A power distribution method, system, device and storage medium based on model car

Abstract

This invention discloses a power distribution method, system, device, and storage medium based on a model vehicle. The method includes: acquiring the rotational speeds of each wheel of a target vehicle; determining whether the target vehicle is in a slipping state based on the rotational speeds; when the target vehicle is in a slipping state, acquiring slippage information of the target vehicle and generating a power distribution strategy based on the slippage information; and reallocating corresponding power to each wheel based on the power distribution strategy. In this embodiment, the rotational speeds of each wheel can be acquired, thereby automatically identifying whether the model vehicle is in a slipping state. The slippage situation can be intelligently analyzed, and power can be reallocated to each wheel according to the slippage situation, achieving a balanced power distribution effect and improving vehicle control efficiency and intelligence.

Description

Technical Field

[0001] The present invention relates to the technical field of model car control, and in particular to a power distribution method, system, equipment and storage medium based on a model car. Background Art

[0002] With the continuous development of modern electronic science and technology, model cars have a broad space for development, and model cars are deeply loved by people because of their entertainment and operability.

[0003] Existing model cars may slip during driving due to factors such as road conditions, mechanical clearance of the car, steering mechanism errors, actuator errors, tire grip, etc., resulting in insufficient vehicle power and inability to drive normally.

[0004] However, since it is impossible to obtain the driving conditions of the model car in time, it is impossible to identify whether the model car is skidding, and it is impossible to analyze the skidding condition of the model car. When the vehicle is skidding, the power will be distributed to the slipping wheels, resulting in uneven power distribution and power waste. Summary of the invention

[0005] Based on this, it is necessary to provide a power distribution method, system, device and storage medium based on a model car to address the above technical problems, so as to solve at least one problem existing in the above-mentioned prior art.

[0006] In a first aspect, a power distribution method based on a model vehicle is provided, comprising the following steps:

[0007] Obtain the rotation speed of each wheel of the target vehicle;

[0008] Based on the rotation speed, determining whether the target vehicle is in a slipping state;

[0009] When the target vehicle is in a slipping state, obtaining slip information of the target vehicle, and generating a power distribution strategy based on the slip information;

[0010] Based on the power distribution strategy, corresponding power is redistributed to each of the wheels.

[0011] In one embodiment, the slip information includes the wheel slip quantity, slip location and slip degree, and the reallocation of corresponding power to each wheel based on the power distribution strategy includes:

[0012] Determine a target differential lock corresponding to the slipping vehicle based on the wheel slip quantity, slip position and slip degree, wherein the target differential lock includes a front differential lock, a rear differential lock and a central differential lock;

[0013] When the speed of the slipping wheel returns to a normal speed and lasts for a preset time, the target differential lock is closed.

[0014] In one embodiment, the slip information includes the wheel slip quantity, slip location and slip degree, and the reallocation of corresponding power to each wheel based on the power distribution strategy includes:

[0015] Based on the wheel slip amount, slip location and slip degree, shut down the electronic speed regulator of the slipping wheel, and distribute the power of the electronic speed regulator to the electronic speed regulator of the non-slipping wheel;

[0016] When the speed of the slipping wheel returns to normal speed and lasts for a preset time, the electronic speed regulator is turned on.

[0017] In one embodiment, determining whether the target vehicle is in a slipping state based on the rotation speed includes:

[0018] When the difference between the rotation speed of any wheel and the rotation speed of the other wheels is greater than a preset threshold and the duration is greater than a preset time, it is determined that the target vehicle is in a slipping state.

[0019] In a second aspect, a power distribution system based on a model car is provided, comprising:

[0020] A rotation speed acquisition unit, used to acquire the rotation speed of each wheel of the target vehicle;

[0021] a slip state determination unit, configured to determine whether the target vehicle is in a slip state based on the rotation speed;

[0022] a power distribution strategy generating unit, configured to obtain the slip information of the target vehicle when the vehicle is in a slipping state, and generate a power distribution strategy based on the slip information;

[0023] A power distribution unit is used to redistribute corresponding power to each of the wheels based on the power distribution strategy.

[0024] In one embodiment, the slip information includes the wheel slip quantity, slip location and slip degree, and the power distribution unit is further used for:

[0025] Determine a target differential lock corresponding to the slipping vehicle based on the wheel slip quantity, slip position and slip degree, wherein the target differential lock includes a front differential lock, a rear differential lock and a central differential lock;

[0026] When the speed of the slipping wheel returns to a normal speed and lasts for a preset time, the target differential lock is closed.

[0027] In one embodiment, the slip information includes the wheel slip quantity, slip location and slip degree, and the power distribution unit is further used for:

[0028] Based on the wheel slip amount, slip location and slip degree, shut down the electronic speed regulator of the slipping wheel, and distribute the power of the electronic speed regulator to the electronic speed regulator of the non-slipping wheel;

[0029] When the speed of the slipping wheel returns to normal speed and lasts for a preset time, the electronic speed regulator is turned on.

[0030] In a third aspect, an electronic device is provided, comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the steps of the power distribution method based on a model vehicle as described above when executing the computer-readable instructions.

[0031] In a fourth aspect, a readable storage medium is provided, wherein the readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the steps of the power distribution method based on the model vehicle as described above are implemented.

[0032] The above-mentioned power distribution method, system, electronic device and storage medium based on the model car, the method implementation includes: obtaining the rotation speed of each wheel of the target vehicle; based on the rotation speed, determining whether the target vehicle is in a slipping state; when the target vehicle is in a slipping state, obtaining the slipping information of the target vehicle, and generating a power distribution strategy based on the slipping information; based on the power distribution strategy, reallocating the corresponding power to each of the wheels. In the embodiment of the present application, the rotation speed of each wheel can be obtained, so as to automatically identify whether the model car is in a slipping state, and the slipping situation can be intelligently analyzed, and power can be reallocated to each wheel according to the slipping situation, so as to achieve the effect of balanced power distribution, and improve the control efficiency and intelligence of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0034] Figure 1 It is a schematic flow chart of a power distribution method based on a model car in one embodiment of the present invention;

[0035] Figure 2 is a structural schematic diagram of a power distribution system based on a model car in one embodiment of the present invention;

[0036] Figure 3 is a schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0038] In one embodiment, if Figure 1 As shown, a power distribution method based on a model car is provided, comprising the following steps:

[0039] In step S110, the rotation speed of each wheel of the target vehicle is obtained;

[0040] In an embodiment of the present application, the target vehicle is a model vehicle, and a wheel speed sensor may be provided at each wheel of the model vehicle, or an electronic speed regulator and a speed sensor may be provided. The speed of each wheel of the target vehicle may be collected separately through the wheel speed sensor, and the speed may be detected through a transmitter system, such as an automatic frequency hopping digital system.

[0041] The wheel speed sensor can be a magnetic inductive or Hall sensor, which detects the rotation of the wheel magnet or gear to calculate the vehicle speed and odometer reading. It can be understood that when the wheel rotates, the strong magnetic field on the magnet or gear will generate a magnetic field pulse, and the wheel speed sensor can calculate the wheel speed based on these magnetic field pulses and send them to the vehicle control module for processing.

[0042] In step S120, based on the rotation speed, determining whether the target vehicle is in a slipping state;

[0043] In one embodiment of the present application, determining whether the target vehicle is in a slipping state based on the rotational speed includes: when the difference between the rotational speed of any wheel and the rotational speed of other wheels is greater than a preset threshold, and the duration is greater than a preset time, then determining that the target vehicle is in a slipping state.

[0044] For example, after the rotation speed of each wheel is obtained, it can be sent to the transmitter system, which can compare the rotation speed of each wheel to determine the rotation speed of the slowest wheel, and determine whether the difference between the rotation speed of the remaining wheels and the rotation speed of the slowest wheel is greater than a preset threshold and lasts for more than a preset time, for example, it exceeds 10% of the slowest wheel speed and lasts for 10 seconds, then the wheel can be considered to be in a slipping state.

[0045] Furthermore, after determining that the wheel is in a slipping state, it can be further obtained whether the wheel is in a slipping state within a preset time range. If so, it can be determined that the target vehicle is in a slipping state.

[0046] The slipping state may include a wheel hanging and idling state.

[0047] As an implementation method, the determination can also be made in combination with throttle output detection and GPS sensor / locator position detection. Specifically, the current position of the target vehicle is identified in real time by the GPS sensor / locator to obtain its moving position, and at the same time, it is detected whether the throttle is in the starting state. If the position moves and the throttle is in the starting state, it can be indicated that the target vehicle is in a normal driving state. If the throttle is started but the position does not move, it can be indicated that the target vehicle is in a slipping state.

[0048] As another implementation method, the wheel speed demand value and the wheel actual speed value can be determined to determine the current state of the vehicle. For example, if the wheel speed demand value = the wheel actual speed value, the vehicle is in a normal state; if the wheel speed demand value < the wheel actual speed value, the vehicle is in a slipping state. It should be noted that the operator can use the transmitter in his hand to turn the control to convert the command to control the speed of the model car into an electrical signal and transmit it through radio waves. After the remote control receiver mounted on the model car receives these electrical signals, the servo steering gear converts them into mechanical motion, thereby realizing remote control of the speed of the model car. This control method allows the operator to change the strength and frequency of the electrical signal by adjusting the position of the knob and the joystick, thereby controlling the speed and direction of the model car.

[0049] In step S130, when the target vehicle is in a slipping state, slip information of the target vehicle is obtained, and a power distribution strategy is generated based on the slip information;

[0050] In an embodiment of the present application, if the target vehicle is in a slipping state, the slipping information of the target vehicle can be obtained, for example, which wheel is in a slipping state, the degree of slipping, etc., so as to generate the power distribution wheel. The power distribution strategy may include a power distribution plan for each wheel.

[0051] As an implementation, the slip information includes the wheel slip quantity, slip position and slip degree, and the re-allocation of corresponding power to each wheel based on the power distribution strategy includes: determining the target differential lock corresponding to the slipping wheel based on the wheel slip quantity, slip position and slip degree, wherein the target differential lock includes a front differential lock, a rear differential lock and a central differential lock; when the speed of the slipping wheel returns to a normal speed and lasts for a preset time, the target differential lock is closed. Optionally, a speed sensor can be connected to each of the four wheels of the vehicle, and the speed of the corresponding wheel can be read based on the speed sensor, and then sent to the transmitter system, and the transmitter system is analyzed to determine whether there is a wheel slip, for example, if the speed between the wheel and other wheels is greater than a preset threshold and the duration is greater than a preset time, it can be considered that it is slipping, and then, according to the number, position and degree of wheel slip, different differential locks can be opened for adjustment, such as a front differential lock, a rear differential lock and a central differential lock, to distribute power, and when the wheel speed returns to a normal speed and lasts for a preset time, the target differential lock is closed.

[0052] As an implementation method, the slip information includes the number of wheel slips, the slip position and the slip degree, and the corresponding power is reallocated to each wheel based on the power distribution strategy, including: based on the number of wheel slips, the slip position and the slip degree, the electronic speed regulator of the slipping wheel is turned off, and the power of the electronic speed regulator is distributed to the electronic speed regulator of the non-slipping wheel; when the speed of the slipping wheel returns to normal speed and lasts for a preset time, the electronic speed regulator is turned on. Optionally, a speed sensor and an electronic speed regulator can be connected to each of the four wheels of the vehicle, and the speed of the corresponding wheel can be read based on the speed sensor, and then sent to the transmitter system, and analyzed by the transmitter system to determine whether there is wheel slip. For example, if the speed between the wheel and other wheels is greater than a preset threshold and the duration is greater than a preset time, it can be considered that it is slipping. Then, according to the number, position and degree of wheel slip, the electronic speed regulator of the slipping wheel can be turned off, and the power can be distributed to other wheels. When the speed of the slipping wheel is normal and remains for a period of time, its corresponding electronic speed regulator is turned on.

[0053] In step S140, corresponding power is redistributed to each of the wheels based on the power distribution strategy.

[0054] In the embodiment of the present application, based on the power distribution strategy, the power that needs to be allocated to each wheel can be determined. For example, the power of a wheel that is rotating too fast can be reduced, and the power of a wheel that is rotating too slowly can be increased, etc., thereby avoiding wasting power due to slipping or suspended wheels, thereby achieving the effect of balanced power distribution.

[0055] The power refers to the driving force that drives the wheel to rotate.

[0056] In the embodiment of the present application, after corresponding power is allocated to each vehicle, it can be further detected whether the vehicle has recovered to a non-slip state. If not, an alarm message is output to notify the user to perform manual processing.

[0057] The embodiment of the present application provides a power distribution method based on a model vehicle, including: obtaining the rotation speed of each wheel of the target vehicle; based on the rotation speed, determining whether the target vehicle is in a slipping state; when the target vehicle is in a slipping state, obtaining the slipping information of the target vehicle, and generating a power distribution strategy based on the slipping information; based on the power distribution strategy, reallocating the corresponding power to each of the wheels. In the embodiment of the present application, the rotation speed of each wheel can be obtained, so as to automatically identify whether the model vehicle is in a slipping state, and the slipping situation can be intelligently analyzed, and power can be reallocated to each wheel according to the slipping situation to adjust the speed of each wheel, so that the target vehicle is restored from a slipping state to a non-slipping state, thereby improving the efficiency and intelligence of vehicle control and improving user experience.

[0058] In an embodiment of the present application, the reallocation of corresponding power to each of the wheels based on the power distribution strategy includes:

[0059] Turning on the differential lock to distribute corresponding power to each of the wheels through the differential lock; or

[0060] Based on the power adjustment strategy, the driving force of the driving motor corresponding to each of the wheels is adjusted.

[0061] Specifically, when a vehicle without a differential lock passes an obstacle, if one wheel is suspended or loses adhesion to the ground, the suspended wheel will occupy the power of other wheels; while when a vehicle with a differential lock passes the same obstacle, the wheels on both sides will always maintain a 50:50 power distribution, so that the situation where one wheel spins idly and the other wheel loses power will not occur. Therefore, when the vehicle slips, the differential lock can be turned on, and power can be distributed to each wheel through the differential lock, so that each wheel maintains the same power distribution, that is, the rotation speed of each wheel is adjusted to a preset speed, avoiding power waste, thereby achieving the effect of balanced power distribution.

[0062] It can be understood that each wheel is equipped with an independent drive system. When it is detected based on the rotational speed that the rotational speed of 1-3 wheels is too fast and exceeds the preset speed threshold of the slowest wheel, for example, when it exceeds 10% of the rotational speed of the slowest wheel, the drive system of the wheel can be controlled by the transmitter system to automatically reduce the drive corresponding to the wheel with too fast rotational speed, thereby achieving the effect of not wasting power.

[0063] In an embodiment of the present application, determining whether the target vehicle is in a slipping state based on the rotation speed includes:

[0064] Based on the rotational speeds, determining the wheel with the lowest rotational speed;

[0065] respectively calculating the difference between the rotation speeds of the remaining wheels and the rotation speed of the wheel with the lowest rotation speed;

[0066] When the difference is greater than a preset threshold, it is determined that the target vehicle is in a slipping state.

[0067] Specifically, by obtaining the rotational speed of each wheel of the target vehicle, for example, if the target vehicle has a total of 4 wheels, the rotational speeds of the 4 wheels can be obtained, which can be A, B, C and D respectively. By comparing the rotational speeds A, B, C and D one by one, the slowest rotational speed can be obtained, such as B. At this time, the difference between the rotational speeds A, C and D and the rotational speed B can be calculated respectively, namely AB, CB and DB. If the values ​​of AB, CB and DB are greater than a preset threshold, for example, exceeding 10% of the rotational speed B of the slowest wheel, that is, greater than B*10%, then it can be considered that the wheel is slipping. After the calculation is completed for each wheel, it can be determined that the wheel is slipping.

[0068] In one embodiment of the present application, the step of obtaining the slip information of the target vehicle and generating a power distribution strategy based on the slip information includes:

[0069] Obtaining the skidding type, skidding degree and skidding wheels of the target vehicle;

[0070] Determining a power distribution ratio of each wheel based on the slip type, slip degree and slipping wheel;

[0071] The power distribution strategy is generated based on the power distribution ratio.

[0072] The slip type may include oversteering, understeering, and countersteering.

[0073] Among them, the degree of slip can be determined according to the difference between the wheel speed and the slowest wheel speed, and multiple difference levels corresponding to the degree of slip can be set. For example, when the difference is greater than 10% of the slowest speed and less than 15% of the slowest speed, it can be the first level; the difference is greater than 15% of the slowest speed and less than 20% of the slowest speed, it can be the second level; the difference is greater than 20% of the slowest speed and less than 25% of the slowest speed, it can be the third level, and so on, and the first level < the second level < the third level, that is, the degree of slip of the third level > the degree of slip of the second level > the degree of slip of the first level.

[0074] The number of slipping wheels may be 1 to 3, for example, the front wheel, the rear wheel, or both the front and rear wheels may slip.

[0075] Specifically, after obtaining the slip type, slip degree and slipping wheels of the target vehicle in the above manner, weight coefficients can be assigned to the slip type, slip degree and slipping wheels, and the total coefficient is 1, and then the optimal power distribution plan is obtained. The optimal distribution plan may include the power distribution ratio of each vehicle, and allocate corresponding power to each wheel based on the power distribution ratio to achieve power balance and avoid power waste.

[0076] Among them, the degree of slippage is obtained, and corresponding alarm information can be output according to the degree of slippage. For example, the first level can output a light alarm, the second level can output an audio and light alarm, and the third level can send a voice alarm to the corresponding user, etc., so as to carry out corresponding processing in time.

[0077] In the embodiment of the present application, the rotational speed of each wheel can be obtained, so as to automatically identify whether the model car is in a slipping state, and the slipping situation can be intelligently analyzed, and power can be redistributed to each wheel according to the slipping situation, so as to achieve the effect of balanced power distribution and improve the vehicle control efficiency and intelligence.

[0078] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0079] In one embodiment, a power distribution system based on a model car is provided, and the power distribution system based on the model car corresponds one-to-one with the power distribution system based on the model car in the above embodiment. Figure 2 As shown, the power distribution system based on the model vehicle includes a speed acquisition unit 10, a slip state determination unit 20, a power distribution strategy generation unit 30 and a power distribution unit 40. The functional modules are described in detail as follows:

[0080] The rotation speed acquisition unit 10 is used to acquire the rotation speed of each wheel of the target vehicle;

[0081] a slip state determination unit 20, configured to determine whether the target vehicle is in a slip state based on the rotation speed;

[0082] A power distribution strategy generating unit 30 is used to obtain the slip information of the target vehicle when the vehicle is in a slipping state, and generate a power distribution strategy based on the slip information;

[0083] The power distribution unit 40 is used to redistribute corresponding power to each of the wheels based on the power distribution strategy.

[0084] In one embodiment of the present application, the power distribution unit 40 is further used for:

[0085] Determine a target differential lock corresponding to the slipping vehicle based on the wheel slip quantity, slip position and slip degree, wherein the target differential lock includes a front differential lock, a rear differential lock and a central differential lock;

[0086] When the speed of the slipping wheel returns to a normal speed and lasts for a preset time, the target differential lock is closed.

[0087] In one embodiment of the present application, the power distribution unit 40 is further used for:

[0088] Based on the wheel slip amount, slip location and slip degree, shut down the electronic speed regulator of the slipping wheel, and distribute the power of the electronic speed regulator to the electronic speed regulator of the non-slipping wheel;

[0089] When the speed of the slipping wheel returns to normal speed and lasts for a preset time, the electronic speed regulator is turned on.

[0090] In one embodiment of the present application, the slip state determination unit 20 is further configured to:

[0091] When the difference between the rotation speed of any wheel and the rotation speed of the other wheels is greater than a preset threshold and the duration is greater than a preset time, it is determined that the target vehicle is in a slipping state.

[0092] In the embodiment of the present application, the rotational speed of each wheel can be obtained, so as to automatically identify whether the model car is in a slipping state, and the slipping situation can be intelligently analyzed, and power can be redistributed to each wheel according to the slipping situation, so as to achieve the effect of balanced power distribution and improve the vehicle control efficiency and intelligence.

[0093] For the specific definition of the power distribution system based on the model car, please refer to the definition of the power distribution method based on the model car above, which will not be repeated here. Each module in the above-mentioned power distribution system based on the model car can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0094] In one embodiment, an electronic device is provided. The electronic device may be a terminal device, and its internal structure diagram may be as follows: Figure 3As shown. The electronic device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a readable storage medium. The readable storage medium stores computer-readable instructions. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer-readable instructions are executed by the processor, a power distribution method based on a model car is implemented. The readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium.

[0095] In an embodiment of the present application, an electronic device is provided, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, the steps of the power distribution method based on the model vehicle as described above are implemented.

[0096] In an embodiment of the application, a readable storage medium is provided, wherein the readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the steps of the power distribution method based on the model vehicle as described above are implemented.

[0097] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0098] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0099] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A power distribution method based on a model car, characterized in that: The method comprises: Obtaining the rotation speed of each wheel of the target vehicle, wherein the target vehicle is a model vehicle, and each wheel of the model vehicle is provided with a wheel speed sensor, and the rotation speed of each wheel of the target vehicle is respectively collected by the wheel speed sensor; Based on the rotation speed, determining whether the target vehicle is in a slipping state; Wherein, based on the rotation speed, determining whether the target vehicle is in a slipping state includes: when the difference between the rotation speed of any wheel and the rotation speed of other wheels is greater than a preset threshold value, and the duration is greater than a preset time, determining that the target vehicle is in a slipping state; When the target vehicle is in a slipping state, obtaining slip information of the target vehicle, and generating a power distribution strategy based on the slip information; Wherein, the obtaining of the slip information of the target vehicle and generating a power distribution strategy based on the slip information includes: obtaining the slip type, slip degree and slipping wheel of the target vehicle, wherein the slip type includes oversteering, understeering and countersteering, the slip degree is determined according to the difference between the wheel speed and the slowest wheel speed, and a plurality of difference levels corresponding to the slip degrees are set; based on the slip type, slip degree and slipping wheel, the power distribution ratio of each wheel is determined, and weight coefficients are allocated to the slip type, slip degree and slipping wheel, and the total weight coefficient is 1, so as to obtain the power distribution ratio of each wheel; based on the power distribution ratio, the power distribution strategy is generated; and corresponding warning information is output according to the slip degree; Based on the power distribution strategy, corresponding power is redistributed to each of the wheels.

2. The power distribution method based on a model vehicle as claimed in claim 1, characterized in that: The slip information includes the wheel slip amount, slip location and slip degree, and the re-allocating corresponding power to each wheel based on the power distribution strategy includes: Determine a target differential lock corresponding to the slipping vehicle based on the wheel slip quantity, slip position and slip degree, wherein the target differential lock includes a front differential lock, a rear differential lock and a central differential lock; When the speed of the slipping wheel returns to a normal speed and lasts for a preset time, the target differential lock is closed.

3. The power distribution method based on a model vehicle as claimed in claim 1, characterized in that: The slip information includes the wheel slip amount, slip location and slip degree, and the re-allocating corresponding power to each wheel based on the power distribution strategy includes: Based on the wheel slip amount, slip location and slip degree, shut down the electronic speed regulator of the slipping wheel, and distribute the power of the electronic speed regulator to the electronic speed regulator of the non-slipping wheel; When the speed of the slipping wheel returns to normal speed and lasts for a preset time, the electronic speed regulator is turned on.

4. A power distribution system based on a model car, characterized in that: The system comprises: A rotation speed acquisition unit, used to acquire the rotation speed of each wheel of the target vehicle, wherein the target vehicle is a model vehicle, and each wheel of the model vehicle is provided with a wheel speed sensor, and the rotation speed of each wheel of the target vehicle is respectively acquired through the wheel speed sensor; a slip state determination unit, configured to determine whether the target vehicle is in a slip state based on the rotation speed; The skidding state determining unit is further configured to determine that the target vehicle is in a skidding state when a difference between the rotation speed of any one wheel and the rotation speed of the other wheels is greater than a preset threshold value and the duration is greater than a preset time; a power distribution strategy generating unit, configured to obtain the slip information of the target vehicle when the vehicle is in a slipping state, and generate a power distribution strategy based on the slip information; The power distribution strategy generation unit is also used to: obtain the slip type, slip degree and slipping wheel of the target vehicle, the slip type includes oversteering, understeering and countersteering, the slip degree is determined according to the difference between the wheel speed and the slowest wheel speed, and a plurality of difference levels corresponding to the slip degrees are set; based on the slip type, slip degree and slipping wheel, determine the power distribution ratio of each wheel, assign weight coefficients to the slip type, slip degree and slipping wheel, the total weight coefficient is 1, and obtain the power distribution ratio of each wheel; based on the power distribution ratio, generate the power distribution strategy; output corresponding warning information according to the slip degree; A power distribution unit is used to redistribute corresponding power to each of the wheels based on the power distribution strategy.

5. The power distribution system based on the model car as claimed in claim 4, characterized in that: The slip information includes the wheel slip quantity, slip position and slip degree, and the power distribution unit is further used for: Determine a target differential lock corresponding to the slipping vehicle based on the wheel slip quantity, slip position and slip degree, wherein the target differential lock includes a front differential lock, a rear differential lock and a central differential lock; When the speed of the slipping wheel returns to a normal speed and lasts for a preset time, the target differential lock is closed.

6. The power distribution system based on the model car as claimed in claim 4, characterized in that: The slip information includes the wheel slip quantity, slip position and slip degree. The power distribution unit is further used for: Based on the wheel slip amount, slip location and slip degree, shut down the electronic speed regulator of the slipping wheel, and distribute the power of the electronic speed regulator to the electronic speed regulator of the non-slipping wheel; When the speed of the slipping wheel returns to normal speed and lasts for a preset time, the electronic speed regulator is turned on.

7. An electronic device comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, characterized in that: When the processor executes the computer-readable instructions, the processor implements the steps of the power distribution method based on the model vehicle as claimed in any one of claims 1 to 3.

8. A readable storage medium storing computer-readable instructions, characterized in that: When the computer-readable instructions are executed by a processor, the steps of the power distribution method based on a model vehicle as claimed in any one of claims 1 to 3 are implemented.

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