Self-adaptive control system of electric goods carrying flat car

Abstract

The invention discloses a self-adaptive control system of an electric goods carrying flat car, relates to the technical field of self-adaptive control of flat cars, and solves the problems that in the prior art, the capacity of an express delivery car is improved and expanded, so that more goods can be transported at a time, and the carrying frequency of couriers is reduced; although the labor intensity of the courier is reduced to a certain extent, the technical problems of inconvenience in operation and low efficiency still exist; the method comprises the following steps: acquiring angle change values of all parts of the electric goods carrying flat car in a driving process; calculating an angle difference value between the left pedal angle and the center sill angle to obtain a left angle difference value, and calculating an angle difference value between the right pedal angle and the center sill angle to obtain a right angle difference value; according to the left / right angle difference value, the operation state of the electric goods carrying flat car is controlled; the convenience of cargo carrying is achieved, and the carrying efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of flatbed truck adaptive control, in particular to an adaptive control system of an electric cargo handling flatbed truck. Background Art

[0002] With the vigorous development of online shopping and e-commerce, the volume of express delivery business has shown explosive growth, bringing unprecedented challenges to the express delivery industry, especially in the daily handling of goods by couriers. Couriers need to frequently carry a large amount of goods in their daily work; in the prior art, such as the invention patents with publication numbers CN220785829U and CN221113947U, both mainly improve the capacity of express delivery vehicles, expand the capacity of express delivery vehicles, so that more goods can be transported at one time, and the number of times couriers carry goods is reduced; although the labor intensity of couriers has been reduced to a certain extent, there are still problems such as inconvenient operation and low efficiency.

[0003] Therefore, the present invention proposes an adaptive control system for an electric cargo handling flatbed truck. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art; to this end, the present invention proposes an adaptive control system for an electric cargo handling flatbed truck, which is used to solve the problem that the prior art mainly improves the capacity of express trucks, expands the capacity of express trucks, allows more goods to be transported at one time, and reduces the number of times couriers carry goods; although the labor intensity of couriers is reduced to a certain extent, there are still technical problems of inconvenient operation and low efficiency.

[0005] To achieve the above-mentioned object, a first aspect of the present invention provides an adaptive control system for an electric cargo handling flatbed truck, comprising a speed acquisition module and a control module;

[0006] Speed ​​acquisition module: used to collect the angle change values ​​of various parts of the electric cargo handling flatbed during driving; the angular velocity includes the left pedal angle, the right pedal angle and the middle beam angle;

[0007] A control module; used for calculating the angle difference between the left / right pedal angle and the center beam angle; wherein the angle difference includes a left angle difference and a right angle difference;

[0008] According to the angle difference, the operating state of the electric cargo handling flatbed truck is controlled; wherein the operating state includes acceleration, deceleration and turning.

[0009] Preferably, the collecting of angle change values ​​of various parts of the electric cargo handling flatbed during driving includes:

[0010] The angle change value is collected by the angle sensor;

[0011] The angle sensor at the left pedal collects the angle change value of the left pedal relative to the vertical direction of the vehicle body to obtain the left pedal angle;

[0012] The angle sensor at the right pedal collects the angle change value of the right pedal relative to the vertical direction of the vehicle body to obtain the right pedal angle;

[0013] The angle sensor at the center beam collects the angle change of the center beam relative to the vertical direction of the vehicle body to obtain the center beam angle.

[0014] The present invention uses high-precision angle sensors, and the system can capture the tiny angle changes of each component in real time and accurately, providing precise data support for vehicle control, which is crucial for improving driving experience and enhancing vehicle stability and safety. In a complex and changeable driving environment, the driver's operation and vehicle posture will change constantly. The system can respond quickly to these changes and adjust the control strategy in real time to ensure that it remains in the best state.

[0015] Preferably, the controlling the operating state of the electric cargo handling flatbed truck according to the angle difference includes:

[0016] The left angle difference is the difference between the left pedal angle and the center beam angle;

[0017] The right pedal difference is the difference between the right pedal angle and the center beam angle;

[0018] When the difference between the left angle difference and the right angle difference is within the preset range, the electric cargo handling flatbed truck runs in a straight line;

[0019] When the difference between the left angle difference and the right angle difference is not within the preset range, and the left angle difference is greater than the right angle difference, the electric cargo handling flatbed truck turns left;

[0020] When the difference between the left angle difference and the right angle difference is not within the preset range, and the right angle difference is greater than the left angle difference, the electric cargo handling flatbed truck turns right;

[0021] Among them, when the left angle difference and the right angle difference become larger and larger, the electric cargo handling flatbed truck will accelerate; when the left angle difference and the right angle difference become larger and larger, the electric cargo handling flatbed truck will decelerate.

[0022] By comparing the difference in the left and right angles, the system of the present invention can accurately determine the steering needs of the vehicle and adjust the vehicle's driving direction and acceleration and deceleration needs accordingly. The precise steering and speed control improves the flexibility of the vehicle and realizes intelligent control of the running direction of the electric cargo flatbed truck without direct human intervention, which greatly improves the convenience and accuracy of operation.

[0023] Preferably, when the electric cargo handling flatbed truck is traveling on a horizontal plane, the initial values ​​of the left / right pedal angle and the center beam angle are 0. 0 ;

[0024] When the electric cargo handling flatbed truck is traveling on a slope, due to the effect of gravity, the initial values ​​of the left / right pedal angles and the center beam angle will be synchronously increased by the same angle increment; wherein the angle increment is the slope of the slope.

[0025] Preferably, the electric cargo handling flatbed includes a drive device assembly, a flatbed and a connecting assembly; the drive device assembly 1 includes a left pedal, a right pedal and a middle beam; the drive device assembly and the flatbed are connected via a connecting assembly; wherein, the balancing vehicle is provided with three angle sensors, which are located at the left pedal, the right pedal and the middle beam.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention collects the angle change values ​​of the left / right pedals and the middle beam of the electric cargo handling flatbed truck through an angle sensor, calculates the angle difference between the left / right pedals and the middle beam, controls the acceleration, deceleration and turning operations of the electric cargo handling flatbed truck according to the angle difference, and realizes the adaptive operation of the electric cargo handling flatbed truck; and realizes the climbing action of the electric cargo handling flatbed truck through the change of angle;

[0028] 2. The present invention controls the operation of the electric cargo handling flatbed by somatosensory control, which is easy to operate. The acceleration, deceleration and steering control of the flatbed can be achieved through the movements of both feet, without manual operation or remote control, which greatly improves the convenience of operation. Regardless of whether driving on flat ground or complex terrain such as slopes, the electric cargo handling flatbed of the present invention can provide the driver with a stable and easy control experience, greatly improving the efficiency and safety of the handling operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the process of the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of the electric cargo handling flatbed truck of the present invention;

[0033] In the figure: 1. driving device assembly; 2. flatbed car; 3. connecting assembly; 4. left pedal; 5. right pedal; 6. middle beam; 7. wheels. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-2 , the first aspect of the present invention provides an adaptive control system for an electric cargo handling flatbed truck, including a speed acquisition module and a control module;

[0036] See also Figure 3 The electric cargo handling flatbed truck comprises a driving device assembly 1, a flatbed truck 2, a connecting assembly 3 and a wheel 7; the driving device assembly 1 comprises a left pedal 4, a right pedal 5 and a middle beam 6; the driving device assembly 1 and the flatbed truck 2 are connected via a connecting assembly 3; wherein the driving device assembly 1 is provided with three angle sensors, which are located at the left pedal, the right pedal and the middle beam;

[0037] It should be noted that the connecting assembly 3 is a movable connecting device, which is detachable and convenient for connecting with other transport devices.

[0038] The speed acquisition module collects the angle change values ​​of various parts of the electric cargo handling flatbed during driving; the angular velocity includes the left pedal angle, the right pedal angle and the middle beam angle;

[0039] The angle change value is collected by the angle sensor;

[0040] The angle sensor at the left pedal collects the angle change value of the left pedal relative to the vertical direction of the vehicle body to obtain the left pedal angle;

[0041] The angle sensor at the right pedal collects the angle change value of the right pedal relative to the vertical direction of the vehicle body to obtain the right pedal angle;

[0042] The angle sensor at the center beam collects the angle change of the center beam relative to the vertical direction of the vehicle body to obtain the center beam angle.

[0043] It should be noted that when the foot steps on the left / right pedal, the change in pressure causes the inclination angle of the left / right pedal to change relative to the position of the center beam.

[0044] The control module calculates the angle difference between the left / right pedal angle and the center beam angle; wherein the angle difference includes a left angle difference and a right angle difference;

[0045] According to the angle difference, the operating state of the electric cargo handling flatbed truck is controlled; wherein the operating state includes acceleration, deceleration and turning.

[0046] The left angle difference is the difference between the left pedal angle and the center beam angle;

[0047] The right pedal difference is the difference between the right pedal angle and the center beam angle;

[0048] When the difference between the left angle difference and the right angle difference is within the preset range, the electric cargo handling flatbed truck runs in a straight line;

[0049] When the difference between the left angle difference and the right angle difference is not within the preset range, and the left angle difference is greater than the right angle difference, the electric cargo handling flatbed truck turns left;

[0050] When the difference between the left angle difference and the right angle difference is not within the preset range, and the right angle difference is greater than the left angle difference, the electric cargo handling flatbed truck turns right;

[0051] Among them, when the left angle difference and the right angle difference become larger and larger, the electric cargo handling flatbed truck will accelerate; when the left angle difference and the right angle difference become smaller and smaller, the electric cargo handling flatbed truck will decelerate.

[0052] It should be noted that the left and right pedals can move forward and backward. When the left / right pedal is pressed forward, the angle difference between the pedal and the center beam will become larger, the power output by the drive motor will be greater, and the electric cargo handling flatbed truck will accelerate.

[0053] The left and right pedals can move forward and backward. When the left / right pedal is pressed backward, the angle difference between the pedal and the center beam will become smaller, the power output by the drive motor will become smaller, and the electric cargo flatbed truck will slow down.

[0054] It should be noted that when the electric cargo handling flatbed truck is driving on a horizontal plane, the initial values ​​of the left / right pedal angle and the center beam angle are 0. 0 ;

[0055] For example, when the electric cargo handling flatbed is on flat ground, the initial angles of the left / right pedals and the center beam are both 0°; when the pedals are not stepped on, that is, the left / right angle difference is both 0°, the motor does not output, the electric cargo handling flatbed does not generate forward driving power, and is in a stationary state;

[0056] When the pedal is stepped on, if the left / right pedal angle is 10°, but the middle beam is fixed and inactive, it always remains parallel to the ground, and the angle remains unchanged, always at 0°. At this time, the left / right angle difference is 10°, the drive motor outputs power, and the electric cargo handling flatbed truck generates forward driving power;

[0057] When the pedal is pressed, if the collected left pedal angle is 5° and the right pedal angle is 20°, the differences with the center beam are 5° and 20° respectively, the difference between the left angle difference and the right angle difference is 15°, and assuming that the preset range is [0°-5°], which is greater than the preset range, the output power of the right wheel drive motor is greater than the output power of the left wheel drive motor, and the electric cargo flatbed truck generates power to turn right; conversely, if the output power of the left wheel drive motor is greater than the output power of the right wheel drive motor, the electric cargo flatbed truck generates power to turn left.

[0058] When the electric cargo handling flatbed truck is traveling on a slope, due to the effect of gravity, the initial values ​​of the left / right pedal angles and the center beam angle will be synchronously increased by the same angle increment; wherein the angle increment is the slope of the slope.

[0059] For example, when the electric cargo handling flatbed is on a 15° slope, due to the effect of gravity, the initial angles of the left / right pedals and the middle beam are both 15°; when the pedals are not stepped on, that is, the left / right angle difference is both 15°, the motor does not output, the electric cargo handling flatbed does not generate forward driving power, and is in a stationary state;

[0060] When the pedal is pressed, if the left / right pedal angle is 35°, but the center beam is fixed and inactive, it is always 15°. At this time, the left / right angle difference is 20°, the drive motor outputs power, and the electric cargo handling flatbed truck generates forward driving power;

[0061] When the pedal is pressed, if the collected left pedal angle is 20° and the right pedal angle is 30°, the differences with the center beam are 5° and 15° respectively, the difference between the left angle difference and the right angle difference is 10°, and assuming that the preset range is [0°-5°], which is greater than the preset range, the output power of the drive motor of the right wheel is greater than the output power of the drive motor of the left wheel, then the electric cargo flatbed truck turns right on the slope. On the contrary, if the output power of the drive motor of the left wheel is greater than the output power of the drive motor of the right wheel, then the electric cargo flatbed truck turns left on the slope.

[0062] Working principle of the present invention: The electric cargo handling flatbed truck of the present invention comprises a driving device assembly 1, a flatbed truck 2 and a connecting assembly 3; a speed acquisition module acquires the angle change values ​​of the left pedal, the right pedal and the middle beam of the electric cargo handling flatbed truck during driving, which are the left pedal angle, the right pedal angle and the middle beam angle respectively; a control module calculates the angle difference between the left / right pedal angle and the middle beam angle to obtain the left angle difference and the right angle difference; according to the left / right angle difference, the acceleration, deceleration and turning of the electric cargo handling flatbed truck are controlled.

[0063] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. An adaptive control system for an electric cargo handling flatbed truck, characterized in that: Including speed acquisition module and control module; Speed ​​acquisition module: used to collect the angle change values ​​of various parts of the electric cargo handling flatbed during driving; the angular velocity includes the left pedal angle, the right pedal angle and the middle beam angle; A control module; used for calculating the angle difference between the left / right pedal angle and the center beam angle; wherein the angle difference includes a left angle difference and a right angle difference; According to the angle difference, the operating state of the electric cargo handling flatbed truck is controlled; wherein the operating state includes acceleration, deceleration and turning.

2. The adaptive control system of an electric cargo handling flatbed truck according to claim 1, characterized in that: The collected angle change values ​​of various parts of the electric cargo handling flatbed during driving include: The angle change value is collected by the angle sensor; The angle sensor at the left pedal collects the angle change value of the left pedal relative to the vertical direction of the vehicle body to obtain the left pedal angle; The angle sensor at the right pedal collects the angle change value of the right pedal relative to the vertical direction of the vehicle body to obtain the right pedal angle; The angle sensor at the center beam collects the angle change of the center beam relative to the vertical direction of the vehicle body to obtain the center beam angle.

3. The adaptive control system of an electric cargo handling flatbed truck according to claim 2, characterized in that: The method of controlling the operating state of the electric cargo handling flatbed truck according to the angle difference includes: The left angle difference is the difference between the left pedal angle and the center beam angle; The right pedal difference is the difference between the right pedal angle and the center beam angle; When the difference between the left angle difference and the right angle difference is within the preset range, the electric cargo handling flatbed truck runs in a straight line; When the difference between the left angle difference and the right angle difference is not within the preset range, and the left angle difference is greater than the right angle difference, the electric cargo handling flatbed truck turns left; When the difference between the left angle difference and the right angle difference is not within the preset range, and the right angle difference is greater than the left angle difference, the electric cargo handling flatbed truck turns right; Among them, when the left angle difference and the right angle difference become larger and larger, the electric cargo handling flatbed truck will accelerate; when the left angle difference and the right angle difference become larger and larger, the electric cargo handling flatbed truck will decelerate.

4. The adaptive control system of an electric cargo handling flatbed truck according to claim 1, characterized in that: When the electric cargo platform truck is driving on a horizontal plane, the initial values ​​of the left / right pedal angle and the center beam angle are 0. 0 ; When the electric cargo handling flatbed truck is traveling on a slope, due to the effect of gravity, the initial values ​​of the left / right pedal angles and the center beam angle will be synchronously increased by the same angle increment; wherein the angle increment is the slope of the slope.

5. The adaptive control system of an electric cargo handling flatbed truck according to claim 1, characterized in that: The electric cargo handling flatbed truck comprises a driving device assembly (1), a flatbed truck (2) and a connecting assembly (3); the driving device assembly (1) comprises a left pedal (4), a right pedal (5) and a middle beam (6); the driving device assembly (1) and the flatbed truck (2) are connected via the connecting assembly (3); wherein the driving device assembly (1) is provided with three angle sensors, which are located at the left pedal, the right pedal and the middle beam.

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