CN111674498B - A bicycle intelligent ABS system - Google Patents

Abstract

The invention discloses a bicycle intelligent ABS system and a control method thereof. The system of the invention 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 speed measuring sensor. Two control valves. In the present invention, the system is activated when the bicycle is braked. The main controller is based on the speed signals from the front and rear wheel speed sensors, when the speed difference between the rear wheel and the front wheel reaches an interval. The system can determine the locking state of the wheels, and start to switch on and off the solenoid valves on the brakes that control the brake lines at high speed, so as to reduce the braking force, prevent the wheels from being completely locked due to excessive braking force, and improve driving safety. sex.

Description

A bicycle intelligent ABS system

technical field

The invention relates to the technical field of bicycle control, in particular to a bicycle intelligent ABS system and a control method thereof.

Background technique

ABS (Antilock Brake System) is the abbreviation of anti-lock braking system, which can prevent the wheels from suddenly locking during emergency braking, thereby losing friction and traction, and eventually causing an accident.

The brake device of a traditional bicycle is installed on the front and rear wheels, and its control ends are located at the left and right positions of the handlebar, the left handbrake controls the rear wheel braking, and the right handbrake controls the front wheel braking. The bicycle has only two wheels, front and rear. If any one of the wheels locks up, the body will slide. The contact area between the bicycle wheel and the ground is very small (in order to reduce the riding resistance), and the friction force generated by the wheel on different roads is very different. It is very difficult for the cyclist to control the braking of the wheel by experience. It is easy to lock, the braking force is small, and the vehicle will slide a long distance to stop.

Therefore, in the actual riding of the current bicycle, when the speed is extremely high or downhill or encounters an emergency, the sudden braking will cause the rear wheel and the ground to change from rolling friction to sliding friction, thereby losing traction and traction. If the situation occurs on the front wheel, it will be even more dangerous. If the braking force is not well controlled, it will easily cause a rollover and a crash. Especially in the condition of slippery roads in rainy days, the gripping ability of the wheels is obviously reduced, and even slight braking can easily cause the wheels to lock up, causing side slips with people and the car, which is very dangerous.

Therefore, it is urgent to provide an intelligent anti-lock braking system for bicycles to improve braking performance and safety.

SUMMARY OF THE INVENTION

In order to overcome the technical problem of potential safety hazards in the existing bicycle braking technology (especially in rainy days, fast driving or downhill, etc.), the present invention provides an intelligent bicycle ABS system.

The present invention is achieved through the following technical solutions:

A bicycle intelligent ABS system, the system includes a main controller, a first speed sensor, a second speed sensor, a first pressure sensor, a second pressure sensor, a first control valve and a second control valve;

The first speed sensor and the second speed sensor are respectively installed on the front wheel and the rear wheel of the bicycle to measure the speed of the wheel;

The first pressure sensor and the second pressure sensor are respectively installed on the left and right hand brakes of the bicycle to measure the force of the hand brakes;

The first control valve is installed at any position on the brake line of the front wheel of the bicycle, and the second control valve is installed at any position on the brake line of the rear wheel of the bicycle;

The first control valve and the second control valve apply a tension force to the corresponding brake wire when the first control valve and the second control valve are not working; the first control valve and the second control valve do not apply a tension force to the brake wire when they are working;

Both the first first pressure sensor and the second pressure sensor are connected in communication with the main controller, and are used for starting the main controller to perform the 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 sensor and the second speed sensor, and automatically realizes the bicycle braking mode.

The invention utilizes the ABS anti-locking principle, that is, by detecting whether the wheel is locked, once it is locked, it is forcibly released, and then continues to be locked, and then forcibly released. The critical state between locks keeps the wheels turning, does not produce sideslip, and provides maximum braking force. The precondition for activating ABS is to detect whether the wheels are locked, that is to say, the system must make a judgment first, rather than braking with a fixed braking force.

The working principle of the invention: the front and rear wheels of the bicycle are respectively connected with the handbrake through the brake wire (steel wire), the handbrake is pulled, and the handbrake drives the brake wire to make the brakes hold the wheels tightly, thereby slowing down the running speed of the wheels. By setting a control valve at any position on the two brake lines, when the control valve is in a non-conducting state (that is, in a non-working state), the control valve naturally stretches, and it exerts a certain tension on the brake line, so that the brake The wire part is in a bent state. After the power is turned on (that is, the working state), the control valve is in a retracted state, and no tension is applied to the brake wire, so that the brake wire is in a normal tension state; when the handbrake is pulled, the brake in a bent state After starting the control valve, the brake line is released by the control valve, which reduces the holding force (friction force) of the brake on the wheel; and the present invention realizes the opening of the control valve by detecting the speed difference between the front and rear wheels of the bicycle. break control.

Optionally, the present invention is specifically used to start the main controller as follows:

When the main controller detects the pressure signal of the first pressure sensor or the second pressure sensor, it starts to execute the braking mode of the bicycle.

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 measuring sensor and the second speed measuring sensor, and realizes the auxiliary braking of the bicycle is specifically:

和第二测速传感器的检测信号

并计算两个检测信号的差值

；The main controller is used to collect the detection signal of the first speed sensor in real time

and the detection signal of the second speed sensor

and calculate the difference between the two detection signals

;

的符号以及差值

的绝对值

与阈值的关系来控制第一控制阀和/或第二控制阀的工作状态以执行自行车的刹车模式，控制过程如下：The main controller is based on the difference

sign and difference

the absolute value of

The relationship with the threshold value is used to control the working state of the first control valve and/or the second control valve to execute the braking mode of the bicycle. The control process is as follows:

为正，且

阈值，则进行后车轮辅助刹车，由主控制器发出控制命令给第二控制阀，以预设时间间隔控制第二控制阀通断，使得后车轮处于转动和被锁的临界状态；when

is positive, and

If the threshold value is exceeded, the auxiliary braking of the rear wheels is performed, and the main controller sends a control command to the second control valve to control the on-off of the second control valve at a preset time interval, so that the rear wheels are in a critical state of being rotated and locked;

为负，且

阈值，则进行前车轮辅助刹车，由主控制器发出控制命令给第一控制阀，以预设时间间隔控制第一控制阀通断，使得前车轮处于转动和被锁的临界状态；when

is negative, and

If the threshold value is exceeded, the auxiliary braking of the front wheels is performed, and the main controller sends a control command to the first control valve to control the opening and closing of the first control valve at a preset time interval, so that the front wheels are in a critical state of rotation and locking;

Otherwise, the main controller issues a control command to close the first control valve and the second control valve, and perform a normal braking state.

Optionally, the preset time interval of the present invention is less than 0.1s.

Optionally, the first speed measuring sensor and the second speed measuring sensor of the present invention both use encoders for measuring the rotational speed of the wheels.

Optionally, the first control valve and the second control valve of the present invention both use solenoid valves.

Optionally, the main controller of the present invention adopts a single-chip microcomputer.

On the other hand, the present invention also proposes the above-mentioned control method of a bicycle intelligent ABS system, which comprises the following steps:

Step 1, when the main controller detects the pressure signal of the first pressure sensor or the second pressure sensor, it starts to execute steps 2 and 3;

和第二测速传感器的检测值

，并计算两者之间的差值

；Step 2: The main controller collects the detection value of the first speed sensor in real time

and the detection value of the second speed sensor

, and calculate the difference between the two

;

的符号以及差值

的绝对值

与阈值的关系来控制第一控制阀和/或第二控制阀的工作状态以执行自行车的刹车模式。Step 3, the main controller according to the difference

sign and difference

the absolute value of

The relationship with the threshold value is used to control the working state of the first control valve and/or the second control valve to implement the braking mode of the bicycle.

Optionally, the specific control process of step 3 of the present invention is as follows:

为正，且

阈值，则进行后车轮辅助刹车，由主控制器发出控制命令给第二控制阀，以预设时间间隔控制第二控制阀通断，使得后车轮处于转动和被锁的临界状态；when

is positive, and

If the threshold value is exceeded, the auxiliary braking of the rear wheels is performed, and the main controller sends a control command to the second control valve to control the on-off of the second control valve at a preset time interval, so that the rear wheels are in a critical state of being rotated and locked;

为负，且

阈值，则进行前车轮辅助刹车，由主控制器发出控制命令给第一控制阀，以预设时间间隔控制第一控制阀通断，使得前车轮处于转动和被锁的临界状态；when

is negative, and

If the threshold value is exceeded, the auxiliary braking of the front wheels is performed, and the main controller sends a control command to the first control valve to control the opening and closing of the first control valve at a preset time interval, so that the front wheels are in a critical state of rotation and locking;

Otherwise, the main controller issues a control command to close the first control valve and the second control valve, and perform a normal braking state.

The present invention has the following advantages and beneficial effects:

1. The present invention utilizes the principle of ABS to realize automatic auxiliary braking of bicycles, which can solve the technical problem of potential safety hazards in the locked state of bicycle wheels, and is especially suitable for bicycles running fast, downhill, raining or encountering sudden changes. events, etc.

2. The system structure of the present invention is simple and easy to implement;

Description of drawings

The accompanying drawings described herein are used to provide further understanding of the embodiments of the present invention, and constitute a part of the present application, and do not constitute limitations to the embodiments of the present invention. In the attached image:

FIG. 1 is a schematic diagram of the system structure of the present invention.

FIG. 2 is a schematic diagram of the working principle of the control valve of the present invention. Among them, (a) is when the control valve is not working (not energized); (b) is when the control valve is working (energized).

Detailed ways

Hereinafter, the terms "comprising" or "may include" as may be used in various embodiments of the present invention indicate the presence of an invented function, operation or element and do not limit the identity of one or more functions, operations or elements Increase. Furthermore, as used in various embodiments of the present invention, the terms "comprising", "having" and their cognates are only intended to mean a particular feature, number, step, operation, element, component or combination of the foregoing, and should not be construed as first excluding the presence of or adding one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing or the possibility of a combination of the foregoing.

In various embodiments of the invention, the expression "or" or "at least one of A or/and B" includes any and all combinations of the words listed at the same time. For example, the expressions "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", etc.) used in the various embodiments of the present invention may modify various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and/or importance of the elements described. The above expressions are only used for the purpose of distinguishing one element from other elements. 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 a constituent element is described as being "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and the "connection" between the first constituent element and the second constituent element may be "The third component. On the contrary, when one constituent element is "directly connected" to another constituent element, it can be understood that the third constituent element does not exist between the first constituent element and the second constituent element.

The terminology used in the various embodiments of the present invention is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of the present invention. As used herein, the singular is intended to include the plural as well, unless the context clearly dictates 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 this invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized or overly formal meaning, unless explicitly defined in the various embodiments of the present invention.

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and the accompanying drawings. as a limitation of the present invention.

Example

Compared with the problem of potential safety hazards in the traditional bicycle brake device, the present embodiment proposes an intelligent ABS system for bicycles by using the ABS principle.

The main body of the system in this embodiment is the main controller, two solenoid valves installed on the brake line, two speed sensors installed on the wheels and a pressure sensor installed on the brake brake. The principle of the system is that when the bicycle brakes, the system is activated. The main controller is based on the speed signals from the front and rear wheel speed sensors, when the speed difference between the rear wheel and the front wheel reaches an interval. The system can determine the locking state of the wheels, and start to turn on and off the solenoid valves on the brakes that control the brake lines at high speed, reducing the braking force and preventing the wheels from being completely locked due to excessive braking force. In the braking state is always at the best point, to achieve relatively good braking effect, to ensure driving safety. After the bicycle decelerates, once the system microcontroller detects that the wheel lock state disappears (the speed difference between the front and rear wheels is less than the set range) or the brake brake is released from the overwhelming state, it will close the solenoid valve, so that the system will turn to normal. work in the braking state.

Specifically, as shown in FIG. 1 , the system of this embodiment includes: a main controller, a first speed sensor, a second speed sensor, a first pressure sensor, a second pressure sensor, a first control valve, and a second control valve;

The first speed sensor and the second speed sensor are respectively installed on the front wheel and the rear wheel of the bicycle to measure the speed of the wheel;

The first pressure sensor and the second pressure sensor are respectively installed on the left and right hand brakes of the bicycle to measure the force of the hand brakes;

The first control valve is installed at any position on the brake line of the front wheel of the bicycle, and the second control valve is installed at any position on the brake line of the rear wheel of the bicycle;

The first control valve and the second control valve apply a tension force to the corresponding brake wire when the first control valve and the second control valve are not working; the first control valve and the second control valve do not apply a tension force to the brake wire when they are working;

The detection signal of the first pressure sensor or the second pressure sensor is used to start the main controller to perform auxiliary braking 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 sensor and the second speed sensor, and automatically realizes the bicycle braking mode.

In this embodiment, a control valve is respectively set at any position on the two brake lines, and the control valves in this embodiment are all solenoid valves.

As shown in Figure 2, the working principle of the control valve on one of the brake lines is described as an example: when the control valve 2 is in a non-conducting state (ie, a non-working state), as shown in Figure 2(a), the The control valve 2 is naturally stretched, which exerts a certain tension on the brake wire 1, so that the brake wire 1 is partially in a bent state; In the retracted state, no tension is applied to the brake wire 1, so that the brake wire 1 is in a normal tension state; when the handbrake is pulled, the brake wire 1 in the bent state locks the wheel, and after the control valve 2 is activated, the brake wire 1 Released by control valve 2 to reduce the holding force (friction force) of the brake on the wheel. The control valve on the other brake line works on the same principle as the control valve above.

In this embodiment, an encoder is used as a speed sensor to measure the rotational speed of the wheel.

When the main controller detects the pressure signal of the first pressure sensor or the second pressure sensor, it starts the braking mode, that is, the main controller performs the following operations:

和自行车后车轮上的编码器输出值

，并计算两者之间的差值

，即：

；The main controller obtains the encoder output value on the front wheel of the bicycle in real time

and the encoder output value on the rear wheel of the bicycle

, and calculate the difference between the two

,which is:

;

的符号以及差值

的绝对值

与阈值的关系来控制第一控制阀和/或第二控制阀，以实现自行车的刹车模式；具体控制过程包括：The main controller is based on the difference

sign and difference

the absolute value of

The relationship with the threshold value is used to control the first control valve and/or the second control valve to realize the braking mode of the bicycle; the specific control process includes:

为正，且

阈值（本实施例的阈值是根据检测精度、控制精度等来综合确定），则进行后车轮辅助刹车，由主控制器发出控制命令给第二控制阀，以预设时间间隔（本实施例采用的预设时间间隔为0.05s）控制第二控制阀通断，使得后车轮处于转动和被锁的临界状态，同时产生最大的制动力；when

is positive, and

The threshold value (the threshold value in this embodiment is comprehensively determined according to the detection accuracy, control accuracy, etc.), the rear wheel auxiliary braking is performed, and the main controller sends a control command to the second control valve, at preset time intervals (this embodiment adopts the The preset time interval is 0.05s) to control the on-off of the second control valve, so that the rear wheels are in a critical state of turning and being locked, and at the same time, the maximum braking force is generated;

为负，且

阈值，则进行前车轮辅助刹车，由主控制器发出控制命令给第一控制阀，以预设时间间隔（本实施例采用的预设时间间隔为0.05s）控制第一控制阀通断，使得前车轮处于转动和被锁的临界状态，同时产生最大的制动力；when

is negative, and

threshold value, the front wheel auxiliary braking is performed, and the main controller sends a control command to the first control valve to control the on-off of the first control valve at a preset time interval (the preset time interval adopted in this embodiment is 0.05s), so that The front wheels are in a critical state of turning and locking, while generating maximum braking force;

Otherwise, the main controller issues a control command to close the first control valve and the second control valve, and perform a normal braking state.

The main controller in this embodiment may be implemented by, but not limited to, a single chip microcomputer, a programmable logic device, or a DSP device.

In this embodiment, the automatic braking of the bicycle can be realized through the above-mentioned control process, which can ensure that the maximum braking force is provided without locking the wheels and avoid potential safety hazards.

The control process of the system of this embodiment is as follows:

1. When the main controller detects the pressure signal of the first pressure sensor or the second pressure sensor, it starts to execute the bicycle braking process, such as the following processes 2 and 3;

和第二测速传感器的检测值

，并计算两者之间的差值

；2. The main controller collects the detection value of the first speed sensor in real time

and the detection value of the second speed sensor

, and calculate the difference between the two

;

的符号以及差值

的绝对值

与阈值的关系来控制第一控制阀和/或第二控制阀的工作状态以执行自行车的刹车模式，具体为：3, the main controller according to the difference

sign and difference

the absolute value of

The relationship with the threshold value is used to control the working state of the first control valve and/or the second control valve to execute the braking mode of the bicycle, specifically:

为正，且

阈值，则进行后车轮辅助刹车，由主控制器发出控制命令给第二控制阀，以预设时间间隔控制第二控制阀通断，使得后车轮处于转动和被锁的临界状态；when

is positive, and

If the threshold value is exceeded, the auxiliary braking of the rear wheels is performed, and the main controller sends a control command to the second control valve to control the on-off of the second control valve at a preset time interval, so that the rear wheels are in a critical state of being rotated and locked;

为负，且

阈值，则进行前车轮辅助刹车，由主控制器发出控制命令给第一控制阀，以预设时间间隔控制第一控制阀通断，使得前车轮处于转动和被锁的临界状态；when

is negative, and

If the threshold value is exceeded, the auxiliary braking of the front wheels is performed, and the main controller sends a control command to the first control valve to control the opening and closing of the first control valve at a preset time interval, so that the front wheels are in a critical state of rotation and locking;

Otherwise, the main controller issues a control command to close the first control valve and the second control valve, and perform a normal braking state.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a 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, etc.) 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 present application. It will be understood that each flow and/or block in the flowcharts and/or block diagrams, and combinations of flows and/or blocks in the flowcharts and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in one or more of the flowcharts and/or one or more blocks of the block diagrams.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions An apparatus implements the functions specified in one or more of the flowcharts and/or one or more blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

The specific embodiments described above further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection 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

And the detection signal of the second speed measuring sensor

And calculating the difference between the two detection signals

；

The main controller is based on the difference

Sign and difference of

Absolute value of (2)

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

Is positive, and

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

Is negative, and

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.

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