Electric power-assisted carrier control system

Abstract

The invention discloses an electric power-assisted carrier control system, and relates to the technical field of electric drive carriers. The ultra-wideband beacon is used for sending an ultra-wideband wireless signal to the front ultra-wideband base station when the electric power-assisted carrier is in a self-following mode and the remote controller is located at the front part of the carrier control box; when the remote controller is located at the rear part of the carrier control box, an ultra-wideband wireless signal is sent to the rear ultra-wideband base station; the space information between the remote controller and the electric power-assisted carrier is calculated according to the ultra-wideband wireless signal, and the main control unit controls the electric power-assisted carrier to move along with the remote controller according to the space information; the Bluetooth equipment is used for sending a control signal to the Bluetooth host when the electric power-assisted carrier is in a remote control mode, a power-assisted mode or a stop mode; the Bluetooth host is used for sending the control signal to the main control unit; and the main control unit is also used for controlling the electric power-assisted carrier according to the control signal. According to the system, the control accuracy of the electric power-assisted carrier is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric drive vehicles, and in particular to an electric power-assisted vehicle control system. Background Art

[0002] With the development of society and the advancement of science and technology, people's requirements for quality of life are getting higher and higher. More and more smart products are entering people's lives, bringing great convenience to people's lives, especially electric-powered vehicles, such as smart suitcases, express vehicles and takeaway vehicles.

[0003] However, the current electric power-assisted vehicles are still in the development stage, and there are still many defects in various performance aspects, such as poor positioning accuracy, high delay when controlling intelligent vehicles, excessive positioning errors when the electric power-assisted vehicles are in complex environments, and weak adaptability of the electric power-assisted vehicles. Therefore, there is an urgent need for an electric power-assisted vehicle control system to overcome the above defects. Summary of the Invention

[0004] The purpose of the present invention is to provide an electric power-assisted vehicle control system. By setting a front ultra-wideband base station and a rear ultra-wideband base station, the electric power-assisted vehicle can efficiently receive the ultra-wideband wireless signal sent by the remote control no matter what position the remote control and the electric power-assisted vehicle are in, thereby increasing positioning accuracy and reducing control delay.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides an electric power-assisted vehicle control system, the electric power-assisted vehicle control system comprising: a remote controller and an electric power-assisted vehicle;

[0007] The electric power-assisted vehicle includes a front ultra-wideband base station and a vehicle control box, wherein the vehicle control box is provided with a main control unit, a rear ultra-wideband base station and a Bluetooth host;

[0008] The remote controller includes an ultra-wideband beacon and a Bluetooth device;

[0009] The ultra-wideband beacon is used to send an ultra-wideband wireless signal to the front ultra-wideband base station when the electric power-assisted vehicle is in a self-following mode and the remote controller is in front of the vehicle control box;

[0010] The ultra-wideband beacon is further configured to transmit an ultra-wideband wireless signal to the rear ultra-wideband base station when the electric power-assisted vehicle is in a self-following mode and the remote controller is located behind the vehicle control box;

[0011] The front ultra-wideband base station or the rear ultra-wideband base station is used to calculate the spatial information between the remote control and the electric power-assisted vehicle according to the ultra-wideband wireless signal, and send the spatial information to the main control unit;

[0012] The main control unit is used to control the electric power-assisted vehicle to move along with the remote controller according to the spatial information;

[0013] The Bluetooth device is used to send a control signal to the Bluetooth host when the electric power-assisted vehicle is in remote control mode or power-assisted mode;

[0014] The Bluetooth host is used to send the control signal to the main control unit;

[0015] The main control unit is further configured to control the electric power-assisted vehicle according to the control signal.

[0016] In some embodiments, the vehicle control box is further provided with an ultrasonic obstacle avoidance module;

[0017] The ultrasonic obstacle avoidance module is used to detect obstacle information in the moving direction of the electric power-assisted vehicle and send the obstacle information to the main control unit;

[0018] The main control unit is further used to control the electric power-assisted vehicle according to the obstacle information.

[0019] In some embodiments, the vehicle control box is further provided with a drive motor;

[0020] The driving motor is used to drive the electric power-assisted vehicle under the control of the main control unit.

[0021] In some embodiments, the vehicle control box is further provided with a display screen;

[0022] The display screen is used to display the operating status information of the electric power-assisted vehicle.

[0023] In some embodiments, the vehicle control box is further provided with an audio and optical module;

[0024] The sound and light module is used to send sound and light alarms according to the operating status information.

[0025] In some embodiments, the electric power-assisted vehicle control system further includes a power battery;

[0026] The power battery is used to supply power to the electric vehicle control system.

[0027] In some embodiments, the power battery includes a primary power source, a secondary power source, and a tertiary power source;

[0028] The primary power supply is used to supply power to the driven motor, rear broadband base station, ultrasonic obstacle avoidance module, display screen and sound and light module, and provides 12V-48V DC power to the secondary power supply;

[0029] The secondary power supply is used to convert 12V-48V DC power into 5V DC power to supply power to the front ultra-wideband base station, and provide 5V DC power to the tertiary power supply;

[0030] The three-stage power supply is used to convert the 5V DC power into 3.3V isolated DC power and supply power to the main control unit and the Bluetooth host.

[0031] In some embodiments, the main control unit controls the front ultra-wideband base station via RS232 signals.

[0032] In some embodiments, the main control unit controls the rear ultra-wideband base station and the Bluetooth host box drive motor through UART TTL signals.

[0033] In some embodiments, the main control unit controls the ultrasonic obstacle avoidance module and the sound and light module through GPIO;

[0034] The main control unit controls the display screen via IIC.

[0035] The beneficial effects of the present invention are as follows: the electric power-assisted vehicle control system provided in the present invention includes: a remote controller and an electric power-assisted vehicle; the electric power-assisted vehicle includes a front ultra-wideband base station and a vehicle control box, the vehicle control box includes a main control unit, a rear ultra-wideband base station and a Bluetooth host; the remote controller includes an ultra-wideband beacon and a Bluetooth device; the ultra-wideband beacon is used to send an ultra-wideband wireless signal to the front ultra-wideband base station when the electric power-assisted vehicle is in self-following mode and the distance between the remote controller and the front ultra-wideband base station is less than the distance between the remote controller and the rear ultra-wideband base station; the ultra-wideband beacon is also used to send an ultra-wideband wireless signal to the front ultra-wideband base station when the electric power-assisted vehicle is in self-following mode and the distance between the remote controller and the front ultra-wideband base station is greater than When the distance between the remote control and the rear ultra-wideband base station is measured, an ultra-wideband wireless signal is sent to the rear ultra-wideband base station; the front ultra-wideband base station or the rear ultra-wideband base station is used to calculate the spatial information between the remote control and the electric power-assisted vehicle based on the ultra-wideband wireless signal, and send the spatial information to the main control unit; the main control unit is used to control the electric power-assisted vehicle to follow the remote control according to the spatial information; the Bluetooth device is used to send a control signal to the Bluetooth host when the electric power-assisted vehicle is in remote control mode or power-assisted mode; the Bluetooth host is used to send the control signal to the main control unit; the main control unit is also used to control the electric power-assisted vehicle according to the control signal. By setting the front ultra-wideband base station and the rear ultra-wideband base station, the electric power-assisted vehicle can efficiently receive the ultra-wideband wireless signal sent by the remote control regardless of the position of the remote control and the electric power-assisted vehicle, thereby increasing positioning accuracy and reducing control delay.

[0036] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 FIG. 1 is a schematic structural diagram of a control system for an electric power-assisted vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] It should be noted that references to "one embodiment," "an embodiment," "an example embodiment," etc., in this specification indicate that the described embodiment may include specific features, structures, or characteristics. However, not every embodiment must include these specific features, structures, or characteristics. In addition, such references do not necessarily refer to the same embodiment. Furthermore, when specific features, structures, or characteristics are described in conjunction with an embodiment, whether or not explicitly described, it is indicated that it is within the knowledge of those skilled in the art to incorporate such features, structures, or characteristics into other embodiments.

[0040] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] In some embodiments, as Figure 1 As shown, a structural schematic diagram of an electric power-assisted vehicle control system is provided, wherein the electric power-assisted vehicle control system includes: a remote controller and an electric power-assisted vehicle; the electric power-assisted vehicle includes a front ultra-wideband base station and a vehicle control box, wherein the vehicle control box is provided with a main control unit, a rear ultra-wideband base station and a Bluetooth host; the remote controller includes an ultra-wideband beacon and a Bluetooth device; the ultra-wideband beacon is used to send an ultra-wideband wireless signal to the front ultra-wideband base station when the electric power-assisted vehicle is in self-following mode and the remote controller is in front of the vehicle control box; the ultra-wideband beacon is also used to send an ultra-wideband wireless signal to the front ultra-wideband base station when the electric power-assisted vehicle is in self-following mode and the remote controller is in the rear of the vehicle control box. When the remote control is in remote control mode or power-assisted mode, the Bluetooth device sends a control signal to the Bluetooth host; the Bluetooth host sends the control signal to the main control unit; the main control unit is further configured to control the electric power-assisted vehicle according to the control signal.

[0042] Specifically, the electric power-assisted vehicle includes multiple modes, such as self-following mode, remote control mode, power-assisted mode and stop mode. When the electric power-assisted vehicle is in self-following mode and the remote control is in front of the vehicle control box, since the front ultra-wideband base station is also in front of the vehicle control box, it only needs to rely on the front ultra-wideband base station to receive the ultra-wideband wireless signal sent by the ultra-wideband beacon. At this time, the front ultra-wideband base station calculates the spatial information (such as distance, angle, elevation angle, etc.) between the remote control and the electric power-assisted vehicle based on the ultra-wideband wireless signal sent by the ultra-wideband beacon, and then sends the spatial information to the main control unit. The main control unit can control the electric power-assisted vehicle to follow the remote control to move; and when the remote control is in the vehicle control box, the front ultra-wideband base station can calculate the spatial information (such as distance, angle, elevation angle, etc.) between the remote control and the electric power-assisted vehicle. When the rear part of the box is made, the distance between the remote control and the front ultra-wideband base station is too far, and it is no longer possible to obtain accurate ultra-wideband wireless signals by relying on the front ultra-wideband base station. At this time, the rear ultra-wideband base station can be used to receive the ultra-wideband wireless signal sent by the ultra-wideband beacon. The spatial information (such as distance, angle, elevation, etc.) between the remote control and the electric power-assisted vehicle is calculated based on the ultra-wideband wireless signal sent by the ultra-wideband beacon, and then the spatial information is sent to the main control unit. The main control unit can control the electric power-assisted vehicle to move with the remote control. Since the rear ultra-wideband base station is located in the vehicle control box, it can receive more accurate ultra-wideband wireless signals than the front ultra-wideband base station, thereby accurately controlling the electric power-assisted vehicle. When the electric power-assisted vehicle is in remote control mode or power-assisted mode, the remote control can be manually controlled. The Bluetooth device of the remote control will send a control signal (such as a forward signal, a stop signal, etc.) to the Bluetooth host of the electric power-assisted vehicle. After receiving the control signal, the Bluetooth host will send the signal to the main control unit. The main control unit then controls the electric power-assisted vehicle according to the control signal (for example, controlling the electric power-assisted vehicle to move or stop).

[0043] Optionally, the main control unit can use an ESP32 chip or a CH32V307 chip.

[0044] Optionally, an ultrasonic obstacle avoidance module is also provided in the vehicle control box; the ultrasonic obstacle avoidance module is used to detect obstacle information in the movement direction of the electric power-assisted vehicle and send the obstacle information to the main control unit; the main control unit is also used to control the electric power-assisted vehicle according to the obstacle information.

[0045] Specifically, during the actual use of the electric power-assisted vehicle, it is inevitable to encounter complex environments with many obstacles. In order to make the electric power-assisted vehicle run smoothly, the ultrasonic obstacle avoidance module will emit ultrasonic waves, which will return after encountering an obstacle. The ultrasonic obstacle avoidance module will judge the obstacle information of the electric power-assisted vehicle in the direction of movement based on the received ultrasonic waves, and send the obstacle information to the main control unit. The main control unit can control the electric power-assisted vehicle to avoid obstacles according to the obstacle information.

[0046] Optionally, a drive motor is further provided in the vehicle control box; the drive motor is used to drive the electric power-assisted vehicle under the control of the main control unit.

[0047] Optionally, a display screen is further provided in the vehicle control box; the display screen is used to display the operating status information of the electric power-assisted vehicle.

[0048] Exemplarily, the display screen may be an OLED display screen, which may display information such as mileage, speed, and remaining battery power.

[0049] Optionally, the vehicle control box is further provided with an acoustic and optical module; the acoustic and optical module is used to send an acoustic and optical alarm according to the operating status information.

[0050] For example, when an electric power-assisted vehicle fails, if only a display screen is used for display, the operation and maintenance personnel may not be able to obtain the information immediately. Therefore, an audio-visual module can also be used for audio-visual alarm, so that the operation and maintenance personnel can find the fault and handle it as soon as possible.

[0051] Optionally, the electric power-assisted vehicle control system further includes a power battery; the power battery is used to supply power to the electric vehicle control system.

[0052] Optionally, the primary power supply is used to power the driven motor, rear broadband base station, ultrasonic obstacle avoidance module, display screen and sound and light module, and provide 12V-48V DC power to the secondary power supply; the secondary power supply is used to convert the 12V-48V DC power into 5V DC power and then power the front ultra-wideband base station, and provide 5V DC power to the tertiary power supply; the tertiary power supply is used to convert the 5V DC power into 3.3V isolated DC power, and power the main control unit and Bluetooth host.

[0053] Specifically, different devices in the electric power-assisted vehicle require different power supplies, especially the main control unit, which needs to use 3.3V isolated DC power. Because during the operation of the electric power-assisted vehicle, electric shock surges may affect the main control unit, and isolated DC power can ensure that the main control unit is not affected, thereby increasing the stability of the system operation.

[0054] Optionally, the main control unit controls the front ultra-wideband base station through RS232 signals; the main control unit controls the rear ultra-wideband base station and the Bluetooth host box drive motor through UART TTL signals; the main control unit controls the ultrasonic obstacle avoidance module and the sound and light module through GPIO; the main control unit controls the display screen through IIC.

[0055] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be implemented using a general-purpose computing device. They can be concentrated on a single computing device or distributed across a network consisting of multiple computing devices. Alternatively, they can be implemented using program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0056] The various technical features of the above embodiments can be arbitrarily integrated. To make the description concise, not all possible integrations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the integration of these technical features, they should be considered to be within the scope of this specification.

[0057] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An electric power-assisted vehicle control system, characterized in that: The electric power-assisted vehicle control system includes: a remote controller and an electric power-assisted vehicle; The electric power-assisted vehicle includes a front ultra-wideband base station and a vehicle control box, wherein the vehicle control box is provided with a main control unit, a rear ultra-wideband base station and a Bluetooth host; The remote controller includes an ultra-wideband beacon and a Bluetooth device; The ultra-wideband beacon is used to send an ultra-wideband wireless signal to the front ultra-wideband base station when the electric power-assisted vehicle is in a self-following mode and the remote controller is in front of the vehicle control box; The ultra-wideband beacon is further configured to transmit an ultra-wideband wireless signal to the rear ultra-wideband base station when the electric power-assisted vehicle is in a self-following mode and the remote controller is located behind the vehicle control box; The front ultra-wideband base station or the rear ultra-wideband base station is used to calculate the spatial information between the remote control and the electric power-assisted vehicle according to the ultra-wideband wireless signal, and send the spatial information to the main control unit; The main control unit is used to control the electric power-assisted vehicle to move along with the remote controller according to the spatial information; The Bluetooth device is used to send a control signal to the Bluetooth host when the electric power-assisted vehicle is in remote control mode, power-assisted mode or stop mode; The Bluetooth host is used to send the control signal to the main control unit; The main control unit is further configured to control the electric power-assisted vehicle according to the control signal.

2. The electric power-assisted vehicle control system according to claim 1, wherein: The vehicle control box is also provided with an ultrasonic obstacle avoidance module; The ultrasonic obstacle avoidance module is used to detect obstacle information in the moving direction of the electric power-assisted vehicle and send the obstacle information to the main control unit; The main control unit is further used to control the electric power-assisted vehicle according to the obstacle information.

3. The electric power-assisted vehicle control system according to claim 2, wherein: The vehicle control box is also provided with a drive motor; The driving motor is used to drive the electric power-assisted vehicle under the control of the main control unit.

4. The electric power-assisted vehicle control system according to claim 3, wherein: The vehicle control box is also provided with a display screen; The display screen is used to display the operating status information of the electric power-assisted vehicle.

5. The electric power-assisted vehicle control system according to claim 4, wherein: The vehicle control box is also provided with an audio and optical module; The sound and light module is used to send sound and light alarms according to the operating status information.

6. The electric power-assisted vehicle control system according to claim 5, wherein: The electric power-assisted vehicle control system further includes a power battery; The power battery is used to supply power to the electric vehicle control system.

7. The electric power-assisted vehicle control system according to claim 6, wherein: The power battery includes a primary power supply, a secondary power supply and a tertiary power supply; The primary power supply is used to supply power to the driven motor, rear broadband base station, ultrasonic obstacle avoidance module, display screen and sound and light module, and provides 12V-48V DC power to the secondary power supply; The secondary power supply is used to convert 12V-48V DC power into 5V DC power to supply power to the front ultra-wideband base station, and provide 5V DC power to the tertiary power supply; The three-stage power supply is used to convert the 5V DC power into 3.3V isolated DC power and supply power to the main control unit and the Bluetooth host.

8. The electric power-assisted vehicle control system according to claim 7, wherein: The main control unit controls the front ultra-wideband base station via RS232 signals.

9. The electric power-assisted vehicle control system according to claim 8, wherein: The main control unit controls the rear ultra-wideband base station and the Bluetooth host box drive motor through UARTTTL signals.

10. The electric power-assisted vehicle control system according to claim 9, wherein: The main control unit controls the ultrasonic obstacle avoidance module and the sound and light module through GPIO; The main control unit controls the display screen via IIC.

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