Differential steering method and system for a four-wheel drive mobile tool

Abstract

The application provides a differential steering method and system of a four-wheel drive mobile tool, which is applied to the field of data processing; the application can accurately judge steering demand by detecting a steering instruction of a user and collecting a steering angle, that is, when the steering angle reaches a preset degree, the system activates a motor and adjusts an output current, so that accurate steering control is realized. In this way, multiple adjustments caused by inaccurate steering can be reduced, and steering efficiency is improved; meanwhile, through differential control of the motor, opposite differential rotation can be applied to left and right wheels, so that flexible steering of the skateboard can be realized in a small space, the demand for a large steering space is reduced, and thus a user of the skateboard can turn around more quickly.

Description

TECHNICAL FIELD

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

[0002] At present, when the traditional electric skateboard is moving and steering, only the front two wheels or the rear two wheels often provide steering capability, resulting in that the electric skateboard needs a large range of steering space or multiple front and rear adjustments to steer, and the user of the skateboard cannot quickly perform a U-turn operation. SUMMARY

[0003] The present application aims to solve the problem that the electric skateboard needs a large range of steering space or multiple front and rear adjustments to steer, and the user of the skateboard cannot quickly perform a U-turn operation, and provides a differential steering method and system for a four-wheel drive mobile tool.

[0004] The present application adopts the following technical means to solve the technical problems:

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

[0006] Based on the preset control content of the electric skateboard, the steering instruction of the user to the electric skateboard is detected, and the steering angle corresponding to the steering instruction is collected;

[0007] It is judged whether the steering angle reaches a preset degree;

[0008] If yes, the preset motor of the electric skateboard on the electric pulley is activated, the current steering direction of the electric pulley is identified, the preset motor current of the motor is adjusted according to the steering direction, the left and right wheel parts of the electric pulley are driven to apply reverse differential rotation through the motor current, the sliding information of the electric skateboard is monitored in real time, and the sliding information is synchronized to the preset device of the user;

[0009] It is judged whether the sliding information detects preset obstacle content;

[0010] If detected, the obstacle type corresponding to the obstacle content is identified, the force data of the electric skateboard caused by 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 a concave obstacle and a convex obstacle, and the force data specifically includes inertia data, gravity data and resistance data.

[0011] Further, before the step of adjusting the preset motor current of the motor according to the steering direction, driving the left and right wheel parts of the electric pulley to apply reverse differential rotation through the motor current, the step further comprises:

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

[0013] It is judged whether the turning direction conforms to the preset turning content of the electric skateboard;

[0014] If yes, the target turning angular velocity of the electric skateboard is calculated according to the tilt angle and a pre-trained turning response model, the forward speed of the electric skateboard is monitored in real time, the target linear speed of the left and right wheels is calculated based on the target turning angular velocity and the forward speed, and the required current of the corresponding motor of the left and right wheels is generated.

[0015] Further, in the step of synchronizing the sliding information of the electric skateboard to the preset device of the user, the step further comprises:

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

[0017] It is judged whether the electric skateboard can read the route information;

[0018] If yes, the preset laser device of the electric skateboard is activated, corresponding laser data is output in the preset irradiation direction of the electric skateboard, and the pointing direction of the laser data is dynamically adjusted according to the real-time change of the route information.

[0019] Further, in the step of collecting the force data acting on the electric skateboard due to the obstacle and balancing the real-time acceleration data of the electric pulley based on the force data and the obstacle type, the step comprises:

[0020] Based on the sensor data collected by the preset acceleration sensor, a feature peak value is extracted from the sensor data, a preset machine learning algorithm is applied to perform pattern recognition on the feature peak value, and the obstacle type is distinguished, wherein the feature peak value specifically comprises an acceleration peak value, an amplitude, a frequency component and a duration;

[0021] It is judged whether the obstacle type conforms to the pre-recorded obstacle data;

[0022] If yes, a PID control value of the electric skateboard and the obstacle content is measured, a 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 the control signal, wherein the PID control value specifically includes proportional control, integral control and differential control.

[0023] Further, the step of judging whether the steering angle reaches the preset degree further includes:

[0024] Based on the initial reference angle of the electric skateboard, angle data of the electric skateboard in a steering scene is identified, wherein the steering scene specifically includes a small turn, a large turn and a sharp turn.

[0025] It is judged whether the angle data conforms to the preset control instruction.

[0026] If yes, 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 balance, anti-shake control and vibration suppression.

[0027] Further, the step of judging whether the sliding information detects the preset obstacle content further includes:

[0028] Based on the preset ultrasonic sensor, the distance between the electric skateboard and the obstacle content is detected.

[0029] It is judged whether the distance exceeds the preset distance threshold.

[0030] If no, the position and size of the obstacle content are identified, the detour path of the electric skateboard is constructed according to the position and size, and the motor control instruction and the steering control instruction of the electric skateboard are adaptively generated according to the detour path.

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

[0032] Based on the pre-recorded connection verification information of the electric skateboard, the verification content of the user to the connection verification information is collected.

[0033] It is judged whether the verification content matches the factory information preset by the electric skateboard.

[0034] If yes, the user is given the connection permission of the electric skateboard, and the personalized control interface of the user to the electric skateboard is generated through the preset device according to the connection permission.

[0035] The application further provides a differential steering system of a four-wheel drive mobile tool, comprising:

[0036] A collection module is configured to detect a steering instruction of a user to the electric skateboard based on preset control content of the electric skateboard, and collect a steering angle corresponding to the steering instruction.

[0037] A judgment module is configured to judge whether the steering angle reaches a preset degree.

[0038] An execution module is configured to, if yes, activate a preset motor of the electric skateboard on an electric pulley, identify a current steering direction of the electric pulley, adjust a preset motor current output by the motor according to the steering direction, drive left and right wheel parts of the electric pulley to apply reverse differential rotation through the motor current, monitor 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 configured to judge whether preset obstacle content is detected from the sliding information.

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

[0041] Further, the application further comprises:

[0042] A measurement module is configured to apply a preset tilt sensor to measure a tilt angle of the electric skateboard in real time based on preset horizontal plane information of the electric skateboard, and obtain a current required steering direction of the user according to the tilt angle.

[0043] A third judgment module is configured to judge whether the steering direction conforms to preset steering content of the electric skateboard.

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

[0045] Further, the execution module further comprises:

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

[0047] A judgment unit is configured to judge whether the electric skateboard can read the route information.

[0048] An execution unit is configured to activate the preset laser device of the electric skateboard to output corresponding laser data in the preset irradiation direction of the electric skateboard, and dynamically adjust the pointing direction of the laser data according to the real-time change of the route information if the electric skateboard can read the route information.

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

[0050] The application can accurately judge the steering demand by detecting the steering instruction of the user and collecting the steering angle, i.e., when the steering angle reaches a preset degree, the system activates the motor and adjusts the output current, thereby realizing accurate steering control. In this way, the steering efficiency can be improved by reducing the multiple adjustments caused by inaccurate steering. Meanwhile, through differential control of the motor, the left and right wheels can be reversely rotated at different speeds, which can realize flexible steering of the skateboard in a small space, reduce the demand for large steering space, and enable the user to quickly turn around. In addition, the force data is collected according to the type of the obstacle, and the real-time acceleration data of the electric pulley is balanced based on the data, so that the balance and stability of the skateboard can be maintained during steering, and multiple adjustments caused by imbalance can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 FIG. 1 is a flowchart of an embodiment of the differential steering method for the four-wheel drive mobile tool of the application;

[0052] Figure 2 FIG. 2 is a structural block diagram of an embodiment of the differential steering system for the four-wheel drive mobile tool of the application. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the purpose, functional features and advantages of the application. The purpose, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings.

[0054] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0055] Reference is made to the accompanying drawings Figure 1 For the differential steering method of the four-wheel mobile tool in an embodiment of the present application, comprising:

[0056] S1: detecting a steering instruction of a user to the electric skateboard based on preset control content of the electric skateboard, collecting a steering angle corresponding to the steering instruction;

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

[0058] S3: if yes, activating a preset motor of the electric skateboard on an electric pulley, identifying a current steering direction of the electric pulley, adjusting a preset motor current output by the motor according to the steering direction, driving left and right wheel parts of the electric pulley to apply reverse differential rotation through the motor current, monitoring sliding information of the electric skateboard in real time, and synchronizing the sliding information to a preset device of the user;

[0059] S4: judging whether preset obstacle content is detected from the sliding information;

[0060] S5: if yes, identifying an obstacle type corresponding to the obstacle content, collecting force data of the electric skateboard caused by the obstacle content, and balancing real-time acceleration data of the electric pulley based on the force data and the obstacle type, wherein the obstacle type specifically includes a concave obstacle and a convex obstacle, and the force data specifically includes inertia data, gravity data and resistance data.

[0061] In the embodiment, the system detects the steering instructions input by the user based on the control content preset for the electric skateboard, collects the corresponding steering angle, and then 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 does not reach the preset degree, the system considers that the current steering operation of the user is not sufficient to trigger the preset steering mechanism, and gradually increases or decreases the motor output according to the current steering angle to slowly steer the skateboard, so that the small-scale operation of the user can also be perceived and responded by the system. At the same time, the system continuously monitors the steering instructions of the user and the real-time state data of the skateboard, such as speed and acceleration, analyzes the steering instructions input by the user and the current angle of the skateboard in real time, determines whether it is necessary to continue to adjust, and appropriately slows down the speed of the skateboard when it is detected that the preset angle is not reached, so as to ensure that the user can safely control the skateboard during the steering process; for example, when the system determines that the steering angle of the electric skateboard reaches the preset degree, the system considers that the current steering operation of the user is sufficient to trigger the steering mechanism, activates the motor motor preset on the electric pulley of the electric skateboard, identifies the current steering direction of the electric pulley, adjusts the motor current preset by the motor motor according to different steering directions, drives the left and right wheels of the electric pulley to rotate in opposite directions through the motor current, so that the electric skateboard can steer with the smallest posture. The system monitors the sliding information of the electric skateboard in real time and synchronizes the sliding information to the device connected to the electric skateboard by the user in advance; the system activates the motor motor by detecting the steering angle and confirming that the preset degree is reached, so as to ensure the accuracy of the steering operation. The electric pulley applies differential rotation in opposite directions, so that the skateboard can steer with the smallest posture, increases the flexibility and accuracy of steering, and controls the motor output accurately, so that the electric skateboard can maintain the smallest posture during steering, which helps to quickly complete the steering. The differential rotation mechanism ensures the smoothness of the steering process, reduces the possibility of bumps and discomfort during steering, improves the riding experience of the user, monitors the sliding information in real time and synchronizes it to the user's device, so that the user can know the state and action of the skateboard at any time, and enhances the interactivity and control feeling; then the system determines whether the preset obstacle content is detected from the sliding information 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 considers that the current travel path of the skateboard is safe, and no obstacle is detected that may interfere with the normal travel of the skateboard. The system continues to maintain the current speed and direction of the skateboard under the condition of confirming that the path is obstacle-free, ensuring the continuity and stability of travel, while continuing to use sensors to monitor the road conditions in front of the skateboard in real time, ensuring continuous detection of potential obstacles during the travel of the skateboard, and periodically synchronizing the real-time sliding information of the skateboard to the user's preset device, so that the user can always know the running state and environmental information of the skateboard, and display the current state information of the skateboard such as speed, travel distance, battery capacity, etc. on the user's device, ensuring that the user has a comprehensive understanding of the running state 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 considers that there is an obstacle in the current travel path of the skateboard, and identifies the obstacle type corresponding to the obstacle content. The obstacle type specifically includes concave obstacles and convex obstacles. The system collects force data acting on the electric skateboard due to different obstacle contents, including inertia data, gravity data, and resistance data. Based on the force data and the obstacle type, the system balances the real-time acceleration data of the electric skateboard. 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 the obstacle, reducing the likelihood of an accident. By collecting and analyzing force data in real time, the system can accurately control the acceleration and deceleration of the skateboard to maintain its stability when encountering obstacles, avoiding instability caused by excessive acceleration changes. At the same time, after detecting the obstacle, the system can adjust the balance of the skateboard in a timely manner according to the obstacle type and force data to maintain a stable state when the skateboard passes through the obstacle, improving the stability and controllability of the skateboard. Moreover, by adjusting and optimizing the acceleration data of the skateboard in a timely manner, the system can ensure that the skateboard can still travel smoothly 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 control that comes with the electric skateboard. A specific example of balancing the real-time acceleration data of the electric skateboard based on the force data and the obstacle type is as follows:

[0063] Assuming there are two cases,

[0064] Case 1: Concave obstacle (e.g. pothole)

[0065] The sensor of the skateboard detects a concave obstacle in front, and the skateboard detects that the current speed is fast, the inertial force is large, and the front of the skateboard feels the increase of gravity caused by the downhill. Due to the uneven ground, the resistance increases. The system analyzes the data and appropriately reduces the acceleration of the skateboard to avoid instability caused by too fast speed in the pit. The system adjusts the angle of the motor pulley to make the center of gravity of the skateboard lower, increases the stability when passing through the concave obstacle, and then the skateboard passes through the pit smoothly at a lower speed, avoiding shaking and instability.

[0066] Case 2: convex obstacle (such as stone)

[0067] The sensor of the skateboard detects a convex obstacle in front, and the skateboard detects that the current speed is moderate, the inertial force is moderate, and the skateboard is on a horizontal plane. The gravity is evenly distributed. The stone in front may cause the skateboard to receive an instantaneous increase in resistance. The system analyzes the data and appropriately reduces the speed of the skateboard to ensure that the obstacle is approached at a slower speed. Then the system adjusts the motor 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 pass over the obstacle when approaching the stone. The skateboard smoothly passes over the stone by reducing the speed and adjusting the center of gravity, avoiding jumping and imbalance of the skateboard.

[0068] In this embodiment, before the step S3 of adjusting the left and right wheel parts of the motor pulley to apply reverse differential rotation through the motor current output by the motor, the method further comprises:

[0069] S301: based on the horizontal plane information of the electric skateboard, applying a preset tilt sensor to measure the tilt angle of the electric skateboard in real time, and obtaining the required steering direction of the user according to the tilt angle;

[0070] S302: determining whether the steering direction meets the preset steering content of the electric skateboard;

[0071] S303: if yes, calculating the target steering angular velocity of the electric skateboard according to the tilt angle and the pre-trained steering response model, and monitoring the forward speed of the electric skateboard in real time, calculating the target linear speed of the left and right wheels based on the target steering angular velocity and the forward speed, and generating the required current of the corresponding motor of the left and right wheels.

[0072] In this embodiment, the system applies the pre-set tilt sensor to measure the tilt angle of the electric skateboard in real time based on the horizontal plane information pre-set by the electric skateboard, obtains the current required steering direction of the user according to different tilt angles, and then judges whether the steering direction meets the pre-set steering content of the electric skateboard to execute corresponding steps; for example, when the system determines that the current required steering direction of the user cannot meet the pre-set steering content of the electric skateboard, the system considers that the steering demand of the user does not match the pre-set steering path or direction of the system, which causes the skateboard to fail to travel along the expected path. The system prompts the user through the display screen or light on the user device, reminds the user that the current steering direction does not match the pre-set content, suggests appropriate adjustment, dynamically adjusts the pre-set steering path and direction according to the actual driving environment and steering demand of the user, makes it more suitable for the actual situation, prioritizes the actual steering demand of the user under the premise of safety, adjusts the pre-set content of the system, and optimizes the pre-set content of the system through recording and analyzing the steering data and environmental information of the user, so that it is more in line with the actual demand in different environments, provides personalized steering setting options for the user, and enables the user to adjust the pre-set content according to the actual demand; for example, when the system determines that the current required steering method of the user can meet the pre-set steering content of the electric skateboard, the system considers that the steering demand of the user matches the steering path of the electric skateboard, calculates the target steering angular velocity of the electric skateboard according to different tilt angles and a pre-trained steering response model, and simultaneously monitors the forward speed of the electric skateboard in real time. The system calculates the target linear speed of the left and right wheels of the electric skateboard based on the target steering angular velocity and the forward speed, and generates the required current of the corresponding motor of the left and right wheels; the system calculates the target steering angular velocity of the electric skateboard according to different tilt angles and a pre-trained steering response model, ensures the accuracy and consistency of steering, monitors the forward speed of the electric skateboard in real time, calculates the target linear speed of the left and right wheels based on the target steering angular velocity and the forward speed, makes the steering process smoother and more natural, improves the riding experience of the user, dynamically adapts to the steering demand according to the current driving condition through real-time monitoring and adjustment, reduces the loss of control and danger caused by sudden steering or speed change, generates the required current of the corresponding motor of the left and right wheels, ensures the balanced operation of the left and right wheels, avoids rollover or instability caused by too large speed difference between the left and right wheels, and generates the required current of the corresponding motor of the left and right wheels according to the target linear speed, ensures the accuracy of current distribution, reduces energy waste, improves the endurance of the electric skateboard, and effectively balances the energy consumption by precisely controlling the motor current of the left and right wheels, thereby prolonging the use time of the skateboard.

[0073] It should be noted that the target steering angular velocity of the electric skateboard is calculated, and the forward speed of the electric skateboard is monitored in real time, the target linear speed of the left and right wheels is calculated based on the target steering angular velocity and the forward speed, and specific examples of the required current of the corresponding motor of the left and right wheels are as follows:

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

[0075]

[0076] Wherein, is the inclination angle of the user, is the pre-trained steering response model;

[0077] The current forward speed of the electric skateboard is monitored in real time , the data is obtained by using the speed sensor, and the target linear speed of the left and right wheels and are calculated based on the target steering angular velocity and the forward speed , and for the electric skateboard, the target linear speed of the left and right wheels can be represented by the following formula:

[0078]

[0079]

[0080] Wherein, 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, the required current of the corresponding motor of the left and right wheels and can be calculated, and the required current of the motor can be determined by the speed-current characteristic curve or control algorithm of the motor, and the specific formula is represented as:

[0082]

[0083]

[0084] Wherein, is the motor control algorithm;

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

[0086] Assumed model The calculation of the target steering angular velocity is:

[0087] ;

[0088] Given that the forward speed is 5 m / s, the calculation of the target linear speed of the left and right wheels is:

[0089]

[0090]

[0091] Assuming that the speed-current characteristic of the motor is linear, where is a constant, then

[0092]

[0093]

[0094] If then

[0095]

[0096]

[0097] In summary, the system can calculate the target linear speed of the left and right wheels according to the user's inclination angle and forward speed, and generate the required current for the corresponding motor. This process ensures that the electric skateboard can accurately steer 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 sliding information of the electric skateboard is monitored in real time, and the sliding information is synchronized to the preset device of the user in step S3. It further includes:

[0099] S31: Based on the pre-connected preset device of the electric skateboard, synchronize the route information planned by the user on the preset device to the electric skateboard, and generate 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 so, activate the laser device preset by the electric skateboard, output the corresponding laser data in the preset irradiation direction of the electric skateboard, and dynamically adjust the guidance direction of the laser data according to the real-time changes of the route information.

[0102] In the embodiment, the system is based on the pre-connected device of the electric skateboard, synchronizes the route information pre-planned on the user's device to the electric skateboard, generates route information in real time from the electric skateboard, and then the system determines whether the electric skateboard can read the route information to execute corresponding steps; for example, when the system determines that the electric skateboard cannot read the route information, the system considers that the route information on the user's device is not successfully synchronized to the electric skateboard, and the system performs storage success verification in the data storage process to ensure that the route information is correctly written to the storage medium of the electric skateboard, while displaying 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 automatically retrying when synchronization or reading fails to attempt 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 considers that the electric skateboard successfully synchronizes the route information, and activates the laser device pre-set on the electric skateboard to output corresponding laser data at the pre-set irradiation position of the electric skateboard, and dynamically adjusts the pointing direction of the laser data according to the real-time changes of the route information; the laser device can output corresponding laser data at the pre-set irradiation position to provide clear and accurate path guidance, helping the user to accurately follow the planned route, dynamically adjusting the pointing 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, improving the real-time and accuracy of navigation, while the laser guidance can display the route and possible obstacles in front in advance, helping the user to prepare in advance and avoid unexpected situations, reducing the user's judgment errors in complex environments, reducing the risk of accidents, and improving the safety of riding. The laser guidance provides an intuitive navigation method, allowing the user to focus on riding without frequently checking the device screen or other navigation tools, improving the user experience, and the laser guidance is quieter and less disturbing than sound or vibration prompts, making it suitable for various riding environments, especially in noisy or quiet places.

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

[0104] S51: Based on the pre-set acceleration sensor data collected by the sensor, the characteristic peak value is extracted from the sensor data, a pre-set machine learning algorithm is applied to the characteristic peak value for pattern recognition, and the obstacle type is distinguished, wherein the characteristic peak value specifically includes an acceleration peak value, an amplitude, a frequency component, and a duration;

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

[0106] S53: If so, measure the PID control value of the electric skateboard and the obstacle content, adaptively generate the control signal of the electric skateboard according to the PID control value, 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.

[0107] In this embodiment, the system extracts feature peaks from the sensor data collected by the pre-configured acceleration sensor, including acceleration peak, amplitude, frequency component and duration, applies a pre-configured machine learning algorithm to perform pattern recognition on the feature peaks, and distinguishes the obstacle types. Then the system determines whether these obstacle types conform to the pre-recorded obstacle data to execute corresponding steps; for example, when the system determines that the obstacle type does not conform to the pre-recorded obstacle data, the system considers that the currently detected obstacle type may be new or not pre-recorded, displays a prompt information on the user device to inform the user that an unknown obstacle type is detected, suggests the user to drive carefully, allows the user to choose whether to report the current obstacle data to the system for subsequent analysis and improvement, and stores the unrecognizable obstacle data for regular collection and analysis 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 conforms to the pre-recorded obstacle data, the system considers that the currently detected obstacle type can be identified as the corresponding obstacle content, measures the PID control value of the electric skateboard and the obstacle content, which specifically includes proportional control, integral control and differential control, adaptively generates the control signal of the electric skateboard according to the PID control value, and dynamically adjusts the output power of the motor according to the control signal; PID control can accurately calculate the control signal of the electric skateboard, and real-time adjust 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 skateboard state, the PID control value can adaptively adjust the output power of the motor, maintain the stability and safety of the skateboard, and through real-time monitoring and adjustment of the output power of the motor, the PID control ensures that the electric skateboard can maintain dynamic balance when encountering obstacles, prevent overturning or losing control, and 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, real-time generate control signal and adjust output power to ensure that the skateboard can quickly adapt to different riding conditions. Through differential control, the lag time of system response is reduced, and the reaction speed and accuracy of the electric skateboard when encountering obstacles are improved.

[0108] It should be noted that the preset machine learning algorithm is applied to pattern recognition of the characteristic peak value, and specific examples of distinguishing the types of obstacles are as follows:

[0109] Suppose there are two cases, respectively,

[0110] Case 1: Identify the convex obstacle

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

[0112] Feature extraction: The extracted characteristic peak value includes high acceleration peak value, high amplitude and specific frequency component;

[0113] Pattern recognition: input the extracted features into the trained SVM model, and the model identifies that it is a convex obstacle;

[0114] Control signal: according to the identification result, the system adjusts the output power of the motor, appropriately reduces the speed and keeps balance, and safely passes through the convex obstacle;

[0115] Case 2: Identify the concave obstacle

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

[0117] Feature extraction: The extracted characteristic peak value includes low acceleration peak value, low amplitude and specific frequency component;

[0118] Pattern recognition: input the extracted features into the trained random forest model, and the model identifies that it is a concave obstacle;

[0119] Control signal: according to the identification result, the system adjusts the output power of the motor, appropriately reduces the speed and keeps balance, and safely passes through the concave obstacle;

[0120] In summary, by presetting the machine learning algorithm to recognize the characteristic peak value and distinguish the obstacle type, the system can realize accurate identification and control of 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 improves the identification accuracy and response speed for various obstacle types, providing users with a more intelligent and safe riding experience.

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

[0122] Suppose there are three cases, respectively,

[0123] Case 1: Encounter with small convex obstacles

[0124] Obstacle identification: The system detects small convex obstacles and matches preset obstacle data;

[0125] PID control calculation: Measure the proportional, integral and derivative control values of the skateboard and obstacles, and calculate the corresponding control signal;

[0126] Dynamic adjustment: Adjust the output power of the motor according to the control signal to ensure smooth passage of the skateboard through the obstacle;

[0127] Case 2: Encounter with concave obstacles

[0128] Obstacle identification: The system detects concave obstacles and matches preset obstacle data;

[0129] PID control calculation: Measure the proportional, integral and derivative control values of the skateboard and concave, 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 smoothly pass through the concave area;

[0131] Case 3: Stable control under complex terrain

[0132] Obstacle identification: The system detects complex terrain such as gravel road or grassland and matches preset obstacle data;

[0133] PID control calculation: Measure the proportional, integral and derivative control values of the skateboard and 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 the stability and safety of the skateboard under complex terrain;

[0135] In summary, by measuring the control values of the electric skateboard and obstacles through the PID control system, and adaptively generating control signals to dynamically adjust the output power of the motor, precise control of the electric skateboard can be achieved, stability can be enhanced, response speed can be improved, and user experience can be improved. This way not only improves the adaptability of the electric skateboard under various obstacles and terrain, but also ensures the stability and safety of riding, providing users with a more intelligent and efficient riding experience.

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

[0137] S21: Based on the initial reference angle preset by the electric skateboard, identify the angle data of the electric skateboard for steering scenarios, wherein the steering scenarios specifically include small turns, large turns and sharp turns;

[0138] S22: determining whether the angle data meets a preset control instruction;

[0139] S23: if yes, collecting a duration of the angle data, activating an angle error tolerance of the electric skateboard according to the duration, and dynamically adjusting a motion state of the electric skateboard according to the angle error tolerance, wherein the motion state specifically includes automatic balancing, anti-shaking control, and vibration suppression.

[0140] In the embodiment, the system identifies angle data of the electric skateboard to a turning scene based on an initial reference angle of the electric skateboard, the turning scene specifically includes a small turn, a large turn, and a sharp turn, and then the system determines whether the angle data meets a preset control instruction to perform a corresponding step; for example, when the system determines that the angle data of the electric skateboard does not meet the preset control instruction, the system considers that the actual turning condition of the current skateboard does not meet or deviates from the preset turning control requirement, displays prompt information on the user device to inform the user that the current turning operation fails to meet the preset requirement, and suggests to re-adjust the operation to guide the user to perform a correct turning operation through voice prompts from the preset device, while automatically adjusting the output power and the turning angle of the motor to attempt to adjust the turning of the electric skateboard to the preset control instruction, so that the system provides auxiliary control to help the user complete the correct turning when the user makes a mistake, checks and calibrates the turning angle sensor to ensure the accuracy of the sensor data, diagnoses the control system and the motor to exclude fault factors, and ensures the normal work of the hardware; for example, when the system determines that the angle data of the electric skateboard meets the preset control instruction, the system considers that the actual turning condition of the current skateboard meets the turning control requirement, collects a duration of the angle data, activates an angle error tolerance of the electric skateboard according to different angle durations, and dynamically adjusts a motion state of the electric skateboard according to the angle error tolerance, wherein the motion state specifically includes automatic balancing, anti-shaking control, and vibration suppression; the system sets the angle error tolerance to limit the angle deviation within a range, avoids unnecessary adjustment caused by a small error, improves the turning precision, can dynamically adjust the motion state of the electric skateboard in real time, ensures that the turning is safely and stably completed under different turning scenes, reduces the risk of overturning or losing control, while the system can automatically adjust the posture of the electric skateboard to maintain balance, prevent tilting or falling, detect and suppress shaking generated during the turning process, and provide a smoother riding experience; when encountering uneven road surfaces or obstacles, the system can adjust in real time to reduce vibration and improve riding comfort, and can perform smooth dynamic adjustment according to the angle data and the error tolerance to ensure a smooth turning process, reduce drastic changes in direction, improve the riding experience, monitor the angle data in real time and perform dynamic adjustment to ensure that the electric skateboard can quickly respond and remain stable under various turning scenes.

[0141] It should be noted that the angle error tolerance of the electric skateboard is activated according to the duration, and the specific examples of dynamically adjusting the motion state of the electric skateboard according to the angle error tolerance are as follows:

[0142] Assuming there are three cases,

[0143] Case 1: Small turn

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

[0145] Activation tolerance: According to the steering angle and duration, the error tolerance of small turn (e.g. ±2 degrees) is activated;

[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 the small turn, and if the angle data deviates more than 2 degrees, the system automatically adjusts the posture to avoid loss of control;

[0147] Effect: The skateboard can smoothly pass through the small turn and will not be frequently adjusted due to small angle changes, improving the stability of riding;

[0148] Case 2: Large turn

[0149] Data collection: The skateboard enters a large turn, and the system collects a steering angle of 15 degrees and a duration of 4 seconds;

[0150] Activation tolerance: According to the steering angle and duration, the error tolerance of large turn (e.g. ±5 degrees) is activated;

[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 the large turn, and if the angle data deviates more than 5 degrees, the system automatically adjusts the posture to avoid loss of control;

[0152] Effect: The skateboard can smoothly pass through the large turn and will not lose balance due to large angle changes, improving the safety of riding;

[0153] Case 3: Sharp turn

[0154] Data collection: The skateboard enters a sharp turn, and the system collects a steering angle of 30 degrees and a duration of 1 second;

[0155] Activation tolerance: According to the steering angle and duration, the error tolerance of sharp turn (e.g. ±10 degrees) is activated;

[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 the sharp turn, and if the angle data deviates more than 10 degrees, the system automatically adjusts the posture to avoid loss of control;

[0157] Effect: The skateboard can quickly and smoothly pass through sharp turns 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 accuracy and safety of steering, but also enhances the stability of the skateboard and the user experience, ensuring that users can have a smooth and safe riding experience in various steering scenarios.

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

[0160] S41: Detect the distance between the electric skateboard and the obstacle content based on the preset ultrasonic sensor.

[0161] S42: Judge whether the distance exceeds the 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 motor control instructions and steering control instructions for the electric skateboard based on 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. Then the system determines whether the distance exceeds the pre-set distance threshold to execute corresponding steps. For example, when the system determines that the distance exceeds the pre-set distance threshold, the system considers that the distance between the skateboard and the obstacle is safe enough, and the current driving route is safe. The system maintains the current driving speed and direction to ensure the skateboard continues to travel smoothly. The system continuously monitors the distance between the skateboard and the obstacle to ensure that the distance change does not affect the safety of driving. At the same time, within the safe distance, the system regularly reminds the rider of the obstacle in front of him, maintains attention, and records the current obstacle distance data for subsequent analysis and optimization. For example, when the system determines that the distance does not exceed the pre-set distance threshold, the system considers that the distance between the skateboard and the obstacle is close and is likely to collide with the electric skateboard. The system identifies the position and size of the obstacle and constructs a detour path for the electric skateboard according to different position and size. The system generates electric control instructions and steering control instructions for the electric skateboard based on the detour path. By monitoring the distance between the skateboard and the obstacle in real time, the system can quickly identify potential collision risks and take timely measures to detour, ensuring the safety of the rider. The system automatically generates a detour path based on the position and size of the obstacle, avoiding the need for the rider to make a quick response when facing the obstacle, thereby reducing the risk of accidental collision. At the same time, by calculating the detour path, the system generates smooth motor control and steering control instructions to enable the skateboard to smoothly detour the obstacle, improving the comfort of riding. By identifying the position and size of the obstacle, the system can accurately plan the path and generate control instructions, demonstrating high-level intelligence. The system dynamically adjusts the path and control instructions of the skateboard based on real-time data to ensure safe driving in complex environments.

[0164] In this embodiment, before step S1 of detecting the user's steering instruction for the electric skateboard based on the control content pre-installed on the electric skateboard, the system further includes:

[0165] S101: Based on the pre-recorded connection verification information of the electric skateboard, the system collects the user's verification content for the connection verification information.

[0166] S102: The system determines whether the verification content matches the pre-set factory information of the electric skateboard.

[0167] S103: If yes, the system grants the user the connection permission for the electric skateboard and generates a personalized control interface for the user to control the electric skateboard through the pre-set device based on the connection permission.

[0168] In this embodiment, the system collects the verification content corresponding to the connection verification information based on the pre-recorded connection verification information of the electric skateboard, and then the system judges whether the verification content matches the pre-set factory information of the electric skateboard to execute the corresponding steps; for example, when the system determines that the user's input verification content cannot match the pre-set factory information of the electric skateboard, the system will consider that the user provides incorrect verification information for the electric skateboard, 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 inputs incorrectly multiple times, the system should provide appropriate prompts to help the user find the correct verification information, while recording each verification failure attempt, including time, input content (partially hidden), and user information, for subsequent analysis and security review. Save error logs to the system's security database, and after multiple verification failures, the system will provide an option to contact customer support to help users solve problems by displaying customer support contact information such as phone numbers or emails; for example, when the system determines that the user's input verification content can match the pre-set factory information of the electric skateboard, the system will consider that the user provides correct verification information for the electric skateboard, and the system will grant the user connection permission for the electric skateboard, and generate a personalized control interface for the electric skateboard according to the user's pre-set device connection permission. Through strict verification mechanism, the system ensures that only legitimate users can connect and control the electric skateboard, preventing unauthorized access and preventing malicious users or others from using the electric skateboard without authorization, thereby protecting the user's device and privacy. At the same time, according to the user's demand, a personalized control interface is generated, which enables the user to conveniently set and operate the electric skateboard. The personalized interface design makes the operation more intuitive and simple, improving 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 make it meet the individual's usage habits and needs.

[0169] Reference is made to the accompanying drawings Figure 2 In an embodiment of the present application, the differential steering system of the four-wheel drive mobile tool includes:

[0170] The collection module 10 is configured to detect the steering instruction of the user for the electric skateboard based on the pre-set control content of the electric skateboard, and collect the steering angle corresponding to the steering instruction.

[0171] The judgment module 20 is configured to judge whether the steering angle reaches the pre-set degree.

[0172] The execution module 30 is used for if yes, activating the preset motor of the electric skateboard on the electric pulley, identifying the current steering direction of the electric pulley, adjusting the preset motor current output of the motor according to the steering direction, driving the left and right wheel parts 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] The second judgment module 40 is used for judging whether the sliding information detects preset obstacle content.

[0174] The second execution module 50 is used for if detected, identifying the obstacle type corresponding to the obstacle content, collecting the force data of the electric skateboard affected by the obstacle content, and balancing the real-time acceleration data of the electric pulley based on the force data and the obstacle type, wherein the obstacle type specifically includes a concave obstacle and a convex obstacle, and the force data specifically includes inertia data, gravity data and resistance data.

[0175] In the present embodiment, the collection module 10 detects the steering instructions input by the user based on the control content pre-set for the electric skateboard, collects the corresponding steering angle, and then the judgment module 20 judges whether the steering angle reaches the pre-set degree to execute the corresponding steps; for example, when the system determines that the steering angle of the electric skateboard does not reach the pre-set degree, the system considers that the current steering operation of the user is not sufficient to trigger the pre-set steering mechanism, and gradually increases or reduces the motor output according to the current steering angle, so that the skateboard slowly steers, ensuring that the user's small-scale operation can also be perceived and responded by the system, while continuously monitoring the user's steering instructions and the real-time state data of the skateboard, such as speed and acceleration, judging whether it is necessary to continue to adjust by analyzing the user's input steering instructions and the current angle of the skateboard in real time, and appropriately slowing down the speed of the skateboard when it is detected that the pre-set angle is not reached, ensuring that the user can safely control the skateboard during the steering process; for example, when the system determines that the steering angle of the electric skateboard reaches the pre-set degree, the execution module 30 considers that the current steering operation of the user is sufficient to trigger the steering mechanism, the system activates the pre-set motor of the electric skateboard on the electric pulley, identifies the current steering direction of the electric pulley, adjusts the pre-set motor current output of the motor according to different steering directions, drives the left and right wheels of the electric pulley to apply differential rotation in the opposite direction through the motor current, so that the electric skateboard can steer with the smallest posture, and real-time monitoring of the sliding information of the electric skateboard is synchronized to the device pre-connected by the user to the electric skateboard; the system activates the motor by detecting the steering angle and confirming that the pre-set degree is reached, ensuring the accuracy of the steering operation, and the electric pulley applies differential rotation in the opposite direction, so that the skateboard can steer with the smallest posture, increasing the flexibility and accuracy of steering, while precise control of the motor output enables the electric skateboard to maintain the smallest posture during steering, which helps to quickly complete the steering, and the differential rotation mechanism ensures the smoothness of the steering process, reduces the possibility of bumps and discomfort during steering, improves the riding experience of the user, real-time monitoring of the sliding information and synchronization to the user's device enable the user to know the state and action of the skateboard at any time, enhancing the interactivity and control feeling; and then the second judgment module 40 judges whether the pre-set obstacle content is detected from the sliding information 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 considers that the current travel path of the skateboard is safe, and no obstacle is detected that can interfere with the normal travel of the skateboard. The system continues to maintain the current speed and direction of the skateboard under the condition of confirming that the path is obstacle-free, ensures the continuity and stability of travel, and continues to use sensors to monitor the road conditions in real time, ensures continuous detection of potential obstacles during skateboard travel, synchronizes the real-time sliding information of the skateboard to the user's preset device regularly, enables the user to know the running state and environmental information of the skateboard at any time, and displays the current state information of the skateboard such as speed, travel distance, battery capacity, etc. on the user's device, ensuring that the user has a comprehensive understanding of the running state 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 considers that the current travel path of the skateboard has an obstacle, the system identifies the obstacle type corresponding to the obstacle content, the obstacle type specifically includes concave obstacle and convex obstacle, collects the force data of the electric skateboard affected by different obstacle contents, the force data specifically includes inertia data, gravity data and resistance data, and balances the real-time acceleration data of the electric skateboard based on the force data and the obstacle type; the system can dynamically adjust the real-time acceleration of the electric skateboard based on different force data, ensure that the skateboard can smoothly pass over or bypass the obstacle, 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, maintain the stability of the skateboard when encountering obstacles, avoid instability caused by excessive acceleration change, and at the same time, after detecting the obstacle, the system can adjust the balance of the skateboard in time according to the obstacle type and force data, so that the skateboard maintains a stable state when passing through the obstacle, improves the stability and controllability of the skateboard, and through timely adjustment and optimization of the acceleration data of the skateboard, the system can ensure that the skateboard can still travel smoothly when encountering obstacles, reduce bumps and discomfort, and improve the riding experience of the user.

[0176] In the embodiment, further comprising:

[0177] The measurement module is configured to measure the inclination angle of the electric skateboard in real time based on the horizontal plane information preset by the electric skateboard and by using a preset inclination sensor, and to obtain the steering direction required by the user at present according to the inclination angle.

[0178] The third judgment module is configured to judge whether the steering direction conforms to the preset steering content of the electric skateboard.

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

[0180] In the embodiment, the system applies the pre-set tilt sensor to measure the tilt angle of the electric skateboard in real time based on the horizontal plane information pre-set by the electric skateboard, obtains the steering direction required by the user according to different tilt angles, and then judges whether the steering direction meets the pre-set steering content of the electric skateboard to execute corresponding steps; for example, when the system determines that the steering direction required by the user cannot meet the pre-set steering content of the electric skateboard, the system considers that the steering demand of the user does not match the pre-set steering path or direction of the system, which causes the skateboard to fail to travel along the expected path. The system prompts the user through the display screen or light on the user device, reminds the user that the current steering direction does not match the pre-set content, and suggests adjusting appropriately. Meanwhile, the system dynamically adjusts the pre-set steering path and direction according to the actual driving environment and steering demand of the user, so that the pre-set content is more suitable for the actual situation. On the premise of ensuring safety, the actual steering demand of the user is prioritized, the pre-set content of the system is adjusted, and the pre-set content of the system is optimized by recording and analyzing the steering data and environmental information of the user, so that it is more suitable for the actual demand in different environments. The system provides personalized steering setting options for the user, so that the user can adjust the pre-set content according to the actual demand; for example, when the system determines that the steering method required by the user can meet the pre-set steering content of the electric skateboard, the system considers that the steering demand of the user matches the steering path of the electric skateboard. The system calculates the target steering angular velocity of the electric skateboard according to different tilt angles and a pre-trained steering response model, and simultaneously monitors the forward speed of the electric skateboard in real time. The system calculates the target linear speed of the left and right wheels of the electric skateboard based on the target steering angular velocity and the forward speed, and generates the required current of the corresponding motors of the left and right wheels. The system calculates the target steering angular velocity of the electric skateboard according to different tilt angles and a pre-trained steering response model, to ensure the accuracy and consistency of steering. The system monitors the forward speed of the electric skateboard in real time, calculates the target linear speed of the left and right wheels based on the target steering angular velocity and the forward speed, to make the steering process smoother and more natural, and improve the riding experience of the user. Meanwhile, through real-time monitoring and adjustment, the system can dynamically adapt to the steering demand according to the current driving condition, reduce the loss of control and danger caused by sudden steering or speed change, generate the required current of the corresponding motors of the left and right wheels, ensure the balanced operation of the left and right wheels, avoid rollover or instability caused by too large speed difference between the left and right wheels, and generate the required current of the corresponding motors of 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. Through accurate control of the motor current of the left and right wheels, the system can effectively balance the energy consumption, avoid excessive consumption of power by one side of the wheel, and thus prolong the use time of the skateboard.

[0181] In the embodiment, the execution module further comprises:

[0182] A synchronization unit is configured to synchronize 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 to generate the route information in real time from the electric skateboard.

[0183] A judgment unit is configured to judge whether the electric skateboard can read the route information.

[0184] An execution unit is configured to activate a preset laser device of the electric skateboard to output corresponding laser data in a preset irradiation direction of the electric skateboard if the electric skateboard can read the route information, and to dynamically adjust a pointing direction of the laser data according to real-time changes of the route information.

[0185] In this embodiment, the system synchronizes route information pre-planned by the user on a device to an electric skateboard based on the device pre-connected to the electric skateboard, and generates the route information in real time from the electric skateboard. Then, the system judges whether the electric skateboard can read the route information to perform corresponding steps. For example, when the system determines that the electric skateboard cannot read the route information, the system considers that the route information on the user's device is not successfully synchronized to the electric skateboard. The system performs storage success verification in the data storage process, ensures that the route information is correctly written into the storage medium of the electric skateboard, displays 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 automatically performs a retry operation to attempt to re-synchronize the route information, prompts the user to manually re-synchronize the route information, and ensures successful data transmission. For example, when the system determines that the electric skateboard can read the route information, the system considers that the electric skateboard successfully synchronizes the route information. The system activates a preset laser device of the electric skateboard to output corresponding laser data in a preset irradiation direction of the electric skateboard, and dynamically adjusts a pointing direction of the laser data according to real-time changes of the route information. The laser device can output corresponding laser data in the preset irradiation direction to provide clear and accurate path guidance, help the user accurately follow the planned route, dynamically adjust the pointing direction of the laser data according to real-time changes of the route information to ensure that navigation information always matches the current route, improve the real-time performance and accuracy of navigation, and help the user prepare in advance to avoid unexpected situations. The laser projection visual navigation information reduces user judgment errors in complex environments, reduces the risk of accidents, improves the safety of riding, and provides an intuitive navigation method, so that the user does not need to frequently check the device screen or other navigation tools, focuses on riding, and improves the use experience. Compared with sound or vibration prompts, the laser guidance is more quiet and does not interfere, and is suitable for various riding environments, especially in noisy or quiet places.

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

[0187] an extraction unit configured to extract a characteristic peak value from the sensor data collected by the acceleration sensor based on a preset acceleration sensor data, apply a preset machine learning algorithm to the characteristic peak value for pattern recognition, and distinguish the obstacle type, wherein the characteristic peak value specifically includes an acceleration peak value, an amplitude, a frequency component, and a duration;

[0188] a second judgment unit configured to judge whether the obstacle type conforms to a pre-recorded obstacle data;

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

[0190] In this embodiment, the system extracts feature peaks from the sensor data collected by the pre-configured acceleration sensor, including acceleration peak, amplitude, frequency component and duration, applies a pre-configured machine learning algorithm to perform pattern recognition on the feature peaks to distinguish the types of obstacles, and then determines whether the types of obstacles meet the pre-recorded obstacle data to perform corresponding steps; for example, when the system determines that the types of obstacles cannot meet the pre-recorded obstacle data, the system considers that the currently detected types of obstacles may be new or unrecorded data types, displays prompt information on the user device to inform the user that unknown obstacle types are currently detected, suggests the user to drive carefully, allows the user to select whether to report the current obstacle data to the system for subsequent analysis and improvement, and stores the unrecognizable obstacle data for regular collection and analysis to expand the existing obstacle database, regularly updates and trains the machine learning model based on the newly collected data to improve the recognition ability of the algorithm, and checks and calibrates the acceleration sensor to ensure the accuracy and reliability of the sensor data; for example, when the system determines that the types of obstacles can meet the pre-recorded obstacle data, the system considers that the currently detected types of obstacles can identify the corresponding obstacle content, measures the PID control value of the electric skateboard and the obstacle content, which includes proportional control, integral control and differential control, generates control signals for the electric skateboard according to the PID control value, and dynamically adjusts the output power of the motor according to the control signals; PID control can accurately calculate the control signals of the electric skateboard, and adjust in real time according to the types of obstacles, so that the electric skateboard can quickly and accurately respond to different obstacles. According to the real-time obstacle situation and the skateboard state, 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 monitoring and adjusting the output power of the motor in real time, the PID control ensures that the electric skateboard can maintain dynamic balance when encountering obstacles to prevent overturning or losing 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 to generate control signals and adjust the output power in real time, ensuring that the skateboard can quickly adapt to different riding conditions. Through differential control, the lag time of system response is reduced, and the reaction speed and accuracy of the electric skateboard when encountering obstacles are improved.

[0191] In this embodiment, the determination module further comprises:

[0192] The identification unit is configured to identify angle data of the electric skateboard in a turning scene based on a pre-configured initial reference angle of the electric skateboard, wherein the turning scene specifically includes a small turn, a large turn and a sharp turn.

[0193] a third determining unit configured to determine whether the angle data meets a preset control instruction;

[0194] a third executing unit configured to, if yes, collect a duration of the angle data, activate an angle error tolerance of the electric skateboard according to the duration, and dynamically adjust a motion state of the electric skateboard according to the angle error tolerance, wherein the motion state specifically includes automatic balancing, anti-shaking control, and vibration suppression.

[0195] In the embodiment, the system identifies angle data of the electric skateboard in a turning scene based on an initial reference angle of the electric skateboard, and the turning scene specifically includes a small turn, a large turn, and a sharp turn. Then, the system determines whether the angle data meets a preset control instruction to perform corresponding steps. For example, when the system determines that the angle data of the electric skateboard does not meet the preset control instruction, the system considers that the actual turning condition of the electric skateboard does not meet or deviates from the preset turning control requirement. The system displays prompt information on the user device to inform the user that the current turning operation fails to meet the preset requirement and suggests re-adjusting the operation. The system guides the user to perform a correct turning operation through voice prompts from the preset device, automatically adjusts the output power and the turning angle of the motor, and attempts to adjust the turning of the electric skateboard to the preset control instruction. When the user makes a mistake, the system provides auxiliary control to help the user complete the correct turning. The system checks and calibrates the turning angle sensor to ensure the accuracy of the sensor data, diagnoses the control system and the motor to exclude fault factors, and ensures the normal operation of the hardware. For example, when the system determines that the angle data of the electric skateboard meets the preset control instruction, the system collects the duration of the angle data, activates the angle error tolerance of the electric skateboard according to different durations of the angle, and dynamically adjusts the motion state of the electric skateboard according to the angle error tolerance. The motion state specifically includes automatic balancing, anti-shaking control, and vibration suppression. The system sets the angle error tolerance to limit the angle deviation within a range, avoids unnecessary adjustment caused by a small error, improves the turning precision, dynamically adjusts the motion state of the electric skateboard in real time, ensures safe and stable turning in different turning scenes, reduces the risk of overturning or losing control, automatically adjusts the posture of the electric skateboard to maintain balance when an angle error is detected, prevents tilting or falling, detects and suppresses shaking generated during the turning process, provides a smoother riding experience, adjusts in real time when encountering uneven road surfaces or obstacles, reduces vibration, improves riding comfort, and smoothly adjusts the motion state according to the angle data and the error tolerance to ensure a smooth turning process, reduce drastic changes in direction, improve the riding experience, monitor the angle data in real time and dynamically adjust the motion state to ensure quick response and stability in various turning scenes.

[0196] In the embodiment, the second judging module further comprises:

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

[0198] a fourth judging unit configured to judge whether the distance exceeds a preset distance threshold;

[0199] a fourth executing unit configured to, if not, identify the size of the obstacle, construct a detour path of the electric skateboard according to the size, and adaptively generate a motor control instruction and a steering control instruction of the electric skateboard according to the detour path.

[0200] In the embodiment, the system detects the distance between the electric skateboard and the obstacle based on a preset ultrasonic sensor of the electric skateboard, and then judges whether the distance exceeds a preset distance threshold to perform corresponding steps. For example, when the system determines that the distance exceeds the preset distance threshold, the system considers that the distance between the skateboard and the obstacle is safe enough, and the current driving route is safe. The system maintains the current driving speed and direction to ensure the skateboard continues to travel smoothly, continuously monitors the distance between the skateboard and the obstacle to ensure that the distance change does not affect the driving safety, regularly reminds the rider of the obstacle in front of the safe distance to maintain attention, and records 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 considers that the distance between the skateboard and the obstacle is close and is likely to collide with the electric skateboard. The system identifies the size of the obstacle, constructs a detour path of the electric skateboard according to different sizes, and adaptively generates a motor control instruction and a steering control instruction of the electric skateboard according to the detour path. By monitoring the distance between the skateboard and the obstacle in real time, the system can quickly identify potential collision risks and take measures to detour in time to ensure the safety of the rider. The system automatically generates a detour path according to the position and size of the obstacle to avoid the need for the rider to make a quick response when facing the obstacle, thereby reducing the risk of accidental collision. At the same time, by calculating the detour path, the system generates smooth motor control and steering control instructions to make the skateboard smoothly detour the obstacle, improve the comfort of riding, and accurately plan the path and generate control instructions according to the position and size of the obstacle, which shows high intelligence. The system dynamically adjusts the path and control instructions of the skateboard according to real-time data to ensure safe driving in complex environments.

[0201] In the embodiment, the system further comprises:

[0202] The second collection module is configured to collect verification content of the user on the connection verification information based on the pre-recorded connection verification information of the electric skateboard.

[0203] The fourth judgment module is configured to judge whether the verification content matches the factory information pre-set by the electric skateboard.

[0204] The fourth execution module is configured to, if yes, grant the user with the connection permission on the electric skateboard, and generate a personalized control interface of the user on the electric skateboard through the pre-set device according to the connection permission.

[0205] In the embodiment, the system collects the verification content of the user on the connection verification information based on the pre-recorded connection verification information of the electric skateboard, and then judges whether the verification content matches the factory information pre-set by the electric skateboard to execute corresponding steps. For example, when the system determines that the verification content input by the user cannot match the factory information pre-set by the electric skateboard, the system considers that the user provides incorrect verification information on the electric skateboard, displays "verification failed, please re-input" on the display screen of the skateboard or the user device, provides appropriate prompts to help the user find the correct verification information if the user inputs the incorrect information for multiple times, records each verification failure attempt, including the time, input content (partially hidden), and user information, for subsequent analysis and security review, saves the error log into the security database of the system, and provides an option of contacting customer support after multiple verification failures to help the user solve the problem by displaying the contact information of the customer support, such as a telephone number or an email address. For example, when the system determines that the verification content input by the user can match the factory information pre-set by the electric skateboard, the system considers that the user provides correct verification information on the electric skateboard, grants the user with the connection permission on the electric skateboard, and generates a personalized control interface of the electric skateboard through the device pre-set by the user according to the connection permission. The system ensures that only the legal user can connect and control the electric skateboard through the strict verification mechanism, prevents unauthorized access, and prevents malicious users or others from using the electric skateboard without authorization, thereby protecting the device and privacy of the user. Meanwhile, the system generates a personalized control interface according to the demand of the user, so that the user can conveniently set and operate the electric skateboard. The personalized interface design makes the operation more intuitive and convenient, improves the user experience, and the user can configure various parameters (such as speed, steering sensitivity, etc.) of the skateboard through the personalized interface to make it meet the personal use habits and demands.

[0206] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application 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, Includes the following steps: Based on the preset control content of the electric skateboard, the system detects the user's steering command to the electric skateboard and collects the steering angle corresponding to the steering command. Determine whether the steering angle has reached the preset degree; If so, the preset motor on the electric skateboard's electric pulley is activated, the current steering direction of the electric pulley is identified, the preset motor current is adjusted according to the steering direction, and the left and right wheels of the electric pulley are driven to apply opposite differential rotation through the motor current. The sliding information of the electric skateboard is monitored in real time and the sliding information is synchronized to the user's preset device. Determine whether the sliding information detects a preset obstacle. If detected, the obstacle type corresponding to the obstacle content is identified, and the force data of the obstacle content on the electric skateboard is collected. Based on the force data and the obstacle type, the real-time acceleration data of the electric pulley is balanced. Specifically, the obstacle type includes concave obstacles and convex obstacles, and the force data specifically includes inertial data, gravity data, and resistance data.

2. The differential steering method for a four-wheel drive mobile tool according to claim 1, characterized in that, Before the step of adjusting the motor output of the electric motor to a preset motor current according to the steering direction, and driving the left and right wheels of the electric pulley to apply opposite differential rotation through 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 user's current required turning direction is obtained according to the tilt angle; Determine whether the turning direction matches the preset turning 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. At the same time, the forward speed of the electric skateboard is monitored in real time. The target linear velocity of the left and right wheels is calculated based on the target steering angular velocity and the forward speed, and the required current for the motors corresponding to the left and right wheels is generated.

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

4. The differential steering method for a four-wheel drive mobile tool according to claim 1, characterized in that, The step of collecting force data on the electric skateboard caused by the obstacle, 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 accelerometer, feature peaks are extracted from the sensor data, and a preset machine learning algorithm is applied to perform pattern recognition on the feature peaks to distinguish the obstacle types. Specifically, the feature peaks include acceleration peaks, amplitude, frequency components, and duration. Determine whether the obstacle type matches the pre-recorded obstacle data; If possible, the PID control values ​​of the electric skateboard and the obstacle content are measured, and the control signal of the electric skateboard is adaptively generated based on the PID control values. The output power of the motor is dynamically adjusted according to the control signal. The PID control values ​​specifically include proportional control, integral control and derivative control.

5. The differential steering method for a four-wheel drive mobile tool according to claim 1, characterized in that, The step of determining whether the steering angle has reached a preset degree further includes: Based on the preset initial reference angle of the electric skateboard, the angle data of the electric skateboard for the turning scenario is identified, wherein the turning scenario specifically includes small turns, large turns and sharp turns; Determine whether the angle data conforms to the preset control command; If so, the duration of collecting the angle data is then determined, the angle error tolerance of the electric skateboard is activated based on the duration, and the motion state of the electric skateboard is dynamically adjusted based on the angle error tolerance. Specifically, the motion state includes automatic balancing, anti-shake control, and vibration suppression.

6. The differential steering method for a four-wheel drive mobile tool according to claim 1, characterized in that, The step of determining whether the sliding information detects preset obstacle content further includes: Based on a preset ultrasonic sensor, the distance between the electric skateboard and the obstacle is detected; Determine whether the distance between the two points exceeds a preset distance threshold; If not, the location and size of the obstacle are identified, a detour path for the electric skateboard is constructed based on the location and size, and motor control commands and steering control commands for the electric skateboard are adaptively generated based on the detour path.

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

8. A differential steering system for a four-wheel drive mobile tool, characterized in that, include: The acquisition module is used to detect the user's steering command to the electric skateboard based on the preset control content of the electric skateboard, and to acquire the steering angle corresponding to the steering command; The judgment module is used to determine whether the steering angle has reached a preset degree. The execution module is used to activate the preset motor on the electric pulley of the electric skateboard if the condition is met, identify the current steering direction of the electric pulley, adjust the output of the preset motor current of the motor according to the steering direction, drive the left and right wheels of the electric pulley to apply opposite differential rotation through the motor current, monitor the sliding information of the electric skateboard in real time, and synchronize the sliding information to the user's preset device. The second judgment module is used to determine whether the sliding information detects 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 obstacle content on the electric skateboard, and balance the real-time acceleration data of the electric pulley based on the force data and the obstacle type. Specifically, the obstacle type includes concave obstacles and convex obstacles, and the force data specifically includes inertial data, gravity data and resistance data.

9. The differential steering system of the four-wheel drive mobile tool according to claim 8, characterized in that, Also includes: The measurement module is used to measure the tilt angle of the electric skateboard in real time based on the preset horizontal plane information of the electric skateboard and a preset tilt sensor, and to obtain the current steering direction required by the user based on the tilt angle; The third judgment module is used to determine 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 based on the tilt angle and the pre-trained steering response model if the condition is met, while simultaneously monitoring the forward speed of the electric skateboard in real time, calculating the target linear velocity of the left and right wheels based on the target steering angular velocity and the forward speed, and generating the current required by the motors corresponding to the left and right wheels.

10. The differential steering system of the four-wheel drive mobile tool according to claim 8, characterized in that, The execution module further includes: A synchronization unit is used 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 to generate the route information from the electric skateboard in real time. The judgment unit is used to determine whether the electric skateboard can read the route information; An execution unit is configured to, if possible, activate the preset laser device on the electric skateboard, output corresponding laser data at the preset illumination position on the electric skateboard, and dynamically adjust the guiding direction of the laser data according to the real-time changes in the route information.

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