Automatic deviation rectifying system for double-motor cart

Abstract

The invention discloses an automatic deviation correction system for a dual-motor cart, which is characterized in that operation instructions sent by a controller comprise a straight movement instruction and a turning instruction, a control module sends an operation instruction to a driving module after receiving the turning instruction, and sends an updating instruction to a data acquisition module after receiving a completion instruction; after the data acquisition module receives the updating instruction, real-time Z-axis angle data at the moment is used as current static vertical Z-axis angle data to be transmitted to the memory module; the memory module takes the received current static vertical Z-axis angle data as initial static vertical Z-axis angle data and transmits the initial static vertical Z-axis angle data to the control module; the double-motor cart has the advantages that the double-motor cart can adapt to complex road surface states in the advancing process, the running state of the double-motor cart is detected in real time, the running track of the cart is corrected in time when the double-motor cart deviates, the safety of people or objects on the double-motor cart is guaranteed, and the safety of operators is also guaranteed.

Description

Technical Field

[0001] The invention relates to an electric cart control method, in particular to an automatic deviation correction system for a dual-motor cart. Background Art

[0002] At present, there are electric carts with dual motors on the market, such as baby strollers, golf bag carts and luggage carts. When the operator operates the electric cart on a bumpy and uneven road surface or slope, the vehicle will deviate from the original track route due to the impact of the potholes or slopes, which will invisibly put a lot of operating pressure on the operator, which will not only cause the risk of falling to people or objects on the electric cart, but also affect the safety of the operator. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an automatic deviation correction system for a dual-motor cart, which can enable the dual-motor cart to adapt to complex road conditions while traveling, thereby ensuring the safety of people or objects on the dual-motor cart.

[0004] The technical solution adopted by the present invention to solve the above technical problems is: an automatic deviation correction system for a dual-motor cart, comprising a remote controller and a controller, a drive module and a power supply module arranged on the dual-motor cart, wherein the power supply module provides power for the controller and the drive module;

[0005] The controller is provided with a control module, a data acquisition module and a memory module.

[0006] The remote controller is used to send operation instructions to the control module;

[0007] The control module is used to send control instructions to the driving module according to the received operation instructions sent by the remote controller;

[0008] The data acquisition module is used to collect the real-time Z-axis angle data after the dual-motor cart moves and transmit it to the control module, and transmit the static vertical Z-axis angle data in the real-time Z-axis angle data to the memory module;

[0009] The memory module is used to transmit the static vertical Z-axis angle data transmitted by the data acquisition module as the initial static vertical Z-axis angle data to the control module;

[0010] The control module is also used to send a correction instruction to the driving module according to the received initial static vertical Z-axis angle data sent by the memory module and the real-time Z-axis angle data sent by the data acquisition module;

[0011] The operation instructions include a straight-ahead instruction and a turn instruction;

[0012] The static vertical Z-axis angle data is the real-time Z-axis angle data collected by the data collection module after the control module receives the latest straight-line instruction sent by the remote controller;

[0013] The control module is also used to send an operation instruction to the driving module after receiving a turning instruction sent by the remote controller, and send an update instruction to the data acquisition module after receiving a completion instruction sent by the driving module;

[0014] The data acquisition module is also used to transmit the real-time Z-axis angle data as the current static vertical Z-axis angle data to the memory module after receiving the update instruction sent by the control module;

[0015] The memory module is also used to transmit the current static vertical Z-axis angle data sent by the data acquisition module as the initial static vertical Z-axis angle data to the control module;

[0016] The driving module is used to drive the dual-motor cart according to the control instructions, correction instructions and operation instructions received from the control module, and send a completion instruction to the control module after completing the operation instruction.

[0017] Compared with the prior art, the advantages of the present invention are that it includes a remote control and a controller and a drive module arranged on the dual-motor cart, the controller is provided with a control module, a data acquisition module and a memory module, the operation instructions sent by the remote control include a straight-line instruction and a turning instruction, after receiving the turning instruction, the control module sends an operation instruction to the drive module, and after receiving the completion instruction, sends an update instruction to the data acquisition module; after receiving the update instruction, the data acquisition module transmits the real-time Z-axis angle data at this time as the current static vertical Z-axis angle data to the memory module; the memory module receives the current static vertical The straight Z-axis angle data is transmitted to the control module as the initial static vertical Z-axis angle data. The control module sends a correction instruction to the drive module based on the received initial static vertical Z-axis angle data and the real-time Z-axis angle data, thereby realizing remote control of the dual-motor cart to go straight and turn. Not only can the vehicle's running trajectory be corrected in time when the dual-motor cart deviates, but the movement of the dual-motor cart after turning can also be re-corrected in real time, so that the dual-motor cart can adapt to complex road conditions during movement, and the running status of the dual-motor cart can be detected in real time, ensuring the safety of people or objects on the dual-motor cart and the safety of the operator.

[0018] Furthermore, the driving module is composed of a left motor arranged at the left rear wheel position of the dual-motor cart and a right motor arranged at the right rear wheel position of the dual-motor cart, the left motor is used to drive the left rear wheel of the dual-motor cart, and the right motor is used to drive the right rear wheel of the dual-motor cart.

[0019] Furthermore, the control method of the control module comprises the following steps:

[0020] Step ①, after receiving the operation command sent by the remote controller, if the operation command is a straight command, a control command is sent to the left motor and the right motor, and step ② is executed; if the operation command is a turn command, an operation command is sent to the left motor and the right motor, and step ③ is executed;

[0021] Step ②, determine whether there is a deviation between the real-time Z-axis angle data sent by the data acquisition module and the initial static vertical Z-axis angle data sent by the memory module. If so, execute step ④; if not, send a control instruction to both the left motor and the right motor to keep moving forward at the original speed;

[0022] Step ③, after receiving the completion instruction, send an update instruction to the data acquisition module and return to execute step ②;

[0023] Step ④, according to the real-time Z-axis angle data and the initial static vertical Z-axis angle data, the Z-axis rotation angle is obtained, and a control instruction for accelerating the rotation is sent to the motor on the rotation direction side of the dual-motor cart, and a control instruction for maintaining the original speed is sent to the motor on the other side. The initial static vertical Z-axis angle data is saved at startup to provide reference data for subsequent control. During the walking process of the dual-motor cart, the Z-axis angle data is collected in real time, and the real-time Z-axis angle data is compared with the initial static vertical Z-axis angle data to determine whether the dual-motor cart needs to be corrected. If an angle deviation is found, the motor speed is adjusted according to the Z-axis rotation angle to achieve balance or turning operation; in addition, it can respond to the turning operation instruction of the remote control, perform turning operation, and update the initial static vertical Z-axis angle data to adapt to the new static state. The advantage of this method is that it improves the stability and controllability of the dual-motor cart, can automatically adjust to adapt to different ground conditions and operation requirements, and simplifies the operation process and improves the user experience.

[0024] Furthermore, the turning instruction includes a turning direction and a turning angle.

[0025] Furthermore, the remote controller is provided with a lithium battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a structure used in a certain state of the present invention;

[0027] Figure 2 It is a flow chart of the control method of the control module in the present invention. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to the accompanying drawings.

[0029] like Figure 1 As shown, a dual-motor cart automatic deviation correction system includes a remote controller 1 provided with a lithium battery, and a controller 2, a drive module and a power supply module (not shown) provided on the dual-motor cart, wherein the power supply module (not shown) provides power to the controller 2 and the drive module;

[0030] The controller 2 is provided with a control module, a data acquisition module and a memory module.

[0031] Remote controller 1 is used to send operation instructions to the control module;

[0032] The control module is used to send control instructions to the driving module according to the received operation instructions sent by the remote controller 1;

[0033] The data acquisition module is used to collect the real-time Z-axis angle data after the dual-motor cart moves and transmit it to the control module, and transmit the static vertical Z-axis angle data in the real-time Z-axis angle data to the memory module;

[0034] The memory module is used to transmit the static vertical Z-axis angle data transmitted by the received data acquisition module as the initial static vertical Z-axis angle data to the control module;

[0035] The control module is also used to send a correction instruction to the drive module according to the received initial static vertical Z-axis angle data sent by the memory module and the real-time Z-axis angle data sent by the data acquisition module;

[0036] The operation instructions include straight-ahead instructions and turning instructions; the turning instructions include turning direction and turning angle;

[0037] The static vertical Z-axis angle data is the real-time Z-axis angle data collected by the data acquisition module after the control module receives the latest straight-line instruction sent by the remote controller 1;

[0038] The control module is also used to send an operation instruction to the drive module after receiving a turn instruction sent by the remote controller 1, and send an update instruction to the data acquisition module after receiving a completion instruction sent by the drive module;

[0039] The data acquisition module is also used to transmit the real-time Z-axis angle data as the current static vertical Z-axis angle data to the memory module after receiving the update instruction sent by the control module;

[0040] The memory module is also used to transmit the current static vertical Z-axis angle data sent by the received data acquisition module as the initial static vertical Z-axis angle data to the control module;

[0041] The driving module is used to drive the dual-motor cart according to the control instructions, deviation correction instructions and operation instructions sent by the control module, and send a completion instruction to the control module after completing the operation instruction; the driving module is composed of a left motor 4 arranged at the left rear wheel 3 of the dual-motor cart and a right motor 6 arranged at the right rear wheel 5 of the dual-motor cart, the left motor 4 is used to drive the left rear wheel 3 of the dual-motor cart, and the right motor 6 is used to drive the right rear wheel 5 of the dual-motor cart;

[0042] like Figure 2 As shown, in this embodiment, the control method of the control module includes the following steps:

[0043] Step ①, after receiving the operation command sent by the remote controller 1, if the operation command is a straight-ahead command, a control command is sent to the left motor 4 and the right motor 6, and step ② is executed; if the operation command is a turn command, an operation command is sent to the left motor 4 and the right motor 6, and step ③ is executed;

[0044] Step ②, determine whether there is a deviation between the real-time Z-axis angle data sent by the data acquisition module and the initial static vertical Z-axis angle data sent by the memory module. If so, execute step ④; if not, send a control instruction to both the left motor 4 and the right motor 6 to keep moving forward at the original speed;

[0045] Step ③, after receiving the completion instruction, send an update instruction to the data acquisition module and return to execute step ②;

[0046] Step ④, according to the real-time Z-axis angle data and the initial static vertical Z-axis angle data, the Z-axis rotation angle is obtained, and a control instruction for accelerating the rotation is sent to the motor on the rotation direction side of the dual-motor cart, and a control instruction for maintaining the original speed is sent to the motor on the other side;

[0047] In this embodiment, it also includes establishing an automatic deviation correction coordinate system: the dual-motor cart is placed on a flat ground, the midpoint of the connecting line between the left rear wheel 3 and the right rear wheel 5 is taken as the origin O, the direction of the front wheel 7 of the dual-motor cart through the origin O is the positive direction of the X-axis, the direction of the right rear wheel 5 of the dual-motor cart through the origin O is the positive direction of the Y-axis, and the vertical upward direction through the origin O is the positive direction of the Z-axis, and an automatic deviation correction coordinate system OXYZ is established.

Claims

1. An automatic deviation correction system for a dual-motor cart, comprising a remote controller and a controller, a drive module and a power supply module arranged on the dual-motor cart, wherein the power supply module provides power to the controller and the drive module; The controller is provided with a control module, a data acquisition module and a memory module. The remote controller is used to send operation instructions to the control module; The control module is used to send control instructions to the driving module according to the received operation instructions sent by the remote controller; The data acquisition module is used to collect the real-time Z-axis angle data after the dual-motor cart moves and transmit it to the control module, and transmit the static vertical Z-axis angle data in the real-time Z-axis angle data to the memory module; The memory module is used to transmit the static vertical Z-axis angle data transmitted by the data acquisition module as the initial static vertical Z-axis angle data to the control module; The control module is also used to send a correction instruction to the driving module according to the received initial static vertical Z-axis angle data sent by the memory module and the real-time Z-axis angle data sent by the data acquisition module; It is characterized in that The operation instructions include a straight-ahead instruction and a turn instruction; The static vertical Z-axis angle data is the real-time Z-axis angle data collected by the data collection module after the control module receives the latest straight-line instruction sent by the remote controller; The control module is also used to send an operation instruction to the driving module after receiving a turning instruction sent by the remote controller, and send an update instruction to the data acquisition module after receiving a completion instruction sent by the driving module; The data acquisition module is also used to transmit the real-time Z-axis angle data as the current static vertical Z-axis angle data to the memory module after receiving the update instruction sent by the control module; The memory module is also used to transmit the current static vertical Z-axis angle data sent by the data acquisition module as the initial static vertical Z-axis angle data to the control module; The driving module is used to drive the dual-motor cart according to the control instructions, correction instructions and operation instructions received from the control module, and send a completion instruction to the control module after completing the operation instruction.

2. According to claim 1, a dual-motor cart automatic deviation correction system is characterized in that The driving module is composed of a left motor arranged at the left rear wheel position of the dual-motor cart and a right motor arranged at the right rear wheel position of the dual-motor cart. The left motor is used to drive the left rear wheel of the dual-motor cart, and the right motor is used to drive the right rear wheel of the dual-motor cart.

3. The dual-motor cart automatic deviation correction system according to claim 2 is characterized in that The control method of the control module comprises the following steps: Step ①, after receiving the operation command sent by the remote controller, if the operation command is a straight-moving command, a straight-moving control command is sent to the left motor and the right motor, and step ② is executed; if the operation command is a turning command, an operation command is sent to the left motor and the right motor, and step ③ is executed; Step ②, determine whether there is a deviation between the real-time Z-axis angle data sent by the data acquisition module and the initial static vertical Z-axis angle data sent by the memory module. If so, execute step ④; if not, send a control instruction to both the left motor and the right motor to keep moving forward at the original speed; Step ③, after receiving the completion instruction, send an update instruction to the data acquisition module and return to execute step ②; Step ④, obtain the Z-axis rotation angle according to the real-time Z-axis angle data and the initial static vertical Z-axis angle data, and send a control instruction to accelerate the rotation to the motor on the rotation direction side of the dual-motor cart, and send a control instruction to maintain the original speed to the motor on the other side.

4. The dual-motor cart automatic deviation correction system according to claim 1 is characterized in that The turning instruction includes a turning direction and a turning angle.

5. The dual-motor cart automatic deviation correction system according to claim 1 is characterized in that The remote controller is provided with a lithium battery.

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