body state judges.
In this embodiment, whether freely falling body can be done to balanced car with two wheels or parabolic motion judges.Determination methods is, in step 300, comprise free falling body state step in judging to drive, this step comprises: when this pressure variety equal adding of the car body weight of this balanced car with two wheels and load weight and time, judge that current state is free falling body state.
Particularly, because balanced car with two wheels is the principle of work according to reversible pendulum system, control servomotor action, thus make vehicle body maintain a dynamic balance state.When the overall center of gravity top rake of driver and vehicle, built-in servo-electric chance in vehicle body produces strength forward, the moment of torsion that one side balance people and car are toppled over forward, another aspect produces the acceleration allowing vehicle advance and balances to maintain car body, on the contrary, when the center of gravity of driver is toward hypsokinesis, also the strength that can produce backward reaches counterbalance effect.When balanced car with two wheels is when doing freely falling body or parabolic motion, the vehicle body attitude that its attitude sensor may detect turns forward, control wheel rotates forward to keep balance by such control module fast, equally, if attitude sensor detects that vehicle body attitude tilts backwards, control wheel rotates backward to keep balance by such control module fast, due to now wheel hanging, namely light condition is in, the rotation forward or backward that wheel is too fast may be caused, thus make car out of trim in the moment of tire ground connection, cause overturn accident occurs.
When balanced car with two wheels is when doing freely falling body or parabolic motion, because tire is in vacant state, now the weight of car and people do not born by tire, tyre pressure sensor can detect that the pressure of two tires diminishes all suddenly, and change value of pressure equals car body weight adds upper load weight of getting on the bus, central control unit is after identifying, impact when can keep or reduce wheel speed to prevent wheel from landing causes out of trim.
embodiment 5, unmanned condition adjudgement.
In this embodiment, comprise whether being that unmanned state judges.Particularly, in step 300, comprise and judge whether this balanced car with two wheels is in the step of unmanned state, this step comprises: when this pressure variety equals the load weight of this balanced car with two wheels, judges that current state is unmanned state.
When balanced car with two wheels in the process of moving, if run into emergency case, driver likely makes and jumps car action, now two wheeler is in unmanned state, be easy to cause the accident, for ensureing safety, need whether onboard on-line checkingi is carried out to people, to be equivalent on car a very large load to unload because people gets off, tyre pressure sensor can detect that the pressure of two tires diminishes all suddenly, and change value of pressure equals load weight on car, if central control unit detects that on car, load disappears a period of time (such as 2s), driver can be judged not onboard, wheel speed can be reduced and stop to ensure safety.
In addition, present invention also offers a kind of method utilizing the load-carrying of said apparatus to balanced car with two wheels to weigh, the method comprises the following steps:
1, for two tires of balanced car with two wheels set the first parameter P1 to be calibrated and the second parameter P2 respectively, and utilize these two tire force value Fs1 separately, Fs2 when measuring unloaded.Composition graphs 2, force value Fs1, Fs2 when utilizing the first pressure transducer 116 and the second pressure transducer 118 to measure zero load, be then transported to central control unit 220 by the first wireless transceiver 130 and the second wireless transceiver 210.
2, similarly, the loads that two pieces of quality are M1 is separately positioned on for the position that driver's both feet are trampled on balanced car with two wheels, and measures now these two tire force value Fe1 separately, Fe2.
3, further, be separately positioned on by the loads that two pieces of quality are M2 for the position that driver's both feet are trampled on balanced car with two wheels, and measure now these two tire force value Fe3 separately, Fe4, the value of wherein said M2 and M1 is different.
4, determine P1, P2 according to following equation:
2M1=P1 × (Fe1-Fs1)+P2 × (Fe2-Fs2), and
2M2＝P1×(Fe3-Fs1)+P2×(Fe4-Fs2)；
5, when this balanced car with two wheels is under load condition, calculate load-carrying L according to following formula:
L＝P1×ΔF1+P2×ΔF2，
Wherein, the pressure variety of these two tires under Δ F1, Δ F2 are respectively load condition and under light condition.
This weight may be used for the controling parameters of adjustment System, makes the handling of vehicle remain on optimum state.
In sum, the condition checkout gear for balanced car with two wheels of the present invention and method, according to the tyre pressure sensor be arranged in the tire of left and right, calculate the change of tire pressure, and then obtain the running status of system.The state that control system can be judged according to this, the controling parameters of adjustment balance in real time, or safety traffic prompting is sent to driver, thus ensure that the handling of vehicle operates in optimum state.
Claims (8)
1. for a condition checkout gear for balanced car with two wheels, it is characterized in that, comprising:
First pressure transducer, described first pressure transducer is arranged on the first tire of this balanced car with two wheels, for measuring the pressure of the first tire;
Second pressure transducer, described second pressure transducer is arranged on the second tire of this balanced car with two wheels, for measuring the pressure of the second tire;
The signal processor be connected with the second pressure transducer with described first pressure transducer, for carrying out data processing to the pressure data of the first tire measured and the pressure data of the second tire;
The first wireless transceiver be connected with described signal processor, for the pressure data of the pressure data and the second tire that send the first tire after described signal processor processes;
The second wireless transceiver matched with described first wireless transceiver, for receiving described in the first wireless transceiver sends the pressure data of the first tire after treatment and the pressure data of the second tire;
The central control unit be connected with described second wireless transceiver, for the pressure data of the first tire after treatment described in receiving and the pressure data of the second tire, and according to the change value of pressure of the first tire under previous state and current state and the change value of pressure of the second tire, determine the running status that this balanced car with two wheels is current.
2. for a condition detection method for balanced car with two wheels, it is characterized in that, comprise the following steps:
A, measures the first state pressure value of two tires of this balanced car with two wheels under laststate respectively;
B, measures the current state force value of described two tires under current state respectively, and according to described first state pressure value and current state force value, calculates the pressure variety of two tires under laststate and current state;
C, according to the pressure variety of described two tires, judges the running status of this balanced car with two wheels.
3. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that,
In described step a, state when this balanced car with two wheels is unloaded is set as the first state;
In described step b, state when driver being stood on balanced car with two wheels is set as current state;
In described step c, comprise and judge that driver drives the step of attitude, this step comprises:
Determine that driver to weigh value in the standard that standard is driven under attitude;
Compared with value that pressure variety and this standard are weighed, to weigh 1/10 of value if pressure variety is greater than this standard, be then judged as that the driving attitude of driver is incorrect.
4. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that, in described step c, comprise and judge pavement behavior determining step in driving, this step comprises:
When this pressure variety is greater than 5% of the mean value of the first state pressure value of these two tires, judge that the road conditions under current state are rugged and rough road surface.
5. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that, in described step c, comprise and judge to turn to condition adjudgement step in driving, this step comprises:
When the pressure variety of a tire is negative value, and the pressure variety of another tire be on the occasion of time, judge that current state is turn condition.
6. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that, in described step c, comprise and judge free falling body state step in driving, this step comprises:
When this pressure variety equal adding of the car body weight of this balanced car with two wheels and load weight and time, judge that current state is free falling body state.
7. the condition detection method for balanced car with two wheels according to claim 2, is characterized in that, in described step c, comprise and judge whether this balanced car with two wheels is in the step of unmanned state, this step comprises:
When this pressure variety equals the load weight of this balanced car with two wheels, judge that current state is unmanned state.
8. to the method that the load-carrying of balanced car with two wheels is weighed, it is characterized in that, comprise the following steps:
A, for two tires of balanced car with two wheels set the first parameter P1 to be calibrated and the second parameter P2 respectively, and these two tire force value Fs1 separately, Fs2 when measuring unloaded;
B, is separately positioned on the loads that two pieces of quality are M1 for the position that driver's both feet are trampled on balanced car with two wheels, and measures now these two tire force value Fe1 separately, Fe2;
C, be separately positioned on by the loads that two pieces of quality are M2 for the position that driver's both feet are trampled on balanced car with two wheels, and measure now these two tire force value Fe3 separately, Fe4, wherein said M2 and M1 is different;
D, determines P1, P2 according to following equation:
2M1=P1 × (Fe1-Fs1)+P2 × (Fe2-Fs2), and
2M2＝P1×(Fe3-Fs1)+P2×(Fe4-Fs2)；
E, when this balanced car with two wheels is under load condition, calculates load-carrying L according to following formula:
L＝P1×△F1+P2×△F2，
Wherein, the pressure variety of these two tires under △ F1, △ F2 are respectively load condition and under light condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110428330.7A CN103162738B (en) | 2011-12-19 | 2011-12-19 | For condition checkout gear and the method for balanced car with two wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110428330.7A CN103162738B (en) | 2011-12-19 | 2011-12-19 | For condition checkout gear and the method for balanced car with two wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103162738A CN103162738A (en) | 2013-06-19 |
| CN103162738B true CN103162738B (en) | 2015-07-29 |
Family
ID=48586013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110428330.7A Active CN103162738B (en) | 2011-12-19 | 2011-12-19 | For condition checkout gear and the method for balanced car with two wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103162738B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103558778B (en) * | 2013-11-01 | 2016-08-17 | 深圳乐行天下科技有限公司 | The condition detection method of a kind of two-wheeled balance car and system |
| CN103697982B (en) * | 2013-12-17 | 2015-12-09 | 重庆大唐科技股份有限公司 | Vehicle-mounted Weighing method, Onboard weighing device, vehicle-mounted weighing system and vehicle control system |
| CN105043519A (en) * | 2015-08-24 | 2015-11-11 | 无锡伊佩克科技有限公司 | Weight balance detection system for vehicle |
| CN108324196B (en) * | 2016-03-01 | 2020-10-13 | 常州信息职业技术学院 | Working method of sweeping robot |
| CN106289627B (en) * | 2016-09-14 | 2019-03-08 | 北京必创科技股份有限公司 | A kind of air cushion pressure monitoring method of aircushion vehicle |
| CN107767490A (en) * | 2017-10-24 | 2018-03-06 | 合肥工业大学 | A kind of method judged for fork truck rollover instability status |
| CN109000643B (en) * | 2018-06-01 | 2021-11-12 | 深圳市元征科技股份有限公司 | Navigation parameter acquisition method, vehicle sharp turning judgment method, system and device |
| CN113147774B (en) * | 2021-04-26 | 2022-06-03 | 季华实验室 | Method and device for judging gravity center balance of AGV (automatic guided vehicle), electronic equipment and storage medium |
| CN114590347B (en) * | 2022-04-01 | 2023-12-19 | 东莞博仕电子科技有限公司 | Multifunctional motorcycle driving monitoring method and system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5927424A (en) * | 1994-06-14 | 1999-07-27 | Brinks Westmaas B.V. | Self-stabilizing, directionally controllable vehicle with at least three wheels |
| CN1825084A (en) * | 2006-04-05 | 2006-08-30 | 江苏大学 | An automatic monitoring device for truck loading balance and its control method |
| CN201009984Y (en) * | 2006-06-30 | 2008-01-23 | 宁波Gqy视讯股份有限公司 | Dual-purpose of standing and sitting type self-blancing two-wheeled vehicle |
| JP2008037210A (en) * | 2006-08-03 | 2008-02-21 | Toyota Motor Corp | Traveling apparatus and braking control method for traveling apparatus |
| CN201115294Y (en) * | 2007-08-17 | 2008-09-10 | 卢灿光 | An automobile tire pressure detection and alarm device |
| CN201228037Y (en) * | 2008-06-16 | 2009-04-29 | 周惠兴 | Two-wheel self balancing electric motor vehicle |
| CN201736748U (en) * | 2010-07-02 | 2011-02-09 | 宁波大学 | Electric bicycle tyre pressure detection system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7275607B2 (en) * | 1999-06-04 | 2007-10-02 | Deka Products Limited Partnership | Control of a personal transporter based on user position |
| JP4650327B2 (en) * | 2005-04-14 | 2011-03-16 | トヨタ自動車株式会社 | Coaxial motorcycle |
-
2011
- 2011-12-19 CN CN201110428330.7A patent/CN103162738B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5927424A (en) * | 1994-06-14 | 1999-07-27 | Brinks Westmaas B.V. | Self-stabilizing, directionally controllable vehicle with at least three wheels |
| CN1825084A (en) * | 2006-04-05 | 2006-08-30 | 江苏大学 | An automatic monitoring device for truck loading balance and its control method |
| CN201009984Y (en) * | 2006-06-30 | 2008-01-23 | 宁波Gqy视讯股份有限公司 | Dual-purpose of standing and sitting type self-blancing two-wheeled vehicle |
| JP2008037210A (en) * | 2006-08-03 | 2008-02-21 | Toyota Motor Corp | Traveling apparatus and braking control method for traveling apparatus |
| CN201115294Y (en) * | 2007-08-17 | 2008-09-10 | 卢灿光 | An automobile tire pressure detection and alarm device |
| CN201228037Y (en) * | 2008-06-16 | 2009-04-29 | 周惠兴 | Two-wheel self balancing electric motor vehicle |
| CN201736748U (en) * | 2010-07-02 | 2011-02-09 | 宁波大学 | Electric bicycle tyre pressure detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103162738A (en) | 2013-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103162738B (en) | For condition checkout gear and the method for balanced car with two wheels | |
| CN103192913B (en) | Device and method for detecting state of self-balancing two-wheel vehicle | |
| CN202420852U (en) | State detecting device for self-balance two-wheel cycle | |
| US11484775B2 (en) | Electric skateboard with strain-based controls and methods | |
| CN102798448B (en) | Online load detection device for self-balancing two-wheel vehicle | |
| WO2009001039A1 (en) | A sensor unit and a vehicle load and parking warning system incorporating such sensor units | |
| CN102756686B (en) | The method and apparatus of early warning vehicle rollover | |
| US7072763B2 (en) | Intelligent load distribution system | |
| EP2925553B1 (en) | Vehicle controller and method of controlling a vehicle | |
| EP2634555A1 (en) | Measurement device of position of center of gravity of vehicle to be measured on truck scale and truck scale | |
| JP5970623B1 (en) | Connected vehicle fall prediction device and connected vehicle | |
| CN115071822B (en) | Vehicle steering monitoring method | |
| CN113570906A (en) | A kind of dangerous chemicals transport vehicle driving and safety state monitoring and early warning system and method | |
| JP2004291895A (en) | Rollover prevention device of vehicle | |
| CN114136362B (en) | Intelligent monitoring method and device for tire load | |
| CN115123263B (en) | Vehicle running deviation control method, vehicle controller and vehicle | |
| KR101731341B1 (en) | Unmanned system for supervising overloaded vehicle | |
| CN112270828A (en) | Vehicle early warning method and device, electronic equipment and vehicle | |
| CN102196957A (en) | Driving dynamics controller with slip-angle-based steering intervention | |
| CN206818298U (en) | Vehicle Weight Measuring Device Based on Suspension Compression | |
| CN106427416A (en) | Tire pressure detection method and tire pressure detection system for vehicle, and vehicle | |
| CN103171490B (en) | Forewarning method and forewarning system of road vehicle curve side rollover | |
| CN206267605U (en) | A kind of automobile weighing warning system of vertical circulation multi-storied garage | |
| JPH06247245A (en) | Inter-car distance alarm device and control device | |
| JPS6229409A (en) | Vehicle condition detecting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191206 Address after: 315336 No.111 Binhai 4th Road, Hangzhou Bay New District, Ningbo, Zhejiang Province Patentee after: Ningbo qikewei Electronic Co.,Ltd. Address before: 201318 Shanghai city Pudong New Area Zhou Pu Zhen Shen Mei Road 99 Lane 3 No. 1-9 Building 2 floor B block Patentee before: Shanghai New Century Robot Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CP02 | Change in the address of a patent holder |
Address after: 315336 No.111 Binhai 4th Road, Hangzhou Bay New District, Ningbo City, Zhejiang Province Patentee after: Ningbo qikewei Electronic Co.,Ltd. Address before: 315336 No.111 Binhai 4th Road, Hangzhou Bay New District, Ningbo, Zhejiang Province Patentee before: Ningbo qikewei Electronic Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240106 Address after: 315336 No. 131 Binhai Fourth Road, Hangzhou Bay New Area, Ningbo City, Zhejiang Province Patentee after: Ningbo Gauss Robot Co.,Ltd. Address before: No. 111, Binhai 4th Road, Hangzhou Bay New District, Ningbo City, Zhejiang Province Patentee before: Ningbo qikewei Electronic Co.,Ltd. |
|
| TR01 | Transfer of patent right |