A dual-motor cart automatic deviation correction system

Abstract

The application discloses a double-motor cart automatic deviation rectifying system, characterized in that operation instructions sent by a controller include straight-line instructions and turning instructions; after a control module receives the turning instructions, the control module sends operation instructions to a driving module, and after receiving completion instructions, the control module sends update instructions to a data acquisition module; after the data acquisition module receives the update instructions, the data acquisition module transmits real-time Z-axis angle data at this time as current static vertical Z-axis angle data to a memory module; the memory module transmits the received current static vertical Z-axis angle data as initial static vertical Z-axis angle data to the control module; the double-motor cart can adapt to complex road conditions during running, the running state of the double-motor cart can be detected in real time, the vehicle running track can be corrected in time when the double-motor cart deviates, the safety of people or objects on the double-motor cart is ensured, and the safety of operators is ensured.

Description

Technical Field

[0001] This invention relates to a control method for electric trolleys, and more particularly to an automatic correction system for dual-motor trolleys. Background Technology

[0002] Currently, electric strollers with dual motors on the market, such as baby strollers, golf bag carts, and luggage carts, can cause the stroller to deviate from its intended path when the operator maneuvers it on uneven or sloping surfaces. This puts a lot of pressure on the operator, posing a risk of people or items falling off the stroller and also affecting the operator's safety. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic correction system for a dual-motor trolley, which enables the dual-motor trolley to adapt to complex road conditions during travel and ensures the safety of people or objects on the dual-motor trolley.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: a dual-motor trolley automatic correction system, including a remote controller and a controller, a drive module and a power supply module installed on the dual-motor trolley, wherein the power supply module provides power to the controller and the drive module;

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

[0006] The remote control is used to send operating commands to the control module;

[0007] The control module is used to send control commands to the drive module according to the running commands received from the remote controller;

[0008] The data acquisition module is used to collect real-time Z-axis angle data after the dual-motor trolley moves and transmit it to the control module, and transmit the stationary 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 received from 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 command to the drive module based on the 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 aforementioned operating instructions include straight-ahead instructions and turning instructions;

[0012] 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 command sent by the remote controller;

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

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

[0015] The memory module is also used to transmit the current stationary vertical Z-axis angle data received from the data acquisition module as the initial stationary vertical Z-axis angle data to the control module.

[0016] The drive module is used to drive the dual-motor trolley according to the control commands, correction commands and operation commands sent by the control module, and to send a completion command to the control module after completing the operation command.

[0017] Compared with the prior art, the advantages of this invention are that it includes a remote controller and a controller and drive module mounted on a dual-motor trolley. The controller is equipped with a control module, a data acquisition module, and a memory module. The operating commands sent by the remote controller include straight-line commands and turning commands. After receiving a turning command, the control module sends an operation command to the drive module, and after receiving a completion command, sends an update command to the data acquisition module. After receiving the update command, the data acquisition module transmits the real-time Z-axis angle data as the current stationary vertical Z-axis angle data to the memory module. The memory module stores the received current stationary vertical Z-axis angle data. The vertical Z-axis angle data is transmitted to the control module as the initial stationary vertical Z-axis angle data. Based on the received initial stationary vertical Z-axis angle data and real-time Z-axis angle data, the control module sends a correction command to the drive module, realizing remote control of the dual-motor trolley to move straight and turn. It not only corrects the vehicle's trajectory in time when the dual-motor trolley deviates, but also re-corrects the movement of the dual-motor trolley in real time after turning. This allows the dual-motor trolley to adapt to complex road conditions and monitors the operating status of the dual-motor trolley in real time, ensuring the safety of people or objects on the dual-motor trolley, as well as the safety of the operator.

[0018] Furthermore, the drive module consists of a left motor located at the left rear wheel of the dual-motor trolley and a right motor located at the right rear wheel of the dual-motor trolley. The left motor is used to drive the left rear wheel of the dual-motor trolley, and the right motor is used to drive the right rear wheel of the dual-motor trolley.

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

[0020] Step 1: After receiving the running command sent by the remote control, if the running command is a straight-line command, then send control commands to the left and right motors and execute step 2; if the running command is a turning command, then send operation commands to the left and right motors and execute step 3.

[0021] Step 2: Determine if there is a deviation between the real-time Z-axis angle data sent by the data acquisition module and the initial stationary vertical Z-axis angle data sent by the memory module. If yes, proceed to step 4; otherwise, send control commands to both the left and right motors to maintain 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: Based on the real-time Z-axis angle data and the initial stationary vertical Z-axis angle data, obtain the Z-axis rotation angle and send an acceleration control command to the motor on the rotation direction side of the dual-motor trolley, and a maintain-speed control command to the motor on the other side. The initial stationary vertical Z-axis angle data is saved at startup to provide reference data for subsequent control. During the movement of the dual-motor trolley, Z-axis angle data is collected in real time, and the trolley is compared with the initial stationary vertical Z-axis angle data to determine if correction is needed. If an angle deviation is detected, the motor speed is adjusted according to the Z-axis rotation angle to achieve balance or turning operations. Furthermore, it can respond to turning operation commands from the remote control, perform turning operations, and update the initial stationary vertical Z-axis angle data to adapt to new stationary states. The advantages of this method are improved stability and maneuverability of the dual-motor trolley, automatic adjustment to adapt to different ground conditions and operational needs, simplified operation procedures, and enhanced user experience.

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

[0025] Furthermore, the remote control is equipped with a lithium battery. Attached Figure Description

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

[0027] Figure 2 This is a flowchart illustrating the control method of the control module in this invention. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0029] like Figure 1 As shown, an automatic correction system for a dual-motor trolley includes a remote controller 1 equipped with a lithium battery, a controller 2, a drive module, and a power supply module (not shown) mounted on the dual-motor trolley. The power supply module (not shown) provides power to the controller 2 and the drive module.

[0030] Controller 2 is equipped with a control module, a data acquisition module, and a memory module.

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

[0032] The control module is used to send control commands to the drive module based on the running commands received from the remote controller 1;

[0033] The data acquisition module is used to collect real-time Z-axis angle data after the dual-motor trolley moves and transmit it to the control module, and transmit the stationary 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 received from the 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 correction commands to the drive module based on the 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 driving instructions include straight-ahead instructions and turning instructions; the turning instructions include turning direction and turning angle.

[0037] The stationary 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 command sent by the remote controller 1;

[0038] The control module is also used to send an operation command to the drive module after receiving a turning command from the remote controller 1, and to send an update command to the data acquisition module after receiving a completion command from the drive module.

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

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

[0041] The drive module is used to drive the dual-motor trolley according to the control commands, correction commands and operation commands sent by the control module, and to send a completion command to the control module after completing the operation command. The drive module consists of a left motor 4 located at the left rear wheel 3 of the dual-motor trolley and a right motor 6 located at the right rear wheel 5 of the dual-motor trolley. The left motor 4 is used to drive the left rear wheel 3 of the dual-motor trolley, and the right motor 6 is used to drive the right rear wheel 5 of the dual-motor trolley.

[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 running command sent by remote controller 1, if the running command is a straight-line command, then send control commands to left motor 4 and right motor 6 and execute step ②; if the running command is a turning command, then send operation commands to left motor 4 and right motor 6 and execute step ③.

[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 stationary vertical Z-axis angle data sent by the memory module. If yes, proceed to step 4; otherwise, send control commands to both the left motor 4 and the right motor 6 to maintain 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: Based on the real-time Z-axis angle data and the initial stationary vertical Z-axis angle data, obtain the Z-axis rotation angle, and send an acceleration control command to the motor on the rotation direction side of the dual-motor trolley, and a maintenance control command to the motor on the other side.

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

Claims

1. An automatic deviation correction system for a dual-motor trolley, comprising a remote controller, a drive module, and a power supply module mounted on the dual-motor trolley, wherein the power supply module provides power to the controller and the drive module; The controller is equipped with a control module, a data acquisition module, and a memory module. The remote control is used to send operating commands to the control module; The control module is used to send control commands to the drive module according to the running commands received from the remote controller; The data acquisition module is used to collect real-time Z-axis angle data after the dual-motor trolley moves and transmit it to the control module, and transmit the stationary 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 received from 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 command to the drive module based on the 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. Its features are: The aforementioned operating instructions include straight-ahead instructions and turning instructions; 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 command sent by the remote controller; The control module is also used to send an operation command to the drive module to control the dual-motor trolley to turn after receiving a turning command sent by the remote controller, and to send an update command to the data acquisition module after receiving a completion command sent by the drive module indicating that the turning action has been completed. The data acquisition module is also used to immediately acquire and lock the current real-time Z-axis angle data after receiving the update command sent by the control module, and transmit the current real-time Z-axis angle data as the new current stationary vertical Z-axis angle data to the memory module. The memory module is also used to update and store the current stationary vertical Z-axis angle data received from the data acquisition module, and transmit it to the control module as the initial stationary vertical Z-axis angle data for subsequent correction. The drive module is used to drive the dual-motor trolley according to the control commands, correction commands and operation commands sent by the control module, and to send the completion command to the control module after completing the turning operation command.

2. The dual-motor trolley automatic correction system according to claim 1, characterized in that: The drive module consists of a left motor located at the left rear wheel of the dual-motor trolley and a right motor located at the right rear wheel of the dual-motor trolley. The left motor is used to drive the left rear wheel of the dual-motor trolley, and the right motor is used to drive the right rear wheel of the dual-motor trolley.

3. The dual-motor trolley automatic correction system according to claim 2, characterized in that: The control method of the control module includes the following steps: Step 1: After receiving the running command sent by the remote control, if the running command is a straight-ahead command, send straight-ahead control commands to the left and right motors and execute step 2; if the running command is a turning command, send operation commands to the left and right motors to execute the turning command and execute step 3. Step 2: Determine if there is a deviation between the real-time Z-axis angle data sent by the data acquisition module and the initial stationary vertical Z-axis angle data sent by the memory module. If yes, proceed to step 4; otherwise, send control commands to both the left and right motors to maintain the original speed. Step ③: After receiving the completion instruction from the driver module, send an update instruction to the data acquisition module, and then return to execute step ②. Step 4: Based on the real-time Z-axis angle data and the initial stationary vertical Z-axis angle data, obtain the Z-axis rotation angle, and send an acceleration control command to the motor on the rotation direction side of the dual-motor trolley, and a maintenance control command to the motor on the other side.

4. The dual-motor trolley automatic correction system according to claim 1, characterized in that: The turning instructions include the turning direction and the turning angle.

5. The dual-motor trolley automatic correction system according to claim 1, characterized in that: The remote control is equipped with a lithium battery.

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