Trolley control method based on gyroscopes and traction-assisted trolley

Abstract

Provided are a trolley control method based on gyroscopes and a traction-assisted trolley. By receiving and processing an included angle θA between a trolley and a horizontal plane and an included angle θB between a control handle and the horizontal plane, an included angle θC between the control handle and a traveling road surface is obtained, and on the basis of the included angle θC, the trolley is controlled to perform a first preset operation, so that no matter whether the trolley is on a horizontal traveling road surface or an inclined traveling road surface, on the basis of the position of the control handle (4), the trolley can be controlled to perform the first preset operation, thereby achieving the purpose of controlling, on the basis of the position of the control handle (4), whether the trolley travels. In addition, by receiving and determining a tilt angle θD of the control handle (4) on a plane vertical to a traveling direction of the trolley, the trolley is controlled to perform a second preset operation, thereby controlling the traveling direction of the trolley; and by acquiring and processing the included angle between the trolley and the horizontal plane, and the included angle between the control handle (4) and the horizontal plane, an included angle between the control handle (4) and an actual traveling road surface is obtained, thereby accurately controlling, on the basis of the position of the control handle (4), the trolley to drive on different road surfaces.

Description

A trolley control method based on gyroscope and traction-assisted trolley

[0001] This application claims priority to the Chinese patent application filed with the Patent Office of China on July 19, 2023, with application number 202310888759.7, and invention name “A gyroscope-based trolley control method and traction-assisted trolley”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent control technology, and in particular to a gyroscope-based vehicle control method and a traction-assisted vehicle. Background Art

[0003] The traction-assisted trolley includes a trolley body and a control handle installed on the trolley. The trolley is driven to move by setting a control center and a driving mechanism, and the control center controls the trolley to move, brake and perform other driving operations by obtaining the angle between the control handle and the horizontal plane collected by the gyroscope of the control handle. Since the gyroscope installed on the control handle can only determine the angle between itself and the horizontal plane, when the trolley is driving on a horizontal road, the angle between the gyroscope and the horizontal plane is equal to the angle between the control handle and the actual driving road surface, so that the control center can correctly control the driving of the trolley by obtaining the angle information. When the trolley is driving on an inclined road, the angle between the gyroscope and the horizontal plane is not equal to the angle between the control handle and the actual driving road surface, resulting in the angle information obtained by the control center being inconsistent with the actual situation, making it impossible for the control center to correctly control the driving of the trolley.

[0004] Summary of the Invention

[0005] In view of this, the present application provides a gyroscope-based car control method for solving the problem in the prior art that the car cannot be controlled by the control handle when it is on an inclined road.

[0006] To achieve one, part, or all of the above purposes or other purposes, this application proposes:

[0007] A gyroscope-based vehicle control method, comprising:

[0008] The angle θ between the car and the horizontal plane is obtained by the first gyroscope fixed on the car A , and obtain the angle θ between the control handle and the horizontal plane through the second gyroscope fixed on the control handle B and the swing angle θ of the control handle on the plane perpendicular to the direction of travel of the trolley D ;

[0009] Processing the angle θ A and the angle θ B Obtain the angle θ between the control handle and the road surfaceC ;

[0010] According to the angle θ C Control the car to perform the first preset operation, according to the swing angle θ D Control the car to perform the second preset operation.

[0011] Furthermore, the angle θ C Equal to the angle θ A The angle θ B and, where the angle θ A , angle θ B and the angle θ C The value ranges are: -90°<θ A <90°、0°≤θ B ≤90°、0°≤θ C ≤90°.

[0012] Furthermore, the first preset operation includes parking brake, driving operation, and braking operation;

[0013] The angle θ is detected C Equal to 90°, the car is controlled to perform parking brake;

[0014] The angle θ is detected C If the angle is greater than or equal to 30° and less than 90°, the car is controlled to perform driving work;

[0015] The angle θ is detected C If the angle is less than 30°, the car will be controlled to brake.

[0016] Furthermore, the swing angle θ D The value range is -90°<θ D <90°; the second preset operation includes keeping straight, turning left and turning right;

[0017] The swing angle θ is detected D Equal to 0°, control the car to keep going straight;

[0018] The swing angle θ is detected D Less than 0°, the car is controlled to turn left;

[0019] The swing angle θ is detected D If the angle is greater than 0°, the car will be controlled to turn right.

[0020] A traction-assisted trolley, comprising:

[0021] The first gyroscope is used to obtain the angle θ between the car and the horizontal plane A ;

[0022] The second gyroscope is used to obtain the angle θ between the control handle and the horizontal plane B and the swing angle θ of the control handle on the plane perpendicular to the direction of travel of the trolley D ;

[0023] A control module is used to receive and process the angle θ A and the angle θ B Obtain the angle θ between the control handle and the road surface C ; and according to the angle θ C Control the car to perform the first preset operation, according to the swing angle θ D Control the car to perform the second preset operation.

[0024] Furthermore, the angle θ C Equal to the angle θ A The angle θ B and, where the angle θ A , angle θ B and the angle θ C The value ranges are: -90°<θ A <90°、0°≤θ B ≤90°、0°≤θ C ≤90°.

[0025] Furthermore, the first preset operation includes parking brake, driving operation, and braking operation;

[0026] The angle θ is detected C Equal to 90°, the car is controlled to perform parking brake;

[0027] The angle θ is detected C If the angle is greater than or equal to 30° and less than 90°, the car is controlled to perform driving work;

[0028] The angle θ is detected C If the angle is less than 30°, the car will be controlled to brake.

[0029] Furthermore, the swing angle θ D The value range is -90°<θ D <90°; the second preset operation includes keeping straight, turning left and turning right;

[0030] The swing angle θ is detected D Equal to 0°, control the car to keep going straight;

[0031] The swing angle θ is detected D Less than 0°, the car is controlled to turn left;

[0032] The swing angle θ is detected DIf the angle is greater than 0°, the car will be controlled to turn right.

[0033] A mobile terminal includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0034] A computer storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0035] Implementing the embodiments of this application will have the following beneficial effects:

[0036] After adopting the method provided by this application, by receiving and processing the angle θ between the car and the horizontal plane A , the angle θ between the control handle and the horizontal plane B , we can get the angle θ between the control handle and the road surface C , and according to the angle θ C To control the car to perform the first preset operation, so that the car can be controlled to perform the first preset operation according to the position of the control handle regardless of whether it is on a horizontal driving road or an inclined driving road, thereby achieving the purpose of controlling whether the car is moving according to the position of the control handle; the present application also receives and determines the swing angle θ of the control handle on the vertical plane of the driving direction of the car D To control the car to perform the second preset operation, and then control the driving direction of the car, this method obtains and processes the angle between the car and the horizontal plane, and the angle between the control handle and the horizontal plane to obtain the angle between the control handle and the actual driving road surface, and then accurately controls the car to drive on different roads according to the position of the control handle. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] FIG1 is a schematic diagram of a logic flow in one embodiment;

[0039] FIG2 is a schematic diagram of a vehicle in one embodiment on different types of road surfaces;

[0040] FIG3 is a schematic diagram 1 of the control handle in different positions in one embodiment;

[0041] FIG4 is a second schematic diagram of the control handle in different positions according to an embodiment;

[0042] FIG5 is a schematic diagram of the overall structure of the trolley in one embodiment.

[0043] in:

[0044] 1. First gyroscope, 2. Second gyroscope, 3. Car body, 4. Control handle. DETAILED DESCRIPTION

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0046] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0048] Example 1:

[0049] 1 to 4 , the present application discloses a gyroscope-based vehicle control method, including:

[0050] The angle θ between the car and the horizontal plane is obtained by the first gyroscope fixed on the car A , and obtain the angle θ between the control handle and the horizontal plane through the second gyroscope fixed on the control handle B and the swing angle θ of the control handle on the plane perpendicular to the direction of travel of the trolley D ;

[0051] Processing angle θ A and the angle θ B Obtain the angle θ between the control handle and the road surface C ;

[0052] According to the angle θ C Control the car to perform the first preset operation, according to the swing angle θ DControl the car to perform the second preset operation.

[0053] For the convenience of explanation, in this embodiment, the control center installed on the trolley receives, processes and controls the trolley, receives and processes the corresponding data through the control center, and controls the trolley to perform the first preset operation and the second preset operation according to different results; in addition, in this embodiment, an XYZ coordinate axis is established around the center of the trolley, and the forward and backward directions of the trolley are set as the X-axis, the left and right extension directions are set as the Y-axis, and the height direction is set as the Z-axis; and in this embodiment, the first gyroscope is installed on the trolley body to measure the angle formed by the trolley and the horizontal plane, and the second gyroscope is installed on the control handle to measure the angle between the control handle and the horizontal plane. It should also be noted that the end of the control handle is connected to the trolley in a ball joint manner.

[0054] As shown in Figures 2 and 3, the angle θ A is the angle between the projection of the car on the XZ plane and the horizontal plane, angle θ B is the angle between the projection of the control handle on the XZ plane and the horizontal plane, angle θ A , angle θ B The value ranges are: -90°<θ A <90°、0°≤θ B ≤90°; As shown in Figure 4, the swing angle θ D is the projection angle of the control handle on the vertical plane of the vehicle's travel direction. The vertical plane of the vehicle's travel direction is the YZ plane of this embodiment. The swing angle θ D The value range is -90°<θ D <90°.

[0055] Refer to Figure 2, the angle θ C Equal to the angle θ A and the angle θ B The sum of the two, where the angle θ C The value range is 0°≤θ C ≤90°. Specifically, when the car is traveling on a horizontal road, the angle between itself and the horizontal plane detected by the first gyroscope is the angle between the car and the actual road surface, that is, the angle θ A =0°, the angle θ between the control handle and the actual horizontal road surface C Equal to the angle θ A and the angle θ B When the car is traveling on an inclined road, if the car is traveling on an uphill inclined road, the first gyroscope detects the angle θ between itself and the horizontal plane. A Less than 0°, and at this time the angle between the car and the horizontal plane is not equal to or less than the angle between the car and the actual driving road surface. From the attached figure, it can be concluded that when the car is on an uphill inclined road, the angle θE' is equal to the angle θE is equal to the angle θ A , so the angle θC Equal to the angle θ A and the angle θ B Similarly, when the car is traveling on a downhill slope, the angle θ C Equal to the angle θ A and the angle θ B In summary, it can be concluded that no matter whether the car is traveling on a horizontal road or an inclined road, the control center can always accurately obtain the angle between the control handle and the actual driving road surface, and then control the car to perform the correct preset operation.

[0056] The control center calculates the angle θ C Different first preset operations are executed for different values. In this embodiment, the first preset operations include parking brake, driving operation, and braking operation. When the control center detects the angle θ C =90°, the car is controlled to perform the first preset operation of the parking brake, and the angle θ is detected. C Greater than or equal to 30° and less than 90°, the first preset operation of controlling the vehicle to perform driving work, and the angle θ is detected C When the angle θ is less than 30°, the car is controlled to perform the first preset operation of the brake operation; specifically, when the car needs to be parked for loading and unloading, the user does not need to pull the car by the control handle. At this time, the control handle is in a position perpendicular to the road surface, and then the control center obtains the angle θ A and the angle θ B The angle θ can be obtained C Equal to 90°, thereby controlling the trolley to perform the first preset operation of the parking brake; when the trolley needs to be towed to move, the user only needs to swing the control handle to the angle θ C It can be within the range of 30° or more and less than 90°. At this time, the control center detects the angle θ C The numerical control car performs the first preset operation of the driving work; when encountering a special situation on the road where it is necessary to temporarily stop moving, the user can swing the control handle to the angle θ C For positions less than 30°, the control center detects the angle θ C The numerical control trolley performs the first preset operation of the braking work.

[0057] The control center receives the swing angle θ D Different second preset operations are performed for different values ​​of θ, and the second preset operations include keeping straight, turning left and turning right; the control center detects the swing angle θ D =0°, the car is controlled to execute the second preset operation of keeping straight, and the swing angle θ is detected. D If the angle is less than 0°, the car is controlled to perform the second preset operation of turning left and the swing angle θ is detected. DIf the angle is greater than 0°, the car is controlled to perform the second preset operation of turning right; specifically, the user adjusts the swing angle θ of the control handle according to different usage requirements. D , under normal conditions, the swing angle of the control handle is θ D =0°, that is, the car moves in a straight line. When the car needs to move to the left, just swing the control handle to the left of the car's forward direction to make the swing angle of the control handle θ D Less than 0°, at this time, the control center detects the swing angle θ D The value of the control unit controls the car to execute the second preset operation of turning left, and vice versa, it can execute the second preset operation of turning right.

[0058] In summary, this application receives and processes the angle θ between the car and the horizontal plane. A , the angle θ between the control handle and the horizontal plane B , we can get the angle θ between the control handle and the road surface C , and according to the angle θ C To control the car to perform the first preset operation, so that the car can be controlled to perform the first preset operation according to the position of the control handle regardless of whether it is on a horizontal driving road or an inclined driving road, thereby achieving the purpose of controlling whether the car is moving according to the position of the control handle; the present application also receives and determines the swing angle θ of the control handle on the vertical plane of the driving direction of the car D To control the car to perform the second preset operation, thereby controlling the car's driving direction. In general, this method obtains and processes the angle between the car and the horizontal plane, and the angle between the control handle and the horizontal plane to obtain the angle between the control handle and the actual driving road surface, and then accurately controls the car to travel on different road surfaces based on the position of the control handle.

[0059] Example 2:

[0060] 5 , this embodiment discloses a traction-assisted vehicle using the method of the first embodiment. The traction-assisted vehicle includes:

[0061] The first gyroscope 1 is used to obtain the angle θ between the car and the horizontal plane A ;

[0062] The second gyroscope 2 is used to obtain the angle θ between the control handle and the horizontal plane B and the swing angle θ of the control handle on the plane perpendicular to the direction of travel of the trolley D ;

[0063] Control module, used to receive and process the angle θ A and the angle θ B Obtain the angle θ between the control handle and the road surface C ; and according to the angle θ C Control the car to perform the first preset operation, according to the swing angle θ DControl the car to perform the second preset operation.

[0064] It should be noted that this embodiment also includes a trolley body 3 and a control handle 4 rotatably connected to the trolley body 3, and the control module is installed on the trolley body 3; it should be noted that the trolley also has wheels that contact the road surface, an engine group for driving the trolley to move, brake, and park, and a steering mechanism for driving the trolley to turn left, turn right, or go straight. In actual use, the engine group receives and executes a first preset operation from the control module, and the steering mechanism receives and executes a second preset operation from the control module. The control module, engine group, and steering mechanism are not shown in the drawings of this embodiment.

[0065] Angle θ C Equal to the angle θ A and the angle θ B The sum of the two, where the angle θ A , angle θ B and the angle θ C The value ranges are: -90°<θ A <90°、0°≤θ B ≤90°、0°≤θ C ≤90°, swing angle θ D The value range is -90°<θ D <90°.

[0066] Preferably, the first preset operation includes parking brake, driving operation, and braking operation; the control module detects the angle θ C =90°, the car is controlled to perform the first preset operation of the parking brake, and the angle θ is detected. C Greater than or equal to 30° and less than 90°, the first preset operation of controlling the vehicle to perform driving work, and the angle θ is detected C If the angle is less than 30°, the car is controlled to perform the first preset operation of the braking operation.

[0067] The second preset operation includes keeping straight, turning left and turning right; the control module detects the swing angle θ D =0°, the car is controlled to execute the second preset operation of keeping straight, and the swing angle θ is detected. D If the angle is less than 0°, the car is controlled to perform the second preset operation of turning left and the swing angle θ is detected. D If the value is greater than 0°, the car will be controlled to execute the second preset operation of turning right.

[0068] In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0069] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.

Claims

1. A gyroscope-based car control method, characterized in that: include: The angle θ between the trolley and the horizontal plane is obtained by the first gyroscope fixed on the trolley. A , and obtain the angle θ between the control handle and the horizontal plane through the second gyroscope fixed on the control handle B and the swing angle θ of the control handle on the plane perpendicular to the direction of travel of the trolley D ; Processing the angle θ A and the angle θ B The angle θ between the control handle and the road surface is obtained C ; According to the angle θ C Control the car to perform the first preset operation, according to the swing angle θ D Control the car to perform the second preset operation.

2. A gyroscope-based vehicle control method according to claim 1, characterized in that: The angle θ C is equal to the angle θ A The angle θ B The sum of the angle θ A , angle θ B The angle θ C The value ranges are: -90°<θ A <90°、0°≤θ B ≤90°、0°≤θ C ≤90°.

3. A gyroscope-based vehicle control method according to claim 2, characterized in that: The first preset operation includes parking brake, driving operation, and brake operation; The angle θ is detected C When it is equal to 90°, the car is controlled to perform parking brake; The angle θ is detected C If the angle is greater than or equal to 30° and less than 90°, the car is controlled to drive; The angle θ is detected C If the angle is less than 30°, the car will be controlled to brake.

4. A gyroscope-based vehicle control method according to claim 1, characterized in that: The swing angle θ D The value range is -90°<θ D <90°; the second preset operation includes keeping straight, turning left and turning right; The swing angle θ is detected D When it is equal to 0°, the car is controlled to keep going straight; The swing angle θ is detected D Less than 0°, the car is controlled to turn left; The swing angle θ is detected D If the angle is greater than 0°, the car will be controlled to turn right.

5. A traction-assisted vehicle, using the method according to any one of claims 1 to 4, characterized in that: include: The first gyroscope is used to obtain the angle θ between the car and the horizontal plane A ; The second gyroscope is used to obtain the angle θ between the control handle and the horizontal plane B and the swing angle θ of the control handle on the plane perpendicular to the direction of travel of the trolley D ; A control module is used to receive and process the angle θ A and the angle θ B The angle θ between the control handle and the road surface is obtained C ; and according to the angle θ C Control the car to perform the first preset operation, according to the swing angle θ D Control the car to perform the second preset operation.

6. A traction-assisted vehicle according to claim 5, characterized in that: The angle θ C is equal to the angle θ A The angle θ B The sum of the angle θ A , angle θ B The angle θ C The value ranges are: -90°<θ A <90°、0°≤θ B ≤90°、0°≤θ C ≤90°.

7. A gyroscope-based vehicle control method according to claim 6, characterized in that: The first preset operation includes parking brake, driving operation, and brake operation; The control module detects the angle θ C When it is equal to 90°, the car is controlled to perform parking brake; The control module detects the angle θ C If the angle is greater than or equal to 30° and less than 90°, the car is controlled to drive; The control module detects the angle θ C If the angle is less than 30°, the car will be controlled to brake.

8. The gyroscope-based vehicle control method according to claim 5, characterized in that: The swing angle θ D The value range is -90°<θ D <90°; the second preset operation includes keeping straight, turning left and turning right; The control module detects the swing angle θ D When it is equal to 0°, the car is controlled to keep going straight; The control module detects the swing angle θ D Less than 0°, the car is controlled to turn left; The control module detects the swing angle θ D If the angle is greater than 0°, the car will be controlled to turn right.

9. A mobile terminal, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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