Pipeline detector with ratchet wheel type hub motor and control method thereof

Abstract

The invention relates to the technical field of pipeline detectors, and discloses a pipeline detector with a ratchet wheel type hub motor and a control method of the pipeline detector. The pipeline detector comprises a main frame, a plurality of walking mechanisms, a speed detection unit, an angle detection unit and a control unit, each walking mechanism comprises a first motor and a second motor, the torque of the first motor is higher than that of the second motor, and the first motor comprises a wheel, a ratchet mechanism, an adapter shaft and a hub motor body. The hub motor body is connected with one end of the ratchet mechanism through the adapter shaft, the other end of the ratchet mechanism is connected with the wheel, when the hub motor body outputs power, the wheel rotates along with the hub motor body, and when the hub motor body does not output power, the wheel moves along with the hub motor body; the speed detection unit is used for detecting the advancing speed of the pipeline detector in real time, and the angle detection unit is used for detecting the running inclination angle of the pipeline detector in real time; the control unit is used for controlling the first motor and the second motor according to the advancing speed and the operation inclination angle.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detectors, and in particular to a pipeline detector with a ratchet hub motor and a control method thereof. Background Art

[0002] There are two main working conditions for non-destructive testing of the interior of natural gas pipelines. The first is for pipelines that have been built and put into use. The conventional method is to use the gas medium in the pipe to drive the detector to run. The second is for newly built pipelines that have not been ventilated. There are two traditional methods. One is to use the above-mentioned medium pipeline detection method and artificially add air medium (air compressor provides power source) or water medium (water pump provides power source) for detection, but this method has the disadvantages of high operating cost and unstable operating speed; the other is an automatic power detector, which uses a power device such as a motor and relies on the detector's own driving operation for detection. For example, the prior art provides an in-pipe detector that drives by its own driving force. The detector uses multiple drive wheels, and each drive wheel is equipped with a hub motor, but this method requires a larger battery, which is costly and heavy.

[0003] The existing automatic force detector uses multiple drive wheels to drive synchronously. In order to take into account the climbing condition, a high-torque motor needs to be selected. However, in the conventional horizontal pipeline condition, the working point of the high-torque motor is far away from the rated point of the motor, and the motor efficiency is extremely low. In order to meet the mileage requirements of the detector, a larger battery needs to be selected, which is costly and heavy. In addition, when a high-torque motor is selected, the motor speed is lower under the same power, resulting in a lower overall travel speed of the detector. Summary of the invention

[0004] The invention provides a pipeline detector with a ratchet hub motor and a control method thereof, which can solve the technical problems in the prior art.

[0005] The present invention provides a pipeline detector with a ratchet hub motor, wherein the pipeline detector comprises a main frame, a plurality of walking mechanisms, a speed detection unit, an angle detection unit and a control unit, wherein the plurality of walking mechanisms, the speed detection unit and the angle detection unit are all arranged on the main frame, the plurality of walking mechanisms are used to drive the pipeline detector to move, each walking mechanism comprises a first motor and a second motor, the torque of the first motor is higher than the torque of the second motor, wherein:

[0006] The first motor includes a wheel, a ratchet mechanism, a transfer shaft and a hub motor body. The hub motor body is connected to one end of the ratchet mechanism through the transfer shaft, and the other end of the ratchet mechanism is connected to the wheel. When the hub motor body outputs power, the wheel rotates with the hub motor body. When the hub motor body has no power output, the wheel moves with it.

[0007] The speed detection unit is used to detect the traveling speed of the pipeline detector in real time, and the angle detection unit is used to detect the running inclination angle of the pipeline detector in real time;

[0008] The control unit is used to control the first motor and the second motor according to the detected traveling speed and running inclination angle.

[0009] Preferably, controlling the first motor and the second motor according to the detected travel speed and running inclination angle comprises:

[0010] S100, judging whether the absolute value of the running inclination angle is less than a predetermined angle, if yes, turning to S102, otherwise turning to S104;

[0011] S102, control the second motor to work and the first motor to stop working, and then go to S106;

[0012] S104, controlling the second motor and at least one first motor to operate, and gradually increasing the operation of the first motor as the operating inclination angle increases, and then proceeding to S106;

[0013] S106, determining whether the traveling speed is greater than a predetermined speed, if yes, proceeding to S108, otherwise proceeding to S110;

[0014] S108, controlling the working states of the first motor and the second motor to remain unchanged;

[0015] S110, control the working state of the second motor to remain unchanged and continue to increase the working state of the first motor, and return to S106.

[0016] Preferably, the predetermined angle is 5°, the predetermined speed is v0*90%, and v0 is an initial speed formed by the motor speed.

[0017] Preferably, the walking mechanism further includes an elastic unit and supporting legs.

[0018] Preferably, the elastic unit is a spring.

[0019] Preferably, the speed detection unit is a speed sensor, and the angle detection unit is an angle sensor.

[0020] The present invention also provides a method for controlling a pipeline detector having a ratchet wheel hub motor, wherein the pipeline detector comprises a main frame, a plurality of walking mechanisms, a speed detection unit, an angle detection unit and a control unit, wherein the plurality of walking mechanisms, the speed detection unit and the angle detection unit are all arranged on the main frame, the plurality of walking mechanisms are used to drive the pipeline detector to move, each walking mechanism comprises a first motor and a second motor, the torque of the first motor is higher than the torque of the second motor, the first motor comprises a wheel, a ratchet mechanism, an adapter shaft and a wheel hub motor body, the wheel hub motor body is connected to one end of the ratchet mechanism through the adapter shaft, and the other end of the ratchet mechanism is connected to the wheel, when the wheel hub motor body outputs power, the wheel rotates with the wheel hub motor body, and when the wheel hub motor body has no power output, the wheel follows, wherein the method comprises:

[0021] The speed detection unit detects the traveling speed of the pipeline detector in real time;

[0022] The angle detection unit detects the running inclination angle of the pipeline detector in real time;

[0023] The control unit controls the first motor and the second motor according to the detected traveling speed and running inclination angle.

[0024] Preferably, controlling the first motor and the second motor according to the detected travel speed and running inclination angle comprises:

[0025] S100, judging whether the absolute value of the running inclination angle is less than a predetermined angle, if yes, turning to S102, otherwise turning to S104;

[0026] S102, control the second motor to work and the first motor to stop working, and then go to S106;

[0027] S104, controlling the second motor and at least one first motor to operate, and gradually increasing the operation of the first motor as the operating inclination angle increases, and then proceeding to S106;

[0028] S106, determining whether the traveling speed is greater than a predetermined speed, if yes, proceeding to S108, otherwise proceeding to S110;

[0029] S108, controlling the working states of the first motor and the second motor to remain unchanged;

[0030] S110, control the working state of the second motor to remain unchanged and continue to increase the working state of the first motor, and return to S106.

[0031] Preferably, the predetermined angle is 5°, the predetermined speed is v0*90%, and v0 is an initial speed formed by the motor speed.

[0032] Through the above technical solution, a combined drive detector can be obtained by combining high and low torque motors to adapt to different working conditions. The high torque motor is a hub motor with an integrated ratchet mechanism, which can be used as a drive wheel power output or form an unpowered follower wheel. Through the detection information of the angle detection unit and the speed detection unit installed on the main frame of the detector, the specifications and quantity of the motor can be adjusted to adapt to different working conditions, thereby realizing efficient, high-speed, light-weight and low-cost pipeline detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 A schematic structural diagram of a pipeline detector with a ratchet hub motor according to an embodiment of the present invention is shown;

[0035] Figure 2 A schematic diagram showing the distribution of a first motor and a second motor of a pipeline detector having a ratchet hub motor according to an embodiment of the present invention is shown;

[0036] Figure 3 A schematic diagram of a ratchet hub motor according to an embodiment of the present invention is shown;

[0037] Figure 4 A flow chart of a method for controlling a pipeline detector having a ratchet hub motor according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0038] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in 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.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0041] Figure 1 A schematic structural diagram of a pipeline detector with a ratchet hub motor according to an embodiment of the present invention is shown.

[0042] like Figure 1 and 2 As shown, an embodiment of the present invention provides a pipeline detector with a ratchet hub motor, wherein the pipeline detector includes a main frame, multiple walking mechanisms, a speed detection unit, an angle detection unit and a control unit, wherein the multiple walking mechanisms, the speed detection unit and the angle detection unit are all arranged on the main frame, the multiple walking mechanisms are used to drive the pipeline detector to move, each walking mechanism includes a first motor and a second motor, the torque of the first motor is higher than the torque of the second motor, wherein,

[0043] The first motor includes a wheel, a ratchet mechanism, a transfer shaft and a hub motor body (such as Figure 3 As shown, referred to as the wheel hub motor), the wheel hub motor body is connected to one end of the ratchet mechanism through the adapter shaft, and the other end of the ratchet mechanism is connected to the wheel. When the wheel hub motor body outputs power, the wheel rotates with the wheel hub motor body. When the wheel hub motor body has no power output, the wheel moves with it.

[0044] The speed detection unit is used to detect the traveling speed of the pipeline detector in real time, and the angle detection unit is used to detect the running inclination angle of the pipeline detector in real time;

[0045] The control unit is used to control the first motor and the second motor according to the detected traveling speed and running inclination angle.

[0046] In the present invention, the first motor is a hub motor with integrated ratchet, and the second motor can be a conventional hub motor without ratchet mechanism. By using the hub motor with integrated ratchet mechanism and the conventional hub motor, combined with high and low torque hub motor forms, it can be applied to pipeline detectors to form a power drive system for the detector.

[0047] in, Figure 3 (a) is an exploded view of the first motor; Figure 3 (b) is a schematic diagram of the power output of the ratchet mechanism of the first motor, wherein the ratchet mechanism includes a ratchet wheel and a pawl; Figure 3 (c) is a schematic diagram of the follow-up ratchet mechanism without power output; Figure 3 (d) is an overall view of the hub motor with integrated ratchet.

[0048] Through the above technical solution, a combined drive detector can be obtained by combining high and low torque motors to adapt to different working conditions. The high torque motor is a hub motor with an integrated ratchet mechanism, which can be used as a drive wheel power output or form an unpowered follower wheel. Through the detection information of the angle detection unit and the speed detection unit installed on the main frame of the detector, the specifications and quantity of the motor can be adjusted to adapt to different working conditions, thereby realizing efficient, high-speed, light-weight and low-cost pipeline detection.

[0049] In the present invention, if Figure 2 As shown, the duct detector may further include a battery for powering the duct detector.

[0050] According to one embodiment of the present invention, controlling the first motor and the second motor according to the detected travel speed and running inclination angle includes:

[0051] S100, judging whether the absolute value of the running inclination angle is less than a predetermined angle, if yes, turning to S102, otherwise turning to S104;

[0052] S102, control the second motor to work and the first motor to stop working, and then go to S106;

[0053] S104, controlling the second motor and at least one first motor to operate, and gradually increasing the operation of the first motor as the operating inclination angle increases, and then proceeding to S106;

[0054] S106, determining whether the traveling speed is greater than a predetermined speed, if yes, proceeding to S108, otherwise proceeding to S110;

[0055] S108, controlling the working states of the first motor and the second motor to remain unchanged;

[0056] S110, control the working state of the second motor to remain unchanged and continue to increase the working state of the first motor, and return to S106.

[0057] That is, in a horizontal pipeline, only the low-torque motor (the second motor) works, and the high-torque motor (the first motor) follows under the action of the ratchet mechanism. At this time, the working point of the low-torque motor is close to the rated working point, and the motor efficiency can reach about 80%; in addition, under the same power, the low-torque motor has a higher speed. Therefore, in the horizontal working condition where only the low-torque motor works, the detector runs at a higher speed. In the slope pipeline working condition, the low-torque motor still works, and according to the slope information of the angle sensor, the number of high-torque motors that need power output is increased or decreased (for example, the number of high-torque motors in working state is increased), so that both the high-torque motor and the low-torque motor work near the rated working point, and the overall efficiency of the detector is higher.

[0058] For example, the low-torque motor can be installed symmetrically front and back, and preferably installed on the walking mechanism close to the position below the detector in the gravity direction to ensure that the walking mechanism where the low-torque motor is located can fully contact the pipe wall. The high-torque motor is installed at the upper position. The number of high and low torque motors can be selected by calculation and design based on the adaptation working conditions, and the present invention is not limited to this.

[0059] According to an embodiment of the present invention, the predetermined angle is 5°, the predetermined speed is v0*90%, and v0 is an initial speed formed by the motor speed.

[0060] According to one embodiment of the present invention, the walking mechanism further includes an elastic unit and a supporting leg.

[0061] By setting the elastic unit, the elastic unit is compressed during the travel to ensure that the wheels of the walking mechanism are in contact with the pipe wall, and the motor power output drives the inspector to move forward. The legs can support the walking mechanism.

[0062] According to an embodiment of the present invention, the elastic unit is a spring.

[0063] According to an embodiment of the present invention, the speed detection unit is a speed sensor, and the angle detection unit is an angle sensor.

[0064] The embodiment of the present invention further provides a method for controlling a pipeline detector having a ratchet wheel hub motor, wherein the pipeline detector comprises a main frame, a plurality of walking mechanisms, a speed detection unit, an angle detection unit and a control unit, wherein the plurality of walking mechanisms, the speed detection unit and the angle detection unit are all arranged on the main frame, the plurality of walking mechanisms are used to drive the pipeline detector to move, each walking mechanism comprises a first motor and a second motor, the torque of the first motor is higher than the torque of the second motor, the first motor comprises a wheel, a ratchet mechanism, an adapter shaft and a wheel hub motor body, the wheel hub motor body is connected to one end of the ratchet mechanism through the adapter shaft, and the other end of the ratchet mechanism is connected to the wheel, when the wheel hub motor body outputs power, the wheel rotates with the wheel hub motor body, and when the wheel hub motor body has no power output, the wheel follows, wherein the method comprises:

[0065] The speed detection unit detects the traveling speed of the pipeline detector in real time;

[0066] The angle detection unit detects the running inclination angle of the pipeline detector in real time;

[0067] The control unit controls the first motor and the second motor according to the detected traveling speed and running inclination angle.

[0068] Through the above technical solution, a combined drive detector can be obtained by combining high and low torque motors to adapt to different working conditions. The high torque motor is a hub motor with an integrated ratchet mechanism, which can be used as a drive wheel power output or form an unpowered follower wheel. Through the detection information of the angle detection unit and the speed detection unit installed on the main frame of the detector, the specifications and quantity of the motor can be adjusted to adapt to different working conditions, thereby realizing efficient, high-speed, light-weight and low-cost pipeline detection.

[0069] According to one embodiment of the present invention, controlling the first motor and the second motor according to the detected travel speed and running inclination angle includes:

[0070] S100, judging whether the absolute value of the running inclination angle is less than a predetermined angle, if yes, turning to S102, otherwise turning to S104;

[0071] S102, control the second motor to work and the first motor to stop working, and then go to S106;

[0072] S104, controlling the second motor and at least one first motor to operate, and gradually increasing the operation of the first motor as the operating inclination angle increases, and then proceeding to S106;

[0073] S106, determining whether the traveling speed is greater than a predetermined speed, if yes, proceeding to S108, otherwise proceeding to S110;

[0074] S108, controlling the working states of the first motor and the second motor to remain unchanged;

[0075] S110, control the working state of the second motor to remain unchanged and continue to increase the working state of the first motor, and return to S106.

[0076] According to an embodiment of the present invention, the predetermined angle is 5°, the predetermined speed is v0*90%, and v0 is an initial speed formed by the motor speed.

[0077] Combine the following Figure 4 The example further describes the control method process of the present invention.

[0078] like Figure 4 As shown in the figure, during the climbing process, the climbing maneuvering process control strategy is designed based on the angle sensor feedback data, which mainly includes two states: when the absolute value α of the angle sensor feedback data (the detected running inclination angle) is less than 5°, it is confirmed that the detector is in a horizontal running state. In this state, the low-torque motor is enabled and the other high-torque motors are not working; when the absolute value α of the angle sensor feedback data is greater than 5°, it is confirmed that the detector enters the ramp, and the high-torque motor starts to work. As the slope increases, the number of high-torque motors working gradually increases. If the speed sensor feedback detector speed (detected travel speed) vr is lower than 90% of the detector speed v0 formed by the motor speed, it is confirmed that the detector is not slipping enough, and the high-torque motor is increased to assist in climbing.

[0079] That is, during the horizontal driving of the detector, the low torque motor is used in the normal state. Through the deformation pipeline type, if the speed sensor feedback speed vr is lower than 90% of the speed v0 formed by the motor speed, it is determined that the detector has insufficient slip force, and at this time, a high torque motor is added to assist in passing.

[0080] It can be seen from the above embodiments that the pipeline detector with ratchet hub motor and the control method thereof described in the present invention have at least the following advantages: 1. The hub motor with integrated ratchet mechanism can be used as the driving wheel power output, and can also be used as the driven wheel follower. 2. By using the hub motor with integrated ratchet mechanism, combined with high and low torque hub motor forms, a power drive system of the detector is formed; through the information of the angle sensor installed on the detector frame, the type and quantity of motor operation are controlled to adapt to different working conditions such as horizontal and slope pipelines, so as to achieve the purpose of the hub motor running at the high efficiency point (near the rated point) in each working condition and the detector running efficiently.

[0081] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0082] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0083] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A pipeline detector with a ratchet hub motor, characterized in that: The pipeline detector comprises a main frame, a plurality of walking mechanisms, a speed detection unit, an angle detection unit and a control unit. The plurality of walking mechanisms, the speed detection unit and the angle detection unit are all arranged on the main frame. The plurality of walking mechanisms are used to drive the pipeline detector to move forward. Each walking mechanism comprises a first motor and a second motor. The torque of the first motor is higher than the torque of the second motor. The first motor includes a wheel, a ratchet mechanism, a transfer shaft and a hub motor body. The hub motor body is connected to one end of the ratchet mechanism through the transfer shaft, and the other end of the ratchet mechanism is connected to the wheel. When the hub motor body outputs power, the wheel rotates with the hub motor body. When the hub motor body has no power output, the wheel moves with it. The speed detection unit is used to detect the traveling speed of the pipeline detector in real time, and the angle detection unit is used to detect the running inclination angle of the pipeline detector in real time; The control unit is used to control the first motor and the second motor according to the detected traveling speed and running inclination angle.

2. The pipeline detector according to claim 1, characterized in that: Controlling the first motor and the second motor according to the detected travel speed and the running inclination angle includes: S100, judging whether the absolute value of the running inclination angle is less than a predetermined angle, if yes, turning to S102, otherwise turning to S104; S102, control the second motor to work and the first motor to stop working, and then go to S106; S104, controlling the second motor and at least one first motor to operate, and gradually increasing the operation of the first motor as the operating inclination angle increases, and then proceeding to S106; S106, determining whether the traveling speed is greater than a predetermined speed, if yes, proceeding to S108, otherwise proceeding to S110; S108, controlling the working states of the first motor and the second motor to remain unchanged; S110, control the working state of the second motor to remain unchanged and continue to increase the working state of the first motor, and return to S106.

3. The pipeline detector according to claim 2, characterized in that: The preset angle is 5°, the preset speed is v0*90%, and v0 is the initial speed formed by the motor speed.

4. The pipeline detector according to claim 3, characterized in that: The walking mechanism also includes an elastic unit and supporting legs.

5. The pipeline detector according to claim 4, characterized in that: The elastic unit is a spring.

6. The pipeline detector according to any one of claims 1 to 5, characterized in that: The speed detection unit is a speed sensor, and the angle detection unit is an angle sensor.

7. A method for controlling a pipeline detector having a ratchet hub motor, characterized in that: The pipeline detector comprises a main frame, a plurality of walking mechanisms, a speed detection unit, an angle detection unit and a control unit. The plurality of walking mechanisms, the speed detection unit and the angle detection unit are all arranged on the main frame. The plurality of walking mechanisms are used to drive the pipeline detector to move. Each walking mechanism comprises a first motor and a second motor. The torque of the first motor is higher than the torque of the second motor. The first motor comprises a wheel, a ratchet mechanism, an adapter shaft and a hub motor body. The hub motor body is connected to one end of the ratchet mechanism through the adapter shaft, and the other end of the ratchet mechanism is connected to the wheel. When the hub motor body outputs power, the wheel rotates with the hub motor body. When the hub motor body has no power output, the wheel follows. The method comprises: The speed detection unit detects the traveling speed of the pipeline detector in real time; The angle detection unit detects the running inclination angle of the pipeline detector in real time; The control unit controls the first motor and the second motor according to the detected traveling speed and running inclination angle.

8. The method according to claim 7, characterized in that Controlling the first motor and the second motor according to the detected travel speed and the running inclination angle includes: S100, judging whether the absolute value of the running inclination angle is less than a predetermined angle, if yes, turning to S102, otherwise turning to S104; S102, control the second motor to work and the first motor to stop working, and then go to S106; S104, controlling the second motor and at least one first motor to operate, and gradually increasing the operation of the first motor as the operating inclination angle increases, and then proceeding to S106; S106, determining whether the traveling speed is greater than a predetermined speed, if yes, proceeding to S108, otherwise proceeding to S110; S108, controlling the working states of the first motor and the second motor to remain unchanged; S110, control the working state of the second motor to remain unchanged and continue to increase the working state of the first motor, and return to S106.

9. The method according to claim 8, characterized in that The preset angle is 5°, the preset speed is v0*90%, and v0 is the initial speed formed by the motor speed.

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