Differential steering method and system for four-wheel-drive moving tool

Abstract

The invention provides a differential steering method and system for a four-wheel-drive moving tool, and is applied to the field of data processing. The steering requirement can be accurately judged by detecting the steering instruction of the user and collecting the steering angle, that is, when the steering angle reaches the preset degree, the system can activate the motor and adjust the output current, and therefore accurate steering control is achieved. Therefore, multiple adjustment caused by inaccurate steering can be reduced, the steering efficiency is improved, meanwhile, through differential control of the motor, the left wheel part and the right wheel part can apply reverse differential rotation, flexible steering of the skateboard can be achieved in a small space in the mode, the large-range steering space requirement is reduced, and the skateboard steering efficiency is improved. Therefore, a skateboard user can turn around and steer more quickly.

Description

Technical Field

[0001] The present invention relates to the field of data processing, and in particular to a differential steering method and system for a four-wheel drive mobile tool. Background Art

[0002] At present, when traditional electric skateboards are moving and turning, often only the front two wheels or the rear two wheels provide steering capabilities, resulting in the need for a large range of steering space when the electric skateboard is turning, or the skateboard must be moved back and forth multiple times for turning, which makes it impossible for the skateboard user to quickly turn around. Summary of the invention

[0003] The present invention aims to solve the problem that when an electric skateboard is turned, a large turning space is required, or the skateboard must be moved back and forth multiple times for turning, which makes it impossible for the skateboard user to turn around quickly. A differential steering method and system for a four-wheel drive mobile tool are provided.

[0004] The present invention adopts the following technical means to solve the technical problem:

[0005] The present invention provides a differential steering method for a four-wheel drive mobile tool, comprising:

[0006] Based on the preset control content of the electric skateboard, detecting the user's steering instruction for the electric skateboard, and collecting the steering angle corresponding to the steering instruction;

[0007] Determining whether the steering angle reaches a preset degree;

[0008] If yes, activate the motor preset on the electric pulley of the electric skateboard, identify the current steering direction of the electric pulley, adjust the motor to output a preset motor current according to the steering direction, drive the left and right wheels of the electric pulley to apply reverse differential rotation through the motor current, monitor the sliding information of the electric skateboard in real time, and synchronize the sliding information to the preset device of the user;

[0009] Determining whether the sliding information detects a preset obstacle content;

[0010] If detected, the obstacle type corresponding to the obstacle content is identified, the force data of the electric skateboard subjected to the obstacle content is collected, and the real-time acceleration data of the electric pulley is balanced based on the force data and the obstacle type, wherein the obstacle types specifically include concave obstacles and convex obstacles, and the force data specifically include inertia data, gravity data and resistance data.

[0011] Furthermore, before the step of adjusting the motor output to output a preset motor current according to the steering direction and driving the left and right wheels of the electric pulley to apply reverse differential rotation by the motor current, the step further includes:

[0012] Based on the preset horizontal plane information of the electric skateboard, a preset tilt sensor is used to measure the tilt angle of the electric skateboard in real time, and the turning direction currently required by the user is obtained according to the tilt angle;

[0013] Determining whether the steering direction conforms to the preset steering content of the electric skateboard;

[0014] If so, the target steering angular velocity of the electric skateboard is calculated based on the tilt angle and the pre-trained steering response model, and the forward speed of the electric skateboard is monitored in real time. The target linear velocities of the left and right wheels are calculated based on the target steering angular velocity and the forward speed, and the required currents of the motors corresponding to the left and right wheels are generated.

[0015] Furthermore, the step of monitoring the sliding information of the electric skateboard in real time and synchronizing the sliding information to the user's preset device also includes:

[0016] Based on the preset device pre-connected to the electric skateboard, synchronizing the route information pre-planned by the user on the preset device to the electric skateboard, and generating the route information in real time from the electric skateboard;

[0017] Determining whether the electric skateboard can read the route information;

[0018] If it is possible, the laser device preset on the electric skateboard is activated, corresponding laser data is output at the preset irradiation direction of the electric skateboard, and the guiding direction of the laser data is dynamically adjusted according to the real-time changes of the route information.

[0019] Furthermore, the step of collecting the force data of the electric skateboard caused by the obstacle content and balancing the real-time acceleration data of the electric pulley based on the force data and the obstacle type includes:

[0020] Based on sensor data collected by a preset acceleration sensor, characteristic peaks are extracted from the sensor data, and a preset machine learning algorithm is applied to perform pattern recognition on the characteristic peaks to distinguish the obstacle type, wherein the characteristic peaks specifically include acceleration peaks, amplitudes, frequency components, and durations;

[0021] Determine whether the obstacle type meets the pre-recorded obstacle data;

[0022] If possible, measure the PID control values ​​of the electric skateboard and the obstacle content, adaptively generate the control signal of the electric skateboard according to the PID control values, and dynamically adjust the output power of the motor according to the control signal, wherein the PID control values ​​specifically include proportional control, integral control and differential control.

[0023] Furthermore, the step of determining whether the steering angle reaches a preset degree further includes:

[0024] Based on the preset initial reference angle of the electric skateboard, identifying the angle data of the electric skateboard for the turning scene, wherein the turning scene specifically includes a small turn, a large turn and a sharp turn;

[0025] Determining whether the angle data complies with a preset control instruction;

[0026] If so, the duration of the angle data is collected, the angle error tolerance of the electric skateboard is activated according to the duration, and the motion state of the electric skateboard is dynamically adjusted according to the angle error tolerance, wherein the motion state specifically includes automatic balancing, anti-shake control and vibration suppression.

[0027] Furthermore, the step of determining whether the sliding information detects a preset obstacle content further includes:

[0028] Based on a preset ultrasonic sensor, detecting the distance between the electric skateboard and the obstacle;

[0029] Determining whether the distance exceeds a preset distance threshold;

[0030] If not, the position and size of the obstacle content are identified, a detour path of the electric skateboard is constructed according to the position and size, and a motor control instruction and a steering control instruction of the electric skateboard are adaptively generated according to the detour path.

[0031] Furthermore, before the step of detecting the steering instruction of the electric skateboard from the user based on the preset control content of the electric skateboard, the method further includes:

[0032] Based on the connection verification information pre-recorded by the electric skateboard, collecting the verification content of the connection verification information by the user;

[0033] Determining whether the verification content matches the preset factory information of the electric skateboard;

[0034] If so, the user is granted connection authority for the electric skateboard, and a personalized control interface for the electric skateboard is generated for the user through the preset device according to the connection authority.

[0035] The present invention also provides a differential steering system for a four-wheel drive mobile tool, comprising:

[0036] A collection module, used for detecting a user's steering instruction for the electric skateboard based on preset control content of the electric skateboard, and collecting a steering angle corresponding to the steering instruction;

[0037] A judging module, used to judge whether the steering angle reaches a preset degree;

[0038] an execution module, configured to, if yes, activate a motor preset on the electric pulley of the electric skateboard, identify a current steering direction of the electric pulley, adjust a preset motor current output by the motor according to the steering direction, drive the left and right wheels of the electric pulley to apply reverse differential rotation through the motor current, monitor the sliding information of the electric skateboard in real time, and synchronize the sliding information to a preset device of the user;

[0039] A second judgment module is used to judge whether the sliding information detects a preset obstacle content;

[0040] The second execution module is used to identify the obstacle type corresponding to the obstacle content if detected, collect the force data of the electric skateboard caused by the obstacle content, and balance the real-time acceleration data of the electric pulley based on the force data and the obstacle type, wherein the obstacle type specifically includes concave obstacles and convex obstacles, and the force data specifically includes inertia data, gravity data and resistance data.

[0041] Furthermore, it also includes:

[0042] A measuring module, for measuring the inclination angle of the electric skateboard in real time using a preset inclination sensor based on preset horizontal plane information of the electric skateboard, and obtaining the steering direction currently required by the user according to the inclination angle;

[0043] A third judgment module is used to judge whether the turning direction conforms to the preset turning content of the electric skateboard;

[0044] The third execution module is used to calculate the target steering angular velocity of the electric skateboard according to the tilt angle and the pre-trained steering response model, and monitor the forward speed of the electric skateboard in real time, calculate the target linear velocity of the left and right wheels based on the target steering angular velocity and the forward speed, and generate the required current of the motors corresponding to the left and right wheels.

[0045] Furthermore, the execution module also includes:

[0046] A synchronization unit, configured to synchronize the route information pre-planned by the user on the preset device to the electric skateboard based on the preset device pre-connected to the electric skateboard, and generate the route information in real time from the electric skateboard;

[0047] A judging unit, used for judging whether the electric skateboard can read the route information;

[0048] The execution unit is used to activate the laser device preset on the electric skateboard if possible, output corresponding laser data at the preset irradiation direction of the electric skateboard, and dynamically adjust the guiding direction of the laser data according to the real-time changes of the route information.

[0049] The present invention provides a differential steering method and system for a four-wheel drive mobile tool, which has the following beneficial effects:

[0050] The present invention can accurately determine the steering demand by detecting the user's steering command and collecting the steering angle, that is, when the steering angle reaches a preset degree, the system will activate the motor and adjust the output current, thereby achieving precise steering control. This can reduce multiple adjustments caused by inaccurate steering and improve steering efficiency. At the same time, through the differential control of the motor, the left and right wheels can apply reverse differential rotation. This method can achieve flexible steering of the skateboard in a smaller space, reduce the demand for a large range of steering space, so that the skateboard user can turn around faster, and collect force data according to the type of obstacle, and balance the real-time acceleration data of the electric pulley based on these data, so that the skateboard can maintain the balance and stability of the skateboard during the steering process, and reduce multiple adjustments caused by imbalance. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic flow chart of an embodiment of a differential steering method for a four-wheel drive vehicle of the present invention;

[0052] Figure 2 The structure diagram of an embodiment of the differential steering system of the four-wheel drive vehicle of the present invention. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The implementation of the objectives, functional features and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

[0054] 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 only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] Reference Figure 1 , is a differential steering method for a four-wheel drive mobile tool in an embodiment of the present invention, comprising:

[0056] S1: Based on the preset control content of the electric skateboard, detecting the user's steering instruction for the electric skateboard, and collecting the steering angle corresponding to the steering instruction;

[0057] S2: Determine whether the steering angle reaches a preset degree;

[0058] S3: If yes, activate the motor preset on the electric pulley of the electric skateboard, identify the current steering direction of the electric pulley, adjust the motor to output a preset motor current according to the steering direction, drive the left and right wheels of the electric pulley to apply reverse differential rotation through the motor current, monitor the sliding information of the electric skateboard in real time, and synchronize the sliding information to the preset device of the user;

[0059] S4: Determine whether the sliding information detects a preset obstacle content;

[0060] S5: If detected, the obstacle type corresponding to the obstacle content is identified, the force data of the electric skateboard subjected to the obstacle content is collected, and the real-time acceleration data of the electric pulley is balanced based on the force data and the obstacle type, wherein the obstacle type specifically includes concave obstacles and convex obstacles, and the force data specifically includes inertia data, gravity data and resistance data.

[0061] In this embodiment, the system detects the steering instructions input by the user to the electric skateboard based on the control content pre-set by the electric skateboard, collects the steering angles corresponding to these steering instructions, and then the system determines whether the steering angle reaches the preset degree to execute the corresponding steps; for example, when the system determines that the steering angle of the electric skateboard has not reached the preset degree, the system will consider that the current user's steering operation is not enough to trigger the preset steering mechanism, and the system will gradually increase or decrease the motor output according to the current steering angle to make the skateboard turn slowly, ensuring that the user's small-amplitude operation can also be perceived and responded by the system, while continuously monitoring the user's steering instructions and the real-time status data of the skateboard, such as speed and acceleration, and through real-time analysis of the steering instructions input by the user and the current angle of the skateboard, it is determined whether it is necessary to continue to adjust, and when it is detected that the preset angle is not reached, the speed of the skateboard is appropriately slowed down to ensure that the user can safely control the skateboard during the continued steering process; for example, when the system determines that the steering angle of the electric skateboard has reached the preset degree, the system will consider that the current user's steering operation is sufficient to trigger the steering mechanism, and the system will activate the electric skateboard pre-set on the electric pulley The motor of the electric pulley is used to identify the current steering direction of the electric pulley, and the motor output is adjusted according to different steering directions. The motor current drives the left and right wheels of the electric pulley to apply differential rotation in opposite directions, so that the electric skateboard can turn with a minimum amplitude, monitor the sliding information of the electric skateboard in real time, and synchronize these sliding information to the device that the user has pre-connected with the electric skateboard; the system detects the steering angle through the system and activates the motor after confirming that it reaches the preset degree, so as to ensure the accuracy of the steering operation, and the electric pulley applies differential rotation in the opposite direction, so that the skateboard can turn with a minimum amplitude posture, increase the flexibility and accuracy of the steering, and at the same time, by accurately controlling the motor output, the electric skateboard maintains a minimum amplitude posture when turning, which helps to quickly complete the steering, and the differential rotation mechanism ensures the stability of the steering process, reduces the bumps and discomfort that may occur during the steering process, and improves the user's riding experience, monitors the sliding information in real time and synchronizes it to the user's device, so that the user can understand the status and action of the skateboard at any time, and enhances the interactivity and control sense; then the system determines whether these sliding information detects the pre-set obstacle content to execute the corresponding steps;For example, when the system determines that the sliding information of the electric skateboard does not detect the pre-set obstacle content, the system will consider that the current driving path of the skateboard is safe and no obstacles are detected that may interfere with the normal driving of the skateboard. After confirming that the path is unobstructed, the system will continue to maintain the current speed and direction of the skateboard to ensure the continuity and stability of driving, and continue to use sensors to monitor the road conditions ahead in real time to ensure that potential obstacles are continuously detected during the driving of the skateboard. The real-time sliding information of the skateboard is regularly synchronized to the user's preset device, so that the user can grasp the operating status and environmental information of the skateboard at any time, and display the current status information of the skateboard on the user's device, such as speed, driving distance, battery power, etc., to ensure that the user has a comprehensive understanding of the operating status of the skateboard; for example, when the system determines that the sliding information of the electric skateboard detects the pre-set obstacle content, the system will consider that there is an obstacle in the current driving path of the skateboard, and the system will identify the obstacle type corresponding to the obstacle content. The specific obstacle type Including concave obstacles and convex obstacles, collecting the force data of the electric skateboard caused by different obstacle contents, the force data specifically includes inertia data, gravity data and resistance data, and balancing the real-time acceleration data of the electric skateboard based on the force data and obstacle type; based on different force data, the system can dynamically adjust the real-time acceleration of the electric skateboard to ensure that the skateboard can smoothly cross or bypass obstacles and reduce the possibility of accidents. By collecting and analyzing force data in real time, the system can accurately control the acceleration and deceleration of the skateboard to maintain the stability of the skateboard when encountering obstacles and avoid instability caused by excessive acceleration changes. At the same time, after detecting obstacles, the balance of the skateboard can be adjusted in time according to the obstacle type and force data, so that the skateboard remains stable when passing through obstacles, improving the stability and controllability of the skateboard, and by timely adjusting and optimizing the acceleration data of the skateboard, the system can ensure that the skateboard can still maintain smooth driving when encountering obstacles, reducing bumps and discomfort, and improving the user's riding experience. ;

[0062] It should be noted that the user can control the electric skateboard through a connected device or a remote controller that comes with the electric skateboard, and a specific example of balancing the real-time acceleration data of the electric pulley based on the force data and the obstacle type is as follows:

[0063] Assume there are two cases,

[0064] Case 1: Concave obstacles (such as potholes)

[0065] The skateboard's sensor detects a concave obstacle in front of it, and the skateboard detects that the current speed is fast, the inertia force is large, and the front of the skateboard feels the increased gravity caused by the downhill. Due to the uneven ground, the resistance increases. The system appropriately reduces the acceleration of the skateboard based on data analysis to avoid instability caused by excessive speed in potholes. The system adjusts the angle of the electric pulley to move the center of gravity of the skateboard downward to increase stability when passing through concave obstacles. The skateboard will pass through the potholes smoothly at a lower speed, avoiding bumps and instability.

[0066] Case 2: Convex obstacles (such as rocks)

[0067] The sensor of the skateboard detects a convex obstacle in front, and the skateboard detects that the current speed is moderate, the inertia force is moderate, and the skateboard is on a horizontal plane with evenly distributed gravity. The stone in front may cause the skateboard to experience an increase in instantaneous resistance. Based on data analysis, the system appropriately reduces the speed of the skateboard to ensure that it approaches the obstacle at a slower speed. The system will then adjust the electric pulley to slightly lift the front of the skateboard to reduce the impact of the stone on the bottom of the skateboard. By applying reverse differential rotation to the left and right pulleys, the skateboard can smoothly cross the obstacle when approaching the stone. The skateboard can smoothly cross the stone by reducing the speed and adjusting the center of gravity, thus avoiding skateboard jumping and imbalance.

[0068] In this embodiment, before step S3 of adjusting the motor output of a preset motor current according to the steering direction and driving the left and right wheel parts of the electric pulley to apply reverse differential rotation by the motor current, the method further includes:

[0069] S301: Based on preset horizontal plane information of the electric skateboard, using a preset tilt sensor to measure the tilt angle of the electric skateboard in real time, and obtaining the turning direction currently required by the user according to the tilt angle;

[0070] S302: Determine whether the turning direction meets the preset turning content of the electric skateboard;

[0071] S303: If yes, then the target steering angular velocity of the electric skateboard is calculated according to the tilt angle and the pre-trained steering response model, and the forward speed of the electric skateboard is monitored in real time. The target linear velocities of the left and right wheels are calculated based on the target steering angular velocity and the forward speed, and the required currents of the motors corresponding to the left and right wheels are generated.

[0072] In this embodiment, the system uses a preset tilt sensor to measure the tilt angle of the electric skateboard in real time based on the preset horizontal plane information of the electric skateboard, and obtains the steering direction currently required by the user according to different tilt angles. Then the system determines whether the steering direction meets the preset steering content of the electric skateboard to execute the corresponding steps; for example, when the system determines that the steering direction currently required by the user cannot meet the preset steering content of the electric skateboard, the system will consider that the user's steering demand does not match the steering path or direction preset by the system, resulting in the skateboard being unable to travel along the expected path. The system will prompt the user through the display screen or light prompt on the user's device to remind the user. If the user's current steering direction does not match the preset content, it is recommended to make appropriate adjustments. At the same time, according to the user's actual driving environment and steering needs, the preset steering path and direction are dynamically adjusted to make it more in line with the actual situation. Under the premise of ensuring safety, the user's actual steering needs are met first, and the system preset content is adjusted. By recording and analyzing the user's steering data and environmental information, the system preset content is optimized to make it more in line with the actual needs in different environments, and personalized steering setting options are provided for users, so that users can adjust the preset content according to actual needs; for example, when the system determines that the steering method currently required by the user can meet the pre-set steering content of the electric skateboard, this At this time, the system will think that the user's steering demand matches the steering path of the electric skateboard. The system will calculate the target steering angular velocity of the electric skateboard according to different tilt angles and pre-trained steering response models, and monitor the forward speed of the electric skateboard in real time. The target linear velocity of the left and right wheels of the electric skateboard is calculated based on the target steering angular velocity and forward speed, and the required current of the motors corresponding to the left and right wheels is generated; the system calculates the target steering angular velocity of the electric skateboard according to different tilt angles and pre-trained steering response models to ensure the accuracy and consistency of the steering, monitors the forward speed of the electric skateboard in real time, and calculates the target linear velocity of the left and right wheels based on the target steering angular velocity and forward speed, so that the steering process is accurate and consistent. The process is smoother and more natural, which improves the user's riding experience. At the same time, through real-time monitoring and adjustment, the system can dynamically adapt to steering needs according to the current driving conditions, reduce loss of control and danger caused by sudden steering or speed changes, generate the current required by the motors corresponding to the left and right wheels, ensure that the left and right wheels can run in a balanced manner, avoid rollover or instability caused by excessive difference in left and right wheel speeds, and generate the current required by the motors corresponding to the left and right wheels according to the target linear speed to ensure the accuracy of current distribution, reduce energy waste, and improve the endurance of the electric skateboard. By accurately controlling the motor current of the left and right wheels, the system can effectively balance energy consumption and avoid excessive power consumption of one wheel, thereby extending the use time of the skateboard.

[0073] It should be noted that a specific example of calculating the target steering angular velocity of the electric skateboard, monitoring the forward speed of the electric skateboard in real time, calculating the target linear velocities of the left and right wheels based on the target steering angular velocity and the forward speed, and generating the required currents of the motors corresponding to the left and right wheels is as follows:

[0074] Based on the pre-trained model, the target steering angular velocity corresponding to the user's steering demand is calculated as ,

[0075]

[0076] in, is the user's tilt angle, is a pre-trained steering response model;

[0077] Real-time monitoring of the current forward speed of the electric skateboard , using the speed sensor to obtain data, based on the target steering angular velocity and forward speed , calculate the target linear speed of the left and right wheels and , and for the electric skateboard, the target linear speed of the left and right wheels can be expressed by the following formula:

[0078]

[0079]

[0080] in, is the distance between the left and right wheels of the skateboard;

[0081] Based on the target linear speed of the left and right wheels, calculate the required current of the motors corresponding to the left and right wheels and , the current required by the motor can be determined by the motor's speed-current characteristic curve or control algorithm. The specific formula is:

[0082]

[0083]

[0084] in, is the motor control algorithm;

[0085] Assume that the user's tilt angle is =10°, forward speed =5m / s, the distance between the left and right wheels of the skateboard = 0.5m, the target steering angular velocity given by the pre-trained steering response model is =0.2rad / s;

[0086] Hypothesis Model , then the target steering angular velocity is calculated as:

[0087] ;

[0088] Known as the forward speed If the target linear speed of the left and right wheels is 5m / s, then the target linear speed of the left and right wheels is calculated as:

[0089]

[0090]

[0091] Assuming the motor speed-current characteristic is a linear relationship, ,in, is a constant, then

[0092]

[0093]

[0094] like ,but

[0095]

[0096]

[0097] In summary, the system can calculate the target linear speed of the left and right wheels according to the user's tilt angle and forward speed, and generate the corresponding current required for the motor. This process ensures that the electric skateboard can accurately turn according to the user's needs while maintaining a smooth and safe driving state, which not only improves the user's riding experience, but also enhances the control performance and safety of the electric skateboard.

[0098] In this embodiment, the step S3 of monitoring the sliding information of the electric skateboard in real time and synchronizing the sliding information to the preset device of the user further includes:

[0099] S31: Based on the preset device pre-connected to the electric skateboard, synchronizing the route information pre-planned by the user on the preset device to the electric skateboard, and generating the route information in real time from the electric skateboard;

[0100] S32: Determine whether the electric skateboard can read the route information;

[0101] S33: If yes, activate the laser device preset on the electric skateboard, output corresponding laser data at the preset irradiation direction of the electric skateboard, and dynamically adjust the guiding direction of the laser data according to the real-time changes of the route information.

[0102] In this embodiment, the system synchronizes the route information pre-planned by the user on the device to the electric skateboard based on the device pre-connected to the electric skateboard, generates route information from the electric skateboard in real time, and then determines whether the electric skateboard can read the route information to execute the corresponding steps; for example, when the system determines that the electric skateboard cannot read the route information, the system will consider that the route information on the user's device has not been successfully synchronized to the electric skateboard, and the system will perform a storage success check during the data storage process to ensure that the route information is correctly written into the storage medium of the electric skateboard, and at the same time display an error prompt on the user's device to inform the user of the specific reason why the electric skateboard cannot read the route information, and when a synchronization or reading failure is detected, a retry operation is automatically performed to try to resynchronize the route information, prompting the user to manually resynchronize the route information to ensure successful data transmission; for example, when the system determines that the electric skateboard can read the route information, the system will consider that the electric skateboard has successfully synchronized the route information, and the system will activate the laser device pre-set on the electric skateboard. The laser device can output the corresponding laser data at the preset irradiation position of the electric skateboard, and dynamically adjust the guidance direction of the laser data according to the real-time changes of the route information; the laser device can output the corresponding laser data at the preset irradiation position, provide clear and accurate path guidance, help users accurately follow the planned route, and dynamically adjust the guidance direction of the laser data according to the real-time changes of the route information to ensure that the navigation information always matches the current route, thereby improving the real-time and accuracy of navigation. At the same time, the laser guidance can display the route ahead and possible obstacles in advance to help users prepare in advance and avoid emergencies. By projecting visual navigation information through laser, the user's judgment errors in complex environments are reduced, the risk of accidents is reduced, and the riding safety is improved. In addition, the laser guidance provides an intuitive navigation method, so that users do not need to frequently check the device screen or other navigation tools, and can focus on riding and improve the user experience. Compared with sound or vibration prompts, laser guidance is quieter and non-intrusive, and is suitable for a variety of riding environments, especially in noisy places or places where quietness is required.

[0103] In this embodiment, the step S5 of collecting the force data of the electric skateboard caused by the obstacle content and balancing the real-time acceleration data of the electric pulley based on the force data and the obstacle type includes:

[0104] S51: based on sensor data collected by a preset acceleration sensor, extract characteristic peaks from the sensor data, apply a preset machine learning algorithm to perform pattern recognition on the characteristic peaks, and distinguish the obstacle type, wherein the characteristic peaks specifically include acceleration peaks, amplitudes, frequency components, and durations;

[0105] S52: Determine whether the obstacle type conforms to the pre-recorded obstacle data;

[0106] S53: If possible, measure the PID control values ​​of the electric skateboard and the obstacle content, adaptively generate the control signal of the electric skateboard according to the PID control values, and dynamically adjust the output power of the motor according to the control signal, wherein the PID control values ​​specifically include proportional control, integral control and differential control.

[0107] In this embodiment, the system extracts characteristic peaks from the sensor data collected by the pre-set acceleration sensor, and the characteristic peaks specifically include acceleration peaks, amplitude, frequency components and duration. The pre-set machine learning algorithm is applied to perform pattern recognition on the characteristic peaks to distinguish obstacle types, and then the system determines whether these obstacle types meet the pre-recorded obstacle data to execute the corresponding steps; for example, when the system determines that the obstacle type cannot meet the pre-recorded obstacle data, the system will consider that the currently detected obstacle type may be a new or unrecorded data type, and the system will display a prompt message on the user device to inform the user that an unknown obstacle type is currently detected, and the user is advised to drive carefully, allowing the user to choose whether to report the current obstacle data to the system for subsequent analysis and improvement, and at the same time, the unidentified obstacle data is stored, and the data is regularly collected and analyzed to expand the existing obstacle database. Based on the newly collected data, the machine learning model is regularly updated and trained to improve the recognition ability of the algorithm, and the acceleration sensor is checked and calibrated to ensure the accuracy and reliability of the sensor data; for example, when the system determines that the obstacle type can meet the pre-recorded obstacle data, the system will consider that the currently detected obstacle type is a new or unrecorded data type. The obstacle type can identify the corresponding obstacle content. The system will measure the PID control value of the electric skateboard and the obstacle content. The PID control value specifically includes proportional control, integral control and differential control. The control signal of the electric skateboard is adaptively generated according to the PID control value, and the output power of the motor is dynamically adjusted according to these control signals; PID control can accurately calculate the control signal of the electric skateboard and make real-time adjustments according to the obstacle type, so that the electric skateboard can quickly and accurately respond to different obstacles. According to the real-time obstacle situation and the state of the skateboard, the PID control value can adaptively adjust the output power of the motor to maintain the stability and safety of the skateboard. At the same time, by real-time monitoring and adjusting the output power of the motor, PID control ensures that the electric skateboard can maintain dynamic balance when encountering obstacles to prevent overturning or loss of control. The proportional, integral and differential control parameters in the PID control can be continuously optimized to adapt to different riding environments and obstacle types, improve the stability of the overall system, and the PID control can quickly respond to obstacle detection and skateboard state changes, generate control signals in real time and adjust the output power to ensure that the skateboard can quickly adapt to different riding conditions, reduce the lag time of system response through differential control, and improve the reaction speed and accuracy of the electric skateboard when encountering obstacles.

[0108] It should be noted that a specific example of applying a preset machine learning algorithm to perform pattern recognition on the characteristic peaks and distinguishing the obstacle types is as follows:

[0109] Assume there are two cases, namely,

[0110] Case 1: Identifying raised obstacles

[0111] Data collection: When a skateboard passes a raised obstacle (such as a speed bump), the acceleration sensor collects significant acceleration changes;

[0112] Feature extraction: The extracted feature peaks include high acceleration peaks, high amplitudes, and specific frequency components;

[0113] Pattern recognition: The extracted features are input into the trained SVM model, and the model recognizes that this is a raised obstacle;

[0114] Control signal: Based on the recognition results, the system adjusts the motor output power, decelerates appropriately and maintains balance to safely pass through raised obstacles;

[0115] Case 2: Identifying sunken obstacles

[0116] Data collection: When a skateboard passes through a concave obstacle (such as a pothole), the acceleration sensor collects significant acceleration changes;

[0117] Feature extraction: The extracted feature peaks include low acceleration peaks, low amplitudes, and specific frequency components;

[0118] Pattern recognition: The extracted features are input into the trained random forest model, and the model recognizes that this is a sunken obstacle;

[0119] Control signal: Based on the recognition results, the system adjusts the motor output power, decelerates appropriately and maintains balance to safely pass through recessed obstacles;

[0120] In summary, by using the preset machine learning algorithm to perform pattern recognition on feature peaks and distinguish obstacle types, the system can accurately identify and control the electric skateboard under different obstacle conditions. This process includes data collection, feature extraction, model training and real-time application. By continuously optimizing and updating the machine learning model, the system can improve its recognition accuracy and response speed for various obstacle types, providing users with a smarter and safer riding experience.

[0121] It should be added that a specific example of adaptively generating a control signal of the electric skateboard according to the PID control value and dynamically adjusting the output power of the motor according to the control signal is as follows:

[0122] Assume there are three cases, namely

[0123] Case 1: Encountering a small raised obstacle

[0124] Obstacle recognition: The system detects small raised obstacles and matches the preset obstacle data;

[0125] PID control calculation: measure the proportional, integral and differential control values ​​of the slide and the obstacle, and calculate the corresponding control signal;

[0126] Dynamic adjustment: adjust the output power of the motor according to the control signal to ensure that the skateboard passes through obstacles smoothly;

[0127] Case 2: Encountering a sunken obstacle

[0128] Obstacle recognition: The system detects recessed obstacles and matches the preset obstacle data;

[0129] PID control calculation: measure the proportional, integral and differential control values ​​of the slide plate and the depression, and calculate the corresponding control signal;

[0130] Dynamic adjustment: adjust the output power of the motor according to the control signal to help the skateboard pass through the concave area smoothly;

[0131] Case 3: Stability control in complex terrain

[0132] Obstacle recognition: The system detects complex terrain, such as gravel roads or grass, and matches the preset obstacle data;

[0133] PID control calculation: measure the proportional, integral and differential control values ​​of the slide plate and the complex terrain, and calculate the corresponding control signal;

[0134] Dynamic adjustment: adjust the output power of the motor in real time according to the control signal to ensure that the skateboard remains stable and safe in complex terrain;

[0135] In summary, by measuring the control values ​​of the electric skateboard and the obstacle content through the PID control system, and adaptively generating control signals to dynamically adjust the output power of the motor, it is possible to achieve precise control of the electric skateboard, enhance stability, increase response speed and improve user experience. This method not only improves the adaptability of the electric skateboard under various obstacles and terrains, but also ensures the smoothness and safety of riding, providing users with a more intelligent and efficient riding experience.

[0136] In this embodiment, the step S2 of determining whether the steering angle reaches a preset degree further includes:

[0137] S21: Based on the preset initial reference angle of the electric skateboard, identifying the angle data of the electric skateboard for a turning scene, wherein the turning scene specifically includes a small turn, a large turn and a sharp turn;

[0138] S22: Determine whether the angle data conforms to a preset control instruction;

[0139] S23: If yes, then collect the duration of the angle data, activate the angle error tolerance of the electric skateboard according to the duration, and dynamically adjust the motion state of the electric skateboard according to the angle error tolerance, wherein the motion state specifically includes automatic balancing, anti-shake control and vibration suppression.

[0140] In this embodiment, the system identifies the angle data of the electric skateboard for the turning scene based on the initial reference angle preset by the electric skateboard. The turning scene specifically includes a small turn, a large turn and a sharp turn. Then the system determines whether these angle data meet the preset control instructions to execute the corresponding steps; for example, when the system determines that the angle data of the electric skateboard does not meet the preset control instructions, the system will consider that the actual steering situation of the current skateboard does not meet or deviates from the preset steering control requirements, and the system will display a prompt message on the user device to inform the user that the current steering operation fails to meet the preset requirements and recommends re-adjusting the operation, and guide the user to perform the correct steering operation through voice prompts from the preset device, and automatically adjust the output power and steering angle of the motor, and try to adjust the steering of the electric skateboard to the preset control instructions, so that when the user makes an error in operation, the system provides auxiliary control to help the user complete the correct steering, and checks and calibrates the steering angle sensor to ensure the accuracy of the sensor data, diagnoses the control system and the motor, eliminates the fault factors, and ensures the normal operation of the hardware; for example, when the system determines that the angle data of the electric skateboard can meet the preset control instructions, the system The system will consider that the actual steering situation of the current skateboard has met the steering control requirements. The system will collect the duration of these angle data, activate the angle error tolerance of the electric skateboard according to different angle durations, and dynamically adjust the motion state of the electric skateboard according to the angle error tolerance. The motion state specifically includes automatic balance, anti-shake control and vibration suppression; the system sets the angle error tolerance and limits the angle deviation within the range to avoid unnecessary adjustments caused by small errors, improve steering accuracy, and can dynamically adjust the motion state of the electric skateboard in real time to ensure that the steering can be completed safely and stably in different steering scenarios, reducing the risk of rollover or loss of control. At the same time, when the angle error is detected, the system can automatically adjust the posture of the electric skateboard to maintain balance, prevent tilting or falling, detect and suppress the shaking caused by the steering process, and provide a smoother riding experience. When encountering uneven roads or obstacles, the system can adjust in real time to reduce vibration and improve riding comfort, and can make smooth dynamic adjustments according to the angle data and error tolerance to ensure a smooth steering process, reduce drastic changes in direction, and improve riding experience. The angle data is monitored in real time and adjusted dynamically to ensure rapid response and stability in various steering scenarios.

[0141] It should be supplemented that, a specific example of activating the angle error tolerance of the electric skateboard according to the duration and dynamically adjusting the motion state of the electric skateboard according to the angle error tolerance is as follows:

[0142] Assume there are three cases:

[0143] Case 1: Small turn

[0144] Data collection: The skateboard enters a small turn, and the system collects the turning angle of 5 degrees and the duration is 2 seconds;

[0145] Activation tolerance: The error tolerance for activating small turns (e.g. ±2 degrees) based on the steering angle and duration;

[0146] Dynamic adjustment: The system adjusts the motor output in real time within the error range of ±2 degrees to keep the skateboard stable through small turns. If the angle data deviates by more than 2 degrees, the system automatically adjusts the posture to avoid loss of control.

[0147] Effect: The skateboard can smoothly pass through small turns without frequent adjustments due to small angle changes, improving riding stability;

[0148] Case 2: Big Turn

[0149] Data collection: The skateboard enters a wide turn, and the system records that the turning angle is 15 degrees and the duration is 4 seconds;

[0150] Activation tolerance: The error tolerance for activating a large turn (e.g. ±5 degrees) based on the steering angle and duration.

[0151] Dynamic adjustment: The system adjusts the motor output in real time within the error range of ±5 degrees to keep the skateboard stable through large turns. If the angle data deviates by more than 5 degrees, the system automatically adjusts the posture to avoid loss of control.

[0152] Effect: The skateboard can smoothly pass through large turns without losing balance due to large angle changes, which improves riding safety;

[0153] Case 3: Sharp Turn

[0154] Data collection: The skateboard enters a sharp turn, and the system records that the turning angle is 30 degrees and the duration is 1 second;

[0155] Activation tolerance: the error tolerance for activating a sharp turn (e.g. ±10 degrees) based on the steering angle and duration;

[0156] Dynamic adjustment: The system adjusts the motor output in real time within the error range of ±10 degrees to keep the skateboard stable through sharp turns. If the angle data deviates by more than 10 degrees, the system automatically adjusts the posture to avoid loss of control.

[0157] Effect: The skateboard can pass through sharp turns quickly and smoothly without losing balance due to drastic angle changes, improving riding flexibility and safety;

[0158] In summary, by activating the angle error tolerance based on the duration of the angle data and dynamically adjusting the motion state of the electric skateboard according to the error tolerance, the system can achieve precise control and stable riding. This method not only improves the steering accuracy and safety, but also enhances the stability of the skateboard and the user experience, ensuring that users can get a smooth and safe riding experience in various steering scenarios.

[0159] In this embodiment, the step S4 of determining whether the sliding information detects a preset obstacle content further includes:

[0160] S41: Detecting the distance between the electric skateboard and the obstacle based on a preset ultrasonic sensor;

[0161] S42: Determine whether the distance exceeds a preset distance threshold;

[0162] S43: If not, identify the position and size of the obstacle content, construct a detour path for the electric skateboard according to the position and size, and adaptively generate a motor control instruction and a steering control instruction for the electric skateboard according to the detour path.

[0163] In this embodiment, the system detects the distance between the electric skateboard and the obstacle based on the ultrasonic sensor pre-installed on the electric skateboard, and then the system determines whether the distance exceeds a preset distance threshold to execute corresponding steps; for example, when the system determines that the distance exceeds the preset distance threshold, the system will consider that the distance between the skateboard and the obstacle is safe enough and the current driving route is safe. The system will maintain the current driving speed and direction to ensure that the skateboard continues to travel smoothly, continuously monitor the distance between the skateboard and the obstacle, and ensure that the distance change does not affect driving safety. At the same time, within a safe distance, the rider is regularly reminded that there is an obstacle ahead, keep paying attention, and record the current obstacle distance data for subsequent analysis and optimization; for example, when the system determines that the distance does not exceed the preset distance threshold, the system will consider that the distance between the skateboard and the obstacle is close and it is easy to collide with the electric skateboard. The system will identify the location and size of the obstacle content, build a detour path for the electric skateboard according to different location and size, and adaptively generate the electrode control instructions and steering control instructions of the electric skateboard based on the detour path; by real-time monitoring the distance between the skateboard and the obstacle, the system can quickly identify potential collision risks and take timely measures to detour to ensure the safety of the rider. The detour path is automatically generated according to the location and size of the obstacle to avoid the rider from having to respond quickly when facing an obstacle, thereby reducing the risk of accidental collision. At the same time, by calculating the detour path, smooth motor control and steering control instructions are generated, so that the skateboard can smoothly bypass the obstacle and improve the riding comfort. By identifying the location and size of the obstacle, the system can perform accurate path planning and control instruction generation, showing a high level of intelligence, and dynamically adjust the skateboard's path and control instructions according to real-time data to ensure safe driving in complex environments.

[0164] In this embodiment, based on the preset control content of the electric skateboard, before the step S1 of detecting the turning instruction of the user to the electric skateboard, the method further includes:

[0165] S101: Based on the connection verification information pre-recorded by the electric skateboard, collecting the verification content of the connection verification information by the user;

[0166] S102: Determine whether the verification content matches the preset factory information of the electric skateboard;

[0167] S103: If yes, granting the user connection authority to the electric skateboard, and generating a personalized control interface for the electric skateboard for the user through the preset device according to the connection authority.

[0168] In this embodiment, the system collects the user's verification content corresponding to the connection verification information based on the connection verification information pre-recorded by the electric skateboard, and then the system determines whether these verification contents match the pre-set factory information of the electric skateboard to execute the corresponding steps; for example, when the system determines that the verification content input by the user cannot match the pre-set factory information of the electric skateboard, the system will consider that the user-provided verification information for the electric skateboard is incorrect, and the system will display "Verification failed, please re-enter" on the display screen of the skateboard or the user's device. If the user enters incorrect information multiple times, the system should provide appropriate prompts to help the user find the correct verification information, and record each failed verification attempt, including time, input content (partially hidden) and user information for subsequent analysis and security review, and save error logs to the system's security database. After multiple verification failures, the system will provide the option of contacting customer support to help users solve the problem, by displaying the contact information of customer support. For example, when the system determines that the verification content input by the user can match the pre-set factory information of the electric skateboard, the system will consider that the verification information provided by the user for the electric skateboard is correct, and the system will grant the user connection authority to the electric skateboard, and generate a personalized control interface for the electric skateboard through the device pre-set by the user according to the connection authority; the system uses a strict verification mechanism to ensure that only legitimate users can connect and control the electric skateboard, prevent unauthorized access, and prevent malicious users or other people from using the electric skateboard without authorization, thereby protecting the user's equipment and privacy, and at the same time generate a personalized control interface according to the user's needs, so that the user can easily set up and operate the electric skateboard. The personalized interface design makes the operation more intuitive and simple, improves the user's experience, and the user can configure various parameters of the skateboard (such as speed, steering sensitivity, etc.) through the personalized interface to meet their personal usage habits and needs.

[0169] Reference Figure 2 , is a differential steering system of a four-wheel drive vehicle in one embodiment of the present invention, comprising:

[0170] The acquisition module 10 is used to detect the user's steering instruction for the electric skateboard based on the preset control content of the electric skateboard, and to acquire the steering angle corresponding to the steering instruction;

[0171] A judging module 20, used to judge whether the steering angle reaches a preset degree;

[0172] The execution module 30 is used for activating the motor preset on the electric pulley of the electric skateboard if yes, identifying the current steering direction of the electric pulley, adjusting the motor to output a preset motor current according to the steering direction, driving the left and right wheels of the electric pulley to apply reverse differential rotation through the motor current, monitoring the sliding information of the electric skateboard in real time, and synchronizing the sliding information to the preset device of the user;

[0173] A second determination module 40 is used to determine whether the sliding information detects a preset obstacle content;

[0174] The second execution module 50 is used to identify the obstacle type corresponding to the obstacle content if detected, collect the force data of the electric skateboard caused by the obstacle content, and balance the real-time acceleration data of the electric pulley based on the force data and the obstacle type, wherein the obstacle type specifically includes concave obstacles and convex obstacles, and the force data specifically includes inertia data, gravity data and resistance data.

[0175] In this embodiment, the acquisition module 10 detects the steering instructions input by the user to the electric skateboard based on the control content pre-set by the electric skateboard, and collects the steering angles corresponding to these steering instructions. Then the judgment module 20 judges whether the steering angle reaches the preset degree to execute the corresponding steps; for example, when the system determines that the steering angle of the electric skateboard has not reached the preset degree, the system will consider that the current user's steering operation is not enough to trigger the preset steering mechanism. The system will gradually increase or decrease the motor output according to the current steering angle to make the skateboard turn slowly, ensuring that the user's small operation can also be perceived and responded by the system, and at the same time continuously monitor the user's steering instructions and the real-time status data of the skateboard, such as speed and acceleration, and determine whether it is necessary to continue to adjust by real-time analysis of the steering instructions input by the user and the current angle of the skateboard, and when it is detected that the preset angle is not reached, the speed of the skateboard is appropriately slowed down to ensure that the user can safely control the skateboard during the continued steering process; for example, when the system determines that the steering angle of the electric skateboard has reached the preset degree, the execution module 30 will consider that the current user's steering operation is sufficient to trigger the steering mechanism, and the system will activate the electric skateboard to pre-set on the electric pulley. The motor is provided first, identifies the current steering direction of the electric pulley, adjusts the motor output to a preset motor current according to different steering directions, drives the left and right wheels of the electric pulley to apply differential rotation in opposite directions through the motor current, so that the electric skateboard can be steered with a minimum amplitude, monitors the sliding information of the electric skateboard in real time, and synchronizes these sliding information to the device pre-connected with the electric skateboard by the user; the system detects the steering angle through the system and activates the motor after confirming that it reaches the preset degree, so as to ensure the accuracy of the steering operation, and the electric pulley applies differential rotation in the opposite direction, so that the skateboard can be steered with a minimum amplitude posture, increasing the flexibility and accuracy of the steering, and at the same time, by accurately controlling the motor output, the electric skateboard maintains the minimum amplitude posture when steering, which helps to quickly complete the steering, and the differential rotation mechanism ensures the stability of the steering process, reduces the bumps and discomfort that may occur during the steering process, improves the user's riding experience, monitors the sliding information in real time and synchronizes it to the user's device, so that the user can understand the status and action of the skateboard at any time, and enhances the interactivity and control sense; then the second judgment module 40 judges whether these sliding information detects the pre-set obstacle content, so as to execute the corresponding steps;For example, when the system determines that the sliding information of the electric skateboard does not detect the pre-set obstacle content, the system will consider that the current driving path of the skateboard is safe and no obstacles are detected that may interfere with the normal driving of the skateboard. After confirming that the path is unobstructed, the system will continue to maintain the current speed and direction of the skateboard to ensure the continuity and stability of driving, and continue to use sensors to monitor the road conditions ahead in real time to ensure that potential obstacles are continuously detected during the driving of the skateboard. The real-time sliding information of the skateboard is regularly synchronized to the user's preset device, so that the user can grasp the operating status and environmental information of the skateboard at any time, and the current status information of the skateboard, such as speed, driving distance, battery power, etc., is displayed on the user's device to ensure that the user has a comprehensive understanding of the operating status of the skateboard; for example, when the system determines that the sliding information of the electric skateboard detects the pre-set obstacle content, the second execution module 50 will consider that there is an obstacle in the current driving path of the skateboard, and the system will identify the obstacle type corresponding to the obstacle content, and the obstacle type The types of obstacles specifically include concave obstacles and convex obstacles. The force data of different obstacles that affect the electric skateboard are collected. The force data specifically includes inertia data, gravity data and resistance data. The real-time acceleration data of the electric skateboard is balanced based on the force data and obstacle type. Based on different force data, the system can dynamically adjust the real-time acceleration of the electric skateboard to ensure that the skateboard can smoothly cross or bypass obstacles and reduce the possibility of accidents. By collecting and analyzing force data in real time, the system can accurately control the acceleration and deceleration of the skateboard to maintain the stability of the skateboard when encountering obstacles and avoid instability caused by excessive acceleration changes. At the same time, after detecting an obstacle, the balance of the skateboard can be adjusted in time according to the obstacle type and force data, so that the skateboard remains stable when passing through the obstacle, improving the stability and controllability of the skateboard. By timely adjusting and optimizing the acceleration data of the skateboard, the system can ensure that the skateboard can still maintain smooth driving when encountering obstacles, reduce bumps and discomfort, and enhance the user's riding experience. ;

[0176] In this embodiment, it also includes:

[0177] A measuring module, for measuring the inclination angle of the electric skateboard in real time using a preset inclination sensor based on preset horizontal plane information of the electric skateboard, and obtaining the steering direction currently required by the user according to the inclination angle;

[0178] A third judgment module is used to judge whether the turning direction conforms to the preset turning content of the electric skateboard;

[0179] The third execution module is used to calculate the target steering angular velocity of the electric skateboard according to the tilt angle and the pre-trained steering response model, and monitor the forward speed of the electric skateboard in real time, calculate the target linear velocity of the left and right wheels based on the target steering angular velocity and the forward speed, and generate the required current of the motors corresponding to the left and right wheels.

[0180] In this embodiment, the system uses a preset tilt sensor to measure the tilt angle of the electric skateboard in real time based on the preset horizontal plane information of the electric skateboard, and obtains the steering direction currently required by the user according to different tilt angles. Then the system determines whether the steering direction meets the preset steering content of the electric skateboard to execute the corresponding steps; for example, when the system determines that the steering direction currently required by the user cannot meet the preset steering content of the electric skateboard, the system will consider that the user's steering demand does not match the steering path or direction preset by the system, resulting in the skateboard being unable to travel along the expected path. The system will prompt the user through the display screen or light prompt on the user's device to remind the user. If the user's current steering direction does not match the preset content, it is recommended to make appropriate adjustments. At the same time, according to the user's actual driving environment and steering needs, the preset steering path and direction are dynamically adjusted to make it more in line with the actual situation. Under the premise of ensuring safety, the user's actual steering needs are met first, and the system preset content is adjusted. By recording and analyzing the user's steering data and environmental information, the system preset content is optimized to make it more in line with the actual needs in different environments, and personalized steering setting options are provided for users, so that users can adjust the preset content according to actual needs; for example, when the system determines that the steering method currently required by the user can meet the pre-set steering content of the electric skateboard, this At this time, the system will think that the user's steering demand matches the steering path of the electric skateboard. The system will calculate the target steering angular velocity of the electric skateboard according to different tilt angles and pre-trained steering response models, and monitor the forward speed of the electric skateboard in real time. The target linear velocity of the left and right wheels of the electric skateboard is calculated based on the target steering angular velocity and forward speed, and the required current of the motors corresponding to the left and right wheels is generated; the system calculates the target steering angular velocity of the electric skateboard according to different tilt angles and pre-trained steering response models to ensure the accuracy and consistency of the steering, monitors the forward speed of the electric skateboard in real time, and calculates the target linear velocity of the left and right wheels based on the target steering angular velocity and forward speed, so that the steering process is accurate and consistent. The process is smoother and more natural, which improves the user's riding experience. At the same time, through real-time monitoring and adjustment, the system can dynamically adapt to steering needs according to the current driving conditions, reduce loss of control and danger caused by sudden steering or speed changes, generate the current required by the motors corresponding to the left and right wheels, ensure that the left and right wheels can run in a balanced manner, avoid rollover or instability caused by excessive difference in left and right wheel speeds, and generate the current required by the motors corresponding to the left and right wheels according to the target linear speed to ensure the accuracy of current distribution, reduce energy waste, and improve the endurance of the electric skateboard. By accurately controlling the motor current of the left and right wheels, the system can effectively balance energy consumption and avoid excessive power consumption of one wheel, thereby extending the use time of the skateboard.

[0181] In this embodiment, the execution module further includes:

[0182] A synchronization unit, configured to synchronize the route information pre-planned by the user on the preset device to the electric skateboard based on the preset device pre-connected to the electric skateboard, and generate the route information in real time from the electric skateboard;

[0183] A judging unit, used for judging whether the electric skateboard can read the route information;

[0184] The execution unit is used to activate the laser device preset on the electric skateboard if possible, output corresponding laser data at the preset irradiation direction of the electric skateboard, and dynamically adjust the guiding direction of the laser data according to the real-time changes of the route information.

[0185] In this embodiment, the system synchronizes the route information pre-planned by the user on the device to the electric skateboard based on the device pre-connected to the electric skateboard, generates route information from the electric skateboard in real time, and then determines whether the electric skateboard can read the route information to execute the corresponding steps; for example, when the system determines that the electric skateboard cannot read the route information, the system will consider that the route information on the user's device has not been successfully synchronized to the electric skateboard, and the system will perform a storage success check during the data storage process to ensure that the route information is correctly written into the storage medium of the electric skateboard, and at the same time display an error prompt on the user's device to inform the user of the specific reason why the electric skateboard cannot read the route information, and when a synchronization or reading failure is detected, a retry operation is automatically performed to try to resynchronize the route information, prompting the user to manually resynchronize the route information to ensure successful data transmission; for example, when the system determines that the electric skateboard can read the route information, the system will consider that the electric skateboard has successfully synchronized the route information, and the system will activate the laser device pre-set on the electric skateboard. The laser device can output the corresponding laser data at the preset irradiation position of the electric skateboard, and dynamically adjust the guidance direction of the laser data according to the real-time changes of the route information; the laser device can output the corresponding laser data at the preset irradiation position, provide clear and accurate path guidance, help users accurately follow the planned route, and dynamically adjust the guidance direction of the laser data according to the real-time changes of the route information to ensure that the navigation information always matches the current route, thereby improving the real-time and accuracy of navigation. At the same time, the laser guidance can display the route ahead and possible obstacles in advance to help users prepare in advance and avoid emergencies. By projecting visual navigation information through laser, the user's judgment errors in complex environments are reduced, the risk of accidents is reduced, and the riding safety is improved. In addition, the laser guidance provides an intuitive navigation method, so that users do not need to frequently check the device screen or other navigation tools, and can focus on riding and improve the user experience. Compared with sound or vibration prompts, laser guidance is quieter and non-intrusive, and is suitable for a variety of riding environments, especially in noisy places or places where quietness is required.

[0186] In this embodiment, the second execution module further includes:

[0187] An extraction unit, configured to extract characteristic peak values ​​from the sensor data collected by a preset acceleration sensor, and apply a preset machine learning algorithm to perform pattern recognition on the characteristic peak values ​​to distinguish the obstacle type, wherein the characteristic peak values ​​specifically include acceleration peak values, amplitudes, frequency components, and durations;

[0188] A second judgment unit, used to judge whether the obstacle type conforms to the pre-recorded obstacle data;

[0189] The second execution unit is used to measure the PID control values ​​of the electric skateboard and the obstacle content if possible, adaptively generate a control signal of the electric skateboard according to the PID control values, and dynamically adjust the output power of the motor according to the control signal, wherein the PID control value specifically includes proportional control, integral control and differential control.

[0190] In this embodiment, the system extracts characteristic peaks from the sensor data collected by the pre-set acceleration sensor, and the characteristic peaks specifically include acceleration peaks, amplitude, frequency components and duration. The pre-set machine learning algorithm is applied to perform pattern recognition on the characteristic peaks to distinguish obstacle types, and then the system determines whether these obstacle types meet the pre-recorded obstacle data to execute the corresponding steps; for example, when the system determines that the obstacle type cannot meet the pre-recorded obstacle data, the system will consider that the currently detected obstacle type may be a new or unrecorded data type, and the system will display a prompt message on the user device to inform the user that an unknown obstacle type is currently detected, and the user is advised to drive carefully, allowing the user to choose whether to report the current obstacle data to the system for subsequent analysis and improvement, and at the same time, the unidentified obstacle data is stored, and the data is regularly collected and analyzed to expand the existing obstacle database. Based on the newly collected data, the machine learning model is regularly updated and trained to improve the recognition ability of the algorithm, and the acceleration sensor is checked and calibrated to ensure the accuracy and reliability of the sensor data; for example, when the system determines that the obstacle type can meet the pre-recorded obstacle data, the system will consider that the currently detected obstacle type is a new or unrecorded data type. The obstacle type can identify the corresponding obstacle content. The system will measure the PID control value of the electric skateboard and the obstacle content. The PID control value specifically includes proportional control, integral control and differential control. The control signal of the electric skateboard is adaptively generated according to the PID control value, and the output power of the motor is dynamically adjusted according to these control signals; PID control can accurately calculate the control signal of the electric skateboard and make real-time adjustments according to the obstacle type, so that the electric skateboard can quickly and accurately respond to different obstacles. According to the real-time obstacle situation and the state of the skateboard, the PID control value can adaptively adjust the output power of the motor to maintain the stability and safety of the skateboard. At the same time, by real-time monitoring and adjusting the output power of the motor, PID control ensures that the electric skateboard can maintain dynamic balance when encountering obstacles to prevent overturning or loss of control. The proportional, integral and differential control parameters in the PID control can be continuously optimized to adapt to different riding environments and obstacle types, improve the stability of the overall system, and the PID control can quickly respond to obstacle detection and skateboard state changes, generate control signals in real time and adjust the output power to ensure that the skateboard can quickly adapt to different riding conditions, reduce the lag time of system response through differential control, and improve the reaction speed and accuracy of the electric skateboard when encountering obstacles.

[0191] In this embodiment, the judgment module further includes:

[0192] an identification unit, configured to identify angle data of the electric skateboard for a turning scene based on an initial reference angle preset by the electric skateboard, wherein the turning scene specifically includes a small turn, a large turn and a sharp turn;

[0193] A third judgment unit, used to judge whether the angle data conforms to a preset control instruction;

[0194] The third execution unit is used to collect the duration of the angle data, activate the angle error tolerance of the electric skateboard according to the duration, and dynamically adjust the motion state of the electric skateboard according to the angle error tolerance, wherein the motion state specifically includes automatic balancing, anti-shake control and vibration suppression.

[0195] In this embodiment, the system identifies the angle data of the electric skateboard for the turning scene based on the initial reference angle preset by the electric skateboard. The turning scene specifically includes a small turn, a large turn and a sharp turn. Then the system determines whether these angle data meet the preset control instructions to execute the corresponding steps; for example, when the system determines that the angle data of the electric skateboard does not meet the preset control instructions, the system will consider that the actual steering situation of the current skateboard does not meet or deviates from the preset steering control requirements, and the system will display a prompt message on the user device to inform the user that the current steering operation fails to meet the preset requirements and recommends re-adjusting the operation, and guide the user to perform the correct steering operation through voice prompts from the preset device, and automatically adjust the output power and steering angle of the motor, and try to adjust the steering of the electric skateboard to the preset control instructions, so that when the user makes an error in operation, the system provides auxiliary control to help the user complete the correct steering, and checks and calibrates the steering angle sensor to ensure the accuracy of the sensor data, diagnoses the control system and the motor, eliminates the fault factors, and ensures the normal operation of the hardware; for example, when the system determines that the angle data of the electric skateboard can meet the preset control instructions, the system The system will consider that the actual steering situation of the current skateboard has met the steering control requirements. The system will collect the duration of these angle data, activate the angle error tolerance of the electric skateboard according to different angle durations, and dynamically adjust the motion state of the electric skateboard according to the angle error tolerance. The motion state specifically includes automatic balance, anti-shake control and vibration suppression; the system sets the angle error tolerance and limits the angle deviation within the range to avoid unnecessary adjustments caused by small errors, improve steering accuracy, and can dynamically adjust the motion state of the electric skateboard in real time to ensure that the steering can be completed safely and stably in different steering scenarios, reducing the risk of rollover or loss of control. At the same time, when the angle error is detected, the system can automatically adjust the posture of the electric skateboard to maintain balance, prevent tilting or falling, detect and suppress the shaking caused by the steering process, and provide a smoother riding experience. When encountering uneven roads or obstacles, the system can adjust in real time to reduce vibration and improve riding comfort, and can make smooth dynamic adjustments according to the angle data and error tolerance to ensure a smooth steering process, reduce drastic changes in direction, and improve riding experience. The angle data is monitored in real time and adjusted dynamically to ensure rapid response and stability in various steering scenarios.

[0196] In this embodiment, the second determination module further includes:

[0197] A detection unit, configured to detect a distance between the electric skateboard and the obstacle based on a preset ultrasonic sensor;

[0198] A fourth determination unit, configured to determine whether the distance exceeds a preset distance threshold;

[0199] The fourth execution unit is used to identify the position and size of the obstacle content if no, construct a detour path for the electric skateboard according to the position and size, and adaptively generate motor control instructions and steering control instructions for the electric skateboard according to the detour path.

[0200] In this embodiment, the system detects the distance between the electric skateboard and the obstacle based on the ultrasonic sensor pre-installed on the electric skateboard, and then the system determines whether the distance exceeds a preset distance threshold to execute corresponding steps; for example, when the system determines that the distance exceeds the preset distance threshold, the system will consider that the distance between the skateboard and the obstacle is safe enough and the current driving route is safe. The system will maintain the current driving speed and direction to ensure that the skateboard continues to travel smoothly, continuously monitor the distance between the skateboard and the obstacle, and ensure that the distance change does not affect driving safety. At the same time, within a safe distance, the rider is regularly reminded that there is an obstacle ahead, keep paying attention, and record the current obstacle distance data for subsequent analysis and optimization; for example, when the system determines that the distance does not exceed the preset distance threshold, the system will consider that the distance between the skateboard and the obstacle is close and it is easy to collide with the electric skateboard. The system will identify the location and size of the obstacle content, build a detour path for the electric skateboard according to different location and size, and adaptively generate the electrode control instructions and steering control instructions of the electric skateboard based on the detour path; by real-time monitoring the distance between the skateboard and the obstacle, the system can quickly identify potential collision risks and take timely measures to detour to ensure the safety of the rider. The detour path is automatically generated according to the location and size of the obstacle to avoid the rider from having to respond quickly when facing an obstacle, thereby reducing the risk of accidental collision. At the same time, by calculating the detour path, smooth motor control and steering control instructions are generated, so that the skateboard can smoothly bypass the obstacle and improve the riding comfort. By identifying the location and size of the obstacle, the system can perform accurate path planning and control instruction generation, showing a high level of intelligence, and dynamically adjust the skateboard's path and control instructions according to real-time data to ensure safe driving in complex environments.

[0201] In this embodiment, it also includes:

[0202] A second collection module is used to collect the user's verification content of the connection verification information based on the connection verification information pre-recorded by the electric skateboard;

[0203] A fourth judgment module, used to judge whether the verification content matches the preset factory information of the electric skateboard;

[0204] The fourth execution module is used to grant the user connection authority to the electric skateboard, and generate a personalized control interface for the user to the electric skateboard through the preset device according to the connection authority.

[0205] In this embodiment, the system collects the user's verification content corresponding to the connection verification information based on the connection verification information pre-recorded by the electric skateboard, and then the system determines whether these verification contents match the pre-set factory information of the electric skateboard to execute the corresponding steps; for example, when the system determines that the verification content input by the user cannot match the pre-set factory information of the electric skateboard, the system will consider that the user-provided verification information for the electric skateboard is incorrect, and the system will display "Verification failed, please re-enter" on the display screen of the skateboard or the user's device. If the user enters incorrect information multiple times, the system should provide appropriate prompts to help the user find the correct verification information, and record each failed verification attempt, including time, input content (partially hidden) and user information for subsequent analysis and security review, and save error logs to the system's security database. After multiple verification failures, the system will provide the option of contacting customer support to help users solve the problem, by displaying the contact information of customer support. For example, when the system determines that the verification content input by the user can match the pre-set factory information of the electric skateboard, the system will consider that the verification information provided by the user for the electric skateboard is correct, and the system will grant the user connection authority to the electric skateboard, and generate a personalized control interface for the electric skateboard through the device pre-set by the user according to the connection authority; the system uses a strict verification mechanism to ensure that only legitimate users can connect and control the electric skateboard, prevent unauthorized access, and prevent malicious users or other people from using the electric skateboard without authorization, thereby protecting the user's equipment and privacy, and at the same time generate a personalized control interface according to the user's needs, so that the user can easily set up and operate the electric skateboard. The personalized interface design makes the operation more intuitive and simple, improves the user's experience, and the user can configure various parameters of the skateboard (such as speed, steering sensitivity, etc.) through the personalized interface to meet their personal usage habits and needs.

[0206] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A differential steering method for a four-wheel drive mobile tool, characterized in that: The following steps are involved: Based on the preset control content of the electric skateboard, detecting the user's steering instruction for the electric skateboard, and collecting the steering angle corresponding to the steering instruction; Determining whether the steering angle reaches a preset degree; If yes, activate the motor preset on the electric pulley of the electric skateboard, identify the current steering direction of the electric pulley, adjust the motor to output a preset motor current according to the steering direction, drive the left and right wheels of the electric pulley to apply reverse differential rotation through the motor current, monitor the sliding information of the electric skateboard in real time, and synchronize the sliding information to the preset device of the user; Determining whether the sliding information detects a preset obstacle content; If detected, the obstacle type corresponding to the obstacle content is identified, the force data of the electric skateboard subjected to the obstacle content is collected, and the real-time acceleration data of the electric pulley is balanced based on the force data and the obstacle type, wherein the obstacle types specifically include concave obstacles and convex obstacles, and the force data specifically include inertia data, gravity data and resistance data.

2. The differential steering method of a four-wheel drive vehicle according to claim 1, characterized in that: Before the step of adjusting the motor output of a preset motor current according to the steering direction and driving the left and right wheels of the electric pulley to apply reverse differential rotation by the motor current, the method further includes: Based on the preset horizontal plane information of the electric skateboard, a preset tilt sensor is used to measure the tilt angle of the electric skateboard in real time, and the turning direction currently required by the user is obtained according to the tilt angle; Determining whether the steering direction conforms to the preset steering content of the electric skateboard; If so, the target steering angular velocity of the electric skateboard is calculated based on the tilt angle and the pre-trained steering response model, and the forward speed of the electric skateboard is monitored in real time. The target linear velocities of the left and right wheels are calculated based on the target steering angular velocity and the forward speed, and the required currents of the motors corresponding to the left and right wheels are generated.

3. The differential steering method of a four-wheel drive vehicle according to claim 1, characterized in that: The step of monitoring the sliding information of the electric skateboard in real time and synchronizing the sliding information to the user's preset device also includes: Based on the preset device pre-connected to the electric skateboard, synchronizing the route information pre-planned by the user on the preset device to the electric skateboard, and generating the route information in real time from the electric skateboard; Determining whether the electric skateboard can read the route information; If it is possible, the laser device preset on the electric skateboard is activated, corresponding laser data is output at the preset irradiation direction of the electric skateboard, and the guiding direction of the laser data is dynamically adjusted according to the real-time changes of the route information.

4. The differential steering method of a four-wheel drive vehicle according to claim 1, characterized in that: The step of collecting the force data of the electric skateboard caused by the obstacle content and balancing the real-time acceleration data of the electric pulley based on the force data and the obstacle type includes: Based on sensor data collected by a preset acceleration sensor, characteristic peaks are extracted from the sensor data, and a preset machine learning algorithm is applied to perform pattern recognition on the characteristic peaks to distinguish the obstacle type, wherein the characteristic peaks specifically include acceleration peaks, amplitudes, frequency components, and durations; Determine whether the obstacle type meets the pre-recorded obstacle data; If possible, measure the PID control values ​​of the electric skateboard and the obstacle content, adaptively generate the control signal of the electric skateboard according to the PID control values, and dynamically adjust the output power of the motor according to the control signal, wherein the PID control values ​​specifically include proportional control, integral control and differential control.

5. The differential steering method of a four-wheel drive vehicle according to claim 1, characterized in that: The step of determining whether the steering angle reaches a preset degree further includes: Based on the preset initial reference angle of the electric skateboard, identifying the angle data of the electric skateboard for the turning scene, wherein the turning scene specifically includes a small turn, a large turn and a sharp turn; Determining whether the angle data complies with a preset control instruction; If so, the duration of the angle data is collected, the angle error tolerance of the electric skateboard is activated according to the duration, and the motion state of the electric skateboard is dynamically adjusted according to the angle error tolerance, wherein the motion state specifically includes automatic balancing, anti-shake control and vibration suppression.

6. The differential steering method of a four-wheel drive vehicle according to claim 1, characterized in that: The step of determining whether the sliding information detects a preset obstacle content also includes: Based on a preset ultrasonic sensor, detecting the distance between the electric skateboard and the obstacle; Determining whether the distance exceeds a preset distance threshold; If not, the position and size of the obstacle content are identified, a detour path of the electric skateboard is constructed according to the position and size, and a motor control instruction and a steering control instruction of the electric skateboard are adaptively generated according to the detour path.

7. The differential steering method of a four-wheel drive vehicle according to claim 1, characterized in that: Before the step of detecting the user's steering instruction to the electric skateboard based on the preset control content of the electric skateboard, the method further includes: Based on the connection verification information pre-recorded by the electric skateboard, collecting the verification content of the connection verification information by the user; Determining whether the verification content matches the preset factory information of the electric skateboard; If so, the user is granted connection authority for the electric skateboard, and a personalized control interface for the electric skateboard is generated for the user through the preset device according to the connection authority.

8. A differential steering system for a four-wheel drive vehicle, characterized in that: include: A collection module, used for detecting a user's steering instruction for the electric skateboard based on preset control content of the electric skateboard, and collecting a steering angle corresponding to the steering instruction; A judging module, used to judge whether the steering angle reaches a preset degree; an execution module, configured to, if yes, activate a motor preset on the electric pulley of the electric skateboard, identify a current steering direction of the electric pulley, adjust a preset motor current output by the motor according to the steering direction, drive the left and right wheels of the electric pulley to apply reverse differential rotation through the motor current, monitor the sliding information of the electric skateboard in real time, and synchronize the sliding information to a preset device of the user; A second judgment module is used to judge whether the sliding information detects a preset obstacle content; The second execution module is used to identify the obstacle type corresponding to the obstacle content if detected, collect the force data of the electric skateboard caused by the obstacle content, and balance the real-time acceleration data of the electric pulley based on the force data and the obstacle type, wherein the obstacle type specifically includes concave obstacles and convex obstacles, and the force data specifically includes inertia data, gravity data and resistance data.

9. The differential steering system of a four-wheel drive vehicle according to claim 8, characterized in that: Also includes: A measuring module, for measuring the inclination angle of the electric skateboard in real time using a preset inclination sensor based on preset horizontal plane information of the electric skateboard, and obtaining the steering direction currently required by the user according to the inclination angle; A third judgment module is used to judge whether the turning direction conforms to the preset turning content of the electric skateboard; The third execution module is used to calculate the target steering angular velocity of the electric skateboard according to the tilt angle and the pre-trained steering response model, and monitor the forward speed of the electric skateboard in real time, calculate the target linear velocity of the left and right wheels based on the target steering angular velocity and the forward speed, and generate the required current of the motors corresponding to the left and right wheels.

10. The differential steering system of a four-wheel drive vehicle according to claim 8, characterized in that: The execution module also includes: A synchronization unit, configured to synchronize the route information pre-planned by the user on the preset device to the electric skateboard based on the preset device pre-connected to the electric skateboard, and generate the route information in real time from the electric skateboard; A judging unit, used for judging whether the electric skateboard can read the route information; The execution unit is used to activate the laser device preset on the electric skateboard if possible, output corresponding laser data at the preset irradiation direction of the electric skateboard, and dynamically adjust the guiding direction of the laser data according to the real-time changes of the route information.

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