Gyroscope-based trolley control method and traction assist trolley

Abstract

This invention relates to a trolley control method and a traction assist trolley based on a gyroscope. [Solution] Angle θ between the trolley and the horizontal plane A The angle θ between the operating handle and the horizontal plane. B The system receives and processes the data, and determines the angle θ between the steering wheel and the road surface. C Obtain the angle θ C By controlling the trolley based on this and executing a first predetermined operation, the trolley can be controlled based on the position of the operating handle and the first predetermined operation can be executed regardless of whether the trolley is on a horizontal or inclined road surface, thereby achieving the objective of driving and controlling the trolley's movement based on the position of the operating handle. The present invention also provides an angle θ of the swing of the operating handle in a plane perpendicular to the trolley's direction of travel. D By receiving and judging the data, the trolley is controlled to perform a second predetermined operation, and the direction of travel of the trolley is further controlled. In this method, the angle between the trolley and the horizontal plane and the angle between the operating handle and the horizontal plane are received and processed, the angle between the operating handle and the actual road surface is obtained and processed, and the travel of the trolley on different road surfaces is precisely controlled based on the position of the operating handle.

Description

[Technical Field]

[0001] The present invention relates to the field of intelligent control, and more particularly to a gyroscope-based trolley control method and a traction assist trolley. [Background technology]

[0002] A towing assist trolley includes a trolley body and an operating handle attached to the trolley. The trolley is driven and moved by a control center and a drive mechanism. The control center controls the trolley's movement, braking, and other driving operations by acquiring the angle between the operating handle and the horizontal plane, which is collected by the gyroscope on the operating handle. However, since the gyroscope attached to the operating handle can only determine the angle between itself and the horizontal plane, when the trolley is traveling on a horizontal surface, the angle between the gyroscope and the horizontal plane is equal to the angle between the operating handle and the actual road surface, and the control center can accurately control the trolley's movement by acquiring this angle information. However, when the trolley is traveling on an inclined surface, the angle between the gyroscope and the horizontal plane is not equal to the angle between the operating handle and the actual road surface, so the angle information acquired by the control center does not match the actual situation, and the control center cannot accurately control the trolley's movement. [Overview of the project] [Problems that the invention aims to solve]

[0003] In view of this, the present invention provides a gyroscope-based trolley control method to solve the problem in the prior art of not being able to drive and control the movement of a trolley based on an operating handle when the trolley is on an inclined surface. [Means for solving the problem]

[0004] To achieve one, part, or all of the above objectives, or any other objective, the present invention provides the following solutions.

[0005] A gyroscope-based trolley control method is, The angle θ between the carriage and the horizontal plane is obtained by a first gyroscope fixed to the carriage , , D , C ,

[0008] , D and the angle θ between the operation handle and the horizontal plane is obtained by a second gyroscope fixed to the operation handle B and the swing angle θ in a plane perpendicular to the traveling direction of the operation handle with respect to the carriage D are obtained, the angle θ A and the angle θ B are processed to obtain the angle θ between the operation handle and the traveling road surface C and the carriage is controlled based on the angle θ C to execute a first predetermined operation, and the carriage is controlled based on the swing angle θ D to execute a second predetermined operation.

[0006] Furthermore, the angle θ C is equal to the sum of the angle θ A and the angle θ B and the ranges of the values of the angle θ A , the angle θ B and the angle θ C are respectively -90° < θ A < 90°, 0° ≤ θ B ≤ 90°, 0° ≤ θ C ≤ 90°.

[0007] Furthermore, the first predetermined operation includes a parking brake, a traveling operation, and a braking operation and when it is detected that the angle θ C is equal to 90°, the carriage is controlled to execute a parking brake and when it is detected that the angle θ C is 30° or more and less than 90°, the carriage is controlled to execute a traveling operation and when it is detected that the angle θ C is less than 30°, the carriage is controlled to execute a braking operation.

[0008] Furthermore, the range of the value of the swing angle θ D is -90° < θ DThe angle is <90°, and the second predetermined action includes maintaining a straight line, turning left, and turning right. The aforementioned swing angle θ D If it is detected that the angle is equal to 0°, the trolley will be controlled to maintain a straight line. The aforementioned swing angle θ D If it is detected that the angle is less than 0°, the trolley will be controlled to make a left turn. The aforementioned swing angle θ D If it is detected that the angle is greater than 0°, the trolley is controlled to perform a right turn.

[0009] The towing assist trailer is The angle θ between the trolley and the horizontal plane A A first gyroscope to acquire, The angle θ between the operating handle and the horizontal plane B And the swing angle θ of the operating handle in a plane perpendicular to the direction of trolley travel. D A second gyroscope to acquire and The aforementioned angle θ A and the aforementioned angle θ B The system receives and processes the data, and determines the angle θ between the steering wheel and the road surface. C Obtain the angle θ C The trolley is controlled based on this to perform the first predetermined operation, and the swing angle θ D It includes a control module for controlling the trolley based on and performing a second predetermined operation.

[0010] Furthermore, the angle θ C The angle θ A and the aforementioned angle θ B The sum of the above, and the angle θ A , angle θ B and angle θ C The range of values ​​is -90° < θ A <90°, 0°≦θ B ≤90°, 0°≦θ C It is ≤90°.

[0011] Furthermore, the first predetermined operation includes the parking brake, driving operation, and braking operation. The aforementioned angle θ CIf it is detected that the angle is equal to 90°, the trolley will be controlled to apply the parking brake. The aforementioned angle θ C If it is detected that the angle is 30° or more and less than 90°, the trolley will be controlled to perform a driving motion. The aforementioned angle θ C If the angle is detected to be less than 30°, the trolley is controlled to apply the brakes.

[0012] Furthermore, the swing angle θ D The range of values ​​is -90° < θ D The angle is <90°, and the second predetermined action includes maintaining a straight line, turning left, and turning right. The aforementioned swing angle θ D If it is detected that the angle is equal to 0°, the trolley will be controlled to maintain a straight line. The aforementioned swing angle θ D If it is detected that the angle is less than 0°, the trolley will be controlled to make a left turn. The aforementioned swing angle θ D If it is detected that the angle is greater than 0°, the trolley is controlled to perform a right turn.

[0013] A mobile terminal includes memory in which a computer program is stored and a processor, and when the processor executes the computer program, the steps of the above method are realized.

[0014] A computer program is stored in the computer storage medium, and when the computer program is executed by the processor, the steps of the above method are realized. [Effects of the Invention]

[0015] By implementing the embodiments of the present invention, the following beneficial effects are obtained.

[0016] When the method according to the present invention is applied, the angle θ between the trolley and the horizontal plane A The angle θ between the operating handle and the horizontal plane. B The system receives and processes the data, and determines the angle θ between the steering wheel and the road surface. C Obtain the angle θ CBy controlling the trolley based on this and executing a first predetermined operation, the trolley can be controlled based on the position of the operating handle and the first predetermined operation can be executed regardless of whether the trolley is on a horizontal or inclined road surface, thereby achieving the objective of driving and controlling the trolley's movement based on the position of the operating handle. The present invention also provides an angle θ of the swing of the operating handle in a plane perpendicular to the trolley's direction of travel. D By receiving and judging the data, the trolley is controlled to perform a second predetermined operation, and the direction of travel of the trolley is further controlled. In this method, the angle between the trolley and the horizontal plane and the angle between the operating handle and the horizontal plane are received and processed, the angle between the operating handle and the actual road surface is obtained and processed, and the travel of the trolley on different road surfaces is precisely controlled based on the position of the operating handle. [Brief explanation of the drawing]

[0017] To more clearly illustrate the embodiments of the present invention or the technical means in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Clearly, the drawings in the following description are only a few embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without requiring any creative effort.

[0018] [Figure 1] This is a schematic diagram of the logic flow in one embodiment. [Figure 2] This is a schematic diagram showing the case where the trolley in one embodiment is on a different type of road surface. [Figure 3] This is a schematic diagram (part 1) showing the case where the operating handle is in a different position in one embodiment. [Figure 4] This is a schematic diagram (part 2) showing the case where the operating handle is in a different position in one embodiment. [Figure 5] This is a schematic diagram of the entire trolley in one embodiment. [Modes for carrying out the invention]

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. Terms used herein are for illustrative purposes only and do not limit the invention. The terms “including,” “having,” and any variations thereof in the specification, claims, and drawings of the invention are intended to cover non-exclusive inclusion. Terms such as “first,” “second,” etc., in the specification, claims, or drawings of the invention are for distinguishing different subjects and do not indicate a particular order.

[0020] In this specification, the term “Examples” means that certain features, structures, or properties described with reference to the Examples may be included in at least one embodiment of the Invention. The appearance of the phrase in each part of the Specification does not necessarily mean the same Example, nor does it mean an exclusive, independent, or alternative Example. Those skilled in the art will understand, both explicitly and implicitly, that the Examples described herein can be combined with other Examples.

[0021] To help those skilled in the art better understand the solutions provided by the present invention, the technical means in embodiments of the present invention will be clearly and completely described below with reference to the drawings.

[0022] Example 1 As shown in Figures 1 to 4, embodiments of the present invention disclose a trolley control method based on a gyroscope, and this method is The first gyroscope, fixed to the trolley, measures the angle θ between the trolley and the horizontal plane. A The angle θ between the operating handle and the horizontal plane is obtained by a second gyroscope fixed to the operating handle. B And the swing angle θ of the operating handle in a plane perpendicular to the direction of trolley travel. D To obtain and Angle θ A and angle θ B The angle θ between the steering wheel and the road surface is processed. C To obtain, Angle θ C Based on this, the trolley is controlled to perform the first predetermined operation, and the swing angle θ D This includes controlling the trolley based on the above to perform a second predetermined operation.

[0023] To facilitate explanation, in this embodiment, the control center attached to the trolley receives, processes, and controls the trolley. The control center receives and processes the corresponding data and controls the trolley based on the different results to execute the first predetermined operation and the second predetermined operation. In this embodiment, the XYZ coordinate axes are created with the center of the trolley as the center, with the forward and backward movement direction of the trolley being the X-axis, the extension direction on both the left and right sides being the Y-axis, and the height direction being the Z-axis. In this embodiment, the first gyroscope is attached to the trolley body and used to measure the angle between the trolley and the horizontal plane, and the second gyroscope is attached to the operating handle and used to measure the angle between the operating handle and the horizontal plane. The end of the operating handle is connected to the trolley by a ball joint.

[0024] As shown in Figures 2 and 3, angle θ A θ is the angle between the projection of the trolley onto the XZ plane and the horizontal plane. B θ is the angle between the projection of the operating handle onto the XZ plane and the horizontal plane. A , angle θ B The range of values ​​is -90° < θ A <90°, 0°≦θ B The angle is ≤90°, and as shown in Figure 4, the swing angle θ D θ is the projection angle of the operating handle onto a plane perpendicular to the direction of trolley travel, and the plane perpendicular to the direction of trolley travel is the YZ plane in this embodiment, with a swing angle θ. D The range of values ​​is -90° < θ D It is <90°.

[0025] As shown in Figure 2, angle θ C is, angle θ A and angle θ B It is equal to the sum of and the angle θ C The range of values ​​is 0°≦θ Cis ≦ 90°, specifically, when the cart travels on a horizontal road surface, the angle between the cart itself detected by the first gyroscope and the horizontal plane is the angle between the cart and the actual traveling road surface, that is, the angle θ A = 0°, and the angle θ between the operation handle and the actual traveling horizontal road surface C is the angle θ A and the angle θ B and is equal to their sum. When the cart travels on an inclined road surface, if the cart travels on an upward-sloping inclined road surface, the angle θ between the cart itself detected by the first gyroscope and the horizontal plane A is less than 0°. At this time, the angle between the cart and the horizontal plane is not equal to the angle between the cart and the actual traveling road surface. As shown in the figure, when the cart is on an upward-sloping inclined road surface, the angle θ E’ is equal to the angle θ E and is equal to the angle θ A . Therefore, the angle θ C is equal to the sum of the angle θ A and the angle θ B . Similarly, when the cart travels on a downward-sloping inclined road surface, the angle θ C is equal to the sum of the angle θ A and the angle θ B . From the above, regardless of whether the cart travels on a horizontal road surface or an inclined road surface, the control center can accurately obtain the angle between the operation handle and the actual traveling road surface, and further control the cart to perform accurate predetermined operations.

[0026] The control center executes different first predetermined operations according to different values of the calculated angle θ C . In this embodiment, the first predetermined operations include parking brake, traveling operation, and braking operation. When the control center detects that the angle θ C is equal to 90°, it controls the cart to execute the first predetermined operation of parking brake. When it detects that the angle θ C is 30° or more and less than 90°, it controls the cart to execute the first predetermined operation of traveling operation. When the angle θ CWhen it is detected that A is less than 30°, the carriage is controlled to execute a first predetermined operation which is a braking operation. Specifically, when the carriage needs to perform a parking operation such as loading and unloading, the user does not need to pull the carriage by the operation handle. At this time, the operation handle is in a position perpendicular to the running road surface, and the control center is the angle θ A and the angle θ B By obtaining, it is obtained that the angle θ C is equal to 90°, and further, when the carriage needs to be controlled to execute a first predetermined operation which is a parking brake and the carriage needs to be pulled and moved, the user can swing the operation handle so that the angle θ C is within the range of 30° or more and less than 90°. At this time, the control center detects the value of the angle θ C to control the carriage to execute a first predetermined operation which is a running operation. In the case of a special situation where it is necessary to temporarily stop on the road surface, the user swings the operation handle to a position where the angle θ C is less than 30°, and the control center detects the value of the angle θ C to control the carriage to execute a first predetermined operation which is a braking operation.

[0027] The control center executes different second predetermined operations according to different values of the received swing angle θ D . The second predetermined operations include straight-ahead maintenance, left turn and right turn. When the control center detects that the swing angle θ D is equal to 0°, the carriage is controlled to execute a second predetermined operation which is straight-ahead maintenance. When it is detected that the swing angle θ D is less than 0°, the carriage is controlled to execute a second predetermined operation which is a left turn. When it is detected that the swing angle θ D is greater than 0°, the carriage is controlled to execute a second predetermined operation which is a right turn. Specifically, the user adjusts the swing angle θ D of the operation handle according to different usage needs. In a normal state, the swing angle θ D of the operation handle is equal to 0°, that is, the carriage travels straight. When the carriage needs to travel in the left direction, if the operation handle is swung to the left side of the forward direction of the carriage, the swing angle θ of the operation handleD It can be made less than 0°, and in this case the control center controls the swing angle θ D By detecting the value of [the specified value], the trolley is controlled to perform a second predetermined action, which is a left turn, and conversely, to perform a second predetermined action, which is a right turn.

[0028] Based on the above, the present invention relates to the angle θ between the trolley and the horizontal plane. A The angle θ between the operating handle and the horizontal plane. B The system receives and processes the data, and determines the angle θ between the steering wheel and the road surface. C Obtain the angle θ C By controlling the trolley based on this and executing a first predetermined operation, the trolley can be controlled based on the position of the operating handle and the first predetermined operation can be executed regardless of whether the trolley is on a horizontal or inclined road surface, thereby achieving the objective of driving and controlling the trolley's movement based on the position of the operating handle. The present invention also provides an angle θ of the swing of the operating handle in a plane perpendicular to the trolley's direction of travel. D By receiving and interpreting the data, the trolley is controlled to perform a second predetermined operation, and further, the direction of travel of the trolley is controlled. Generally, in this method, the angle between the trolley and the horizontal plane and the angle between the operating handle and the horizontal plane are received and processed, the angle between the operating handle and the actual road surface is obtained and processed, and further, the travel of the trolley on different road surfaces is precisely controlled based on the position of the operating handle.

[0029] Example 2 As shown in Figure 5, this embodiment discloses a towing assist trolley to which the method of Embodiment 1 is applied, and the towing assist trolley is The angle θ between the trolley and the horizontal plane A A first gyroscope 1 to acquire, The angle θ between the operating handle and the horizontal plane B And the swing angle θ of the operating handle in a plane perpendicular to the direction of trolley travel. D A second gyroscope 2 is used to acquire the data, Angle θ A and angle θ B The system receives and processes the data, and determines the angle θ between the steering wheel and the road surface. C Obtain the angle θ CBased on this, the trolley is controlled to perform the first predetermined operation, and the swing angle θ D It includes a control module for controlling the trolley based on and performing a second predetermined operation.

[0030] This embodiment further includes a trolley body 3 and an operating handle 4 rotatably connected to the trolley body 3, and the control module is mounted on the trolley body 3. The trolley further includes wheels that travel in contact with the road surface, an engine block for driving the trolley's forward movement, brakes, and parking brake, and a steering mechanism for driving the trolley to turn left, turn right, or travel straight. In actual use, the engine block receives and executes a first predetermined operation from the control module, and the steering mechanism receives and executes a second predetermined operation from the control module. The control module, engine block, and steering mechanism are not shown in the figures of this embodiment.

[0031] Angle θ C is, angle θ A and angle θ B It is equal to the sum of and the angle θ A , angle θ B and angle θ C The range of values ​​is -90° < θ A <90°, 0°≦θ B ≤90°, 0°≦θ C The angle is ≤90° and the amplitude θ D The range of values ​​is -90° < θ D It is <90°.

[0032] Preferably, the first predetermined operation includes parking brake, driving operation, and braking operation, and the control module controls the angle θ C If it is detected that the angle θ is equal to 90°, the trolley is controlled to perform a first predetermined action, which is the parking brake, and the angle θ C If it is detected that the angle is 30° or more and less than 90°, the trolley is controlled to perform a first predetermined operation which is a travel operation, and the angle θ C If it is detected that the angle is less than 30°, the trolley is controlled to perform a first predetermined action, which is a braking action.

[0033] The second predetermined operation includes maintaining a straight line, turning left, and turning right, and the control module controls the swing angle θ. D If it is detected that the angle is equal to 0°, the trolley is controlled to perform a second predetermined action, which is to maintain a straight line, and the swing angle θ D If it is detected that the angle is less than 0°, the trolley is controlled to perform a second predetermined action, which is a left turn, and the swing angle θ D If it is detected that the angle is greater than 0°, the trolley is controlled to perform a second predetermined action, which is a right turn.

[0034] Furthermore, each functional unit in each embodiment of the present application may be integrated into a single processing unit, each unit may exist individually physically, or two or more units may be integrated into a single unit. The functions may be implemented in the form of software functional units and stored on a computer-readable storage medium if sold or used as independent products. Based on this understanding, the essential or prior art-contributing portion of the technical means of the present application, or a part thereof, may be embodied in the form of a software product, the computer software product stored on a storage medium containing several instructions that cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage mediums include various media capable of storing program code, such as USB memory, portable hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0035] Clearly, the embodiments described above represent only a portion, not all, of the present invention. The drawings illustrate preferred embodiments of the present invention, but do not limit the scope of the invention. The present invention can be realized in many different forms. Conversely, the purpose of providing these embodiments is to provide a more complete and comprehensive understanding of the disclosure of the present invention. While the present invention has been described in detail with reference to the embodiments described above, those skilled in the art can still modify the technical means described in each of the specific embodiments described above, or substitute some of their technical features. Equivalent structures or direct or indirect applications to other related technical fields made using the contents of the specification and drawings of the present invention are all similarly included within the scope of protection of the present invention. [Explanation of symbols]

[0036] 1. First Gyroscope 2. Second Gyroscope 3. Bogie body 4. Operating handle

Claims

1. The first gyroscope, fixed to the trolley, measures the angle θ between the trolley and the horizontal plane. Ａ The angle θ between the operating handle and the horizontal plane is obtained by a second gyroscope fixed to the operating handle. Ｂ And the swing angle θ of the operating handle in a plane perpendicular to the direction of trolley travel. Ｄ To obtain and The aforementioned angle θ Ａ and the aforementioned angle θ Ｂ The angle θ between the steering wheel and the road surface is processed. Ｃ To obtain, The aforementioned angle θ Ｃ The trolley is controlled based on this to perform the first predetermined operation, and the swing angle θ Ｄ A gyroscope-based cart control method, characterized by including controlling the cart based on a gyroscope to perform a second predetermined operation.

2. The angle θ Ｃ is equal to the sum of the angle θ Ａ and the angle θ Ｂ , and the angle θ Ａ , the angle θ Ｂ and the angle θ Ｃ have value ranges of, respectively, -90° < θ Ａ < 90°, 0° ≤ θ Ｂ ≤ 90°, 0° ≤ θ Ｃ ≤ 90°. A trolley control method based on a gyroscope according to claim 1, characterized by this.

3. The first predetermined operation includes the parking brake, driving operation, and braking operation. The aforementioned angle θ Ｃ If it is detected that the angle is equal to 90°, the trolley will be controlled to apply the parking brake. The aforementioned angle θ Ｃ If it is detected that the angle is 30° or more and less than 90°, the trolley will be controlled to perform a driving motion. The aforementioned angle θ Ｃ The gyroscope-based cart control method according to claim 2, characterized in that if it is detected that the angle is less than 30°, the cart is controlled to perform a braking action.

4. The aforementioned swing angle θ Ｄ The range of values ​​is -90° < θ Ｄ The angle is <90°, and the second predetermined operation includes maintaining a straight line, turning left, and turning right. The aforementioned swing angle θ Ｄ If it is detected that the angle is equal to 0°, the trolley will be controlled to maintain a straight line. The aforementioned swing angle θ Ｄ If it is detected that the angle is less than 0°, the trolley will be controlled to make a left turn. The aforementioned swing angle θ Ｄ The gyroscope-based cart control method according to claim 1, characterized in that when it is detected that the angle is greater than 0°, the cart is controlled to perform a right turn.

5. A towing assist trolley to which the method according to any one of claims 1 to 4 applies, The angle θ between the trolley and the horizontal plane Ａ A first gyroscope to acquire, The angle θ between the operating handle and the horizontal plane Ｂ And the swing angle θ of the operating handle in a plane perpendicular to the direction of trolley travel. Ｄ A second gyroscope to acquire and The aforementioned angle θ Ａ and the aforementioned angle θ Ｂ The system receives and processes the data, and determines the angle θ between the steering wheel and the road surface. Ｃ Obtain the angle θ Ｃ The trolley is controlled based on this to perform the first predetermined operation, and the swing angle θ Ｄ A towing assist trolley characterized by including a control module for controlling the trolley and performing a second predetermined operation based on [a certain condition].

6. The aforementioned angle θ Ｃ The angle θ Ａ and the aforementioned angle θ Ｂ The sum of the above, and the angle θ Ａ , angle θ Ｂ and angle θ Ｃ The range of values ​​is -90° < θ Ａ <90°, 0°≦θ Ｂ ≤90°, 0°≤θ Ｃ The towing assist trolley according to claim 5, characterized in that the angle is ≤90°.

7. The first predetermined operation includes the parking brake, driving operation, and braking operation. The control module is the angle θ Ｃ If it is detected that the angle is equal to 90°, the trolley will be controlled to apply the parking brake. The control module is the angle θ Ｃ If it is detected that the angle is 30° or more and less than 90°, the trolley will be controlled to perform a driving motion. The control module is the angle θ Ｃ A gyroscope-based cart control method according to claim 6, wherein if it is detected that the angle is less than 30°, the cart is controlled to perform a braking action.

8. The aforementioned swing angle θ Ｄ The range of values ​​is -90° < θ Ｄ The angle is <90°, and the second predetermined operation includes maintaining a straight line, turning left, and turning right. The control module is the swing angle θ Ｄ If it is detected that the angle is equal to 0°, the trolley will be controlled to maintain a straight line. The control module is the swing angle θ Ｄ If it is detected that the angle is less than 0°, the trolley will be controlled to make a left turn. The control module is the swing angle θ Ｄ The gyroscope-based cart control method according to claim 5, characterized in that if it is detected that the angle is greater than 0°, the cart is controlled to perform a right turn.

9. A mobile terminal comprising a memory in which a computer program is stored and a processor, wherein when the processor executes the computer program, it realizes the steps of the method according to any one of claims 1 to 4.

10. A storage medium storing a computer program that, when executed by a processor, enables the implementation of the steps of the method according to any one of claims 1 to 4.

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