CN110901713A - Electric cart and driving control system and method thereof - Google Patents
Electric cart and driving control system and method thereof Download PDFInfo
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- CN110901713A CN110901713A CN201811083354.1A CN201811083354A CN110901713A CN 110901713 A CN110901713 A CN 110901713A CN 201811083354 A CN201811083354 A CN 201811083354A CN 110901713 A CN110901713 A CN 110901713A
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- motor
- pressure value
- pressure
- value
- threshold value
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
A drive control system comprising: the first acquisition module is used for acquiring a first pressure value sensed by the pressure sensing element before the motor is started; the judging module is used for judging whether the first pressure value is larger than a first threshold value or not; the control module is used for starting the motor when the first pressure value is larger than the first threshold value; the second acquisition module is used for acquiring a second pressure value sensed by the pressure sensing element after the motor is started; the judging module is further used for judging whether the second pressure value is larger than a second threshold value; the control module is further configured to control the motor to accelerate when the second pressure value is greater than the second threshold value. The invention also provides a drive control method and the electric cart. According to the electric cart and the driving control system and method thereof, the pushing force and the pulling force of an operator on the electric cart are sensed by the pressure sensor, and the speed of the motor is controlled according to the magnitude of the pushing force or the pulling force, so that the purpose of operating the cart is achieved, and the operation is simple and labor-saving.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to an electric cart and a driving control system and method thereof.
Background
At present, push rods or remote controllers are mostly used in the control modes of electric carts, and the modes require users to be familiar with operation interfaces and operation methods, even the operation habits of the users need to be changed to properly control the carts, so that the number of doorsills used by operators is increased, and the operation is inconvenient.
Disclosure of Invention
In view of the above, it is desirable to provide an electric cart and a driving control system and method thereof, which use power to assist feedback of the force applied to the cart by the user, and are simple and labor-saving in operation.
An embodiment of the present invention provides a driving control method applied to an electric cart, wherein the electric cart is provided with a pressure sensing element and at least one motor, and the motor is used for driving the electric cart to move, and the driving control method includes the following steps: acquiring a first pressure value sensed by the pressure sensing element before the motor is started; judging whether the first pressure value is larger than a first threshold value or not; when the first pressure value is larger than the first threshold value, starting the motor to drive the electric cart to move; acquiring a second pressure value sensed by the pressure sensing element after the motor is started; judging whether the second pressure value is larger than a second threshold value or not; and when the second pressure value is larger than the second threshold value, controlling the motor to accelerate.
An embodiment of the present invention further provides a driving control system, which includes a plurality of computer program instructions for being loaded and executed by an electric cart to control the electric cart to perform the following steps: acquiring a first pressure value sensed by the pressure sensing element before the motor is started; judging whether the first pressure value is larger than a first threshold value or not; when the first pressure value is larger than the first threshold value, starting the motor to drive the electric cart to move; acquiring a second pressure value sensed by the pressure sensing element after the motor is started; judging whether the second pressure value is larger than a second threshold value or not; and when the second pressure value is larger than the second threshold value, controlling the motor to accelerate.
An embodiment of the present invention also provides an electric cart, including: a pressure sensing element; the motor is used for driving the electric cart to move; a motor controller for controlling the rotation of the motor; a memory for storing a plurality of computer program instructions; and a processor for loading the computer program instructions to perform the steps of: acquiring a first pressure value sensed by the pressure sensing element before the motor is started; judging whether the first pressure value is larger than a first threshold value or not; when the first pressure value is larger than the first threshold value, starting the motor to drive the electric cart to move; acquiring a second pressure value sensed by the pressure sensing element after the motor is started; judging whether the second pressure value is larger than a second threshold value or not; and when the second pressure value is larger than the second threshold value, controlling the motor to accelerate.
Compared with the prior art, the electric cart and the driving control system and method thereof have the advantages that the pushing force and the pulling force of an operator on the electric cart are sensed by the pressure sensor, the speed of the motor is controlled according to the pushing force or the pulling force, the purpose of operating the cart is achieved, and the operation is simple and labor-saving.
Drawings
Fig. 1 is a schematic structural view of an electric cart according to an embodiment of the present invention.
FIG. 2 is a diagram of a motor driving structure according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a pressure sensing device according to an embodiment of the invention.
FIG. 4 is a functional block diagram of a drive control system according to an embodiment of the present invention.
FIG. 5 is a flowchart illustrating steps of a driving control method according to an embodiment of the present invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is further noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1-2, in one embodiment, an electric cart 100 includes a body 10, a handle 20, at least one wheel 30, a pressure sensing element 40, at least one motor 50 (fig. 2), at least one motor controller 60 (fig. 2), a processor 70 (fig. 2), and a memory 80 (fig. 2). The handle 20 is fixedly connected to the body 10, and the pressure sensing element 40 may be disposed in the handle 20 for sensing the force applied by the user to the electric cart 100, and the user may operate the electric cart 100 to move by pushing or pulling the handle 20. The number of the motors 50 can be adjusted according to actual use requirements, and is not limited herein. For example, the number of motors 50 is preferably equal to the number of wheels 30, with each motor 50 being used to drive a respective one of the wheels 30. The number of motor controllers 60 is preferably equal to the number of motors 50, and each motor controller 60 is used to control each motor 50 correspondingly. In other embodiments of the present invention, a plurality of wheels 30 may share one motor 50, and a plurality of motors 50 may share one motor controller 60; the motor may be provided only at the front wheel (the motor is not provided at the rear wheel), and the electric cart 100 may be driven only by the front wheel; the motor may be provided only at the rear wheel (the motor is not provided at the front wheel), and the electric cart 100 may be driven only by the rear wheel.
In fig. 1, the electric cart 100 is illustrated by taking four wheels 30 as an example, and the electric cart 100 may be a nursing cart used in medical occasions. In other embodiments of the present invention, the electric cart 100 may be a cart used in other situations.
In fig. 2, the motors 50 and the motor controllers 60 are illustrated as four examples, four motors 50 are used for driving four wheels 30 respectively, four motor controllers 60 are used for controlling four motors 50 respectively, and each motor controller 60 can control the operation of each motor 50 by receiving and according to the control command output by the processor 70.
In one embodiment, the electric cart 100 further includes a display unit (not shown), by which the current speed of the electric cart 100 can be displayed.
In one embodiment, the processor 70 may be a chip with signal processing function, such as a single chip, a microprocessor, or the like. The memory 80 may be a read-only memory, a random access memory. The pressure sensing element 40 may be a strain gauge pressure sensor (as shown in fig. 3), the pressure sensing element 40 has a first force receiving direction and a second force receiving direction, the first force receiving direction may be defined as a pushing force direction for sensing a pushing force of a user on the handle 20, and the second force receiving direction may be defined as a pulling force direction for sensing a pulling force of the user on the handle 20. The pressure sensing element 40 may convert the sensed pressure value into a kilogram value.
Referring to fig. 4, the electric cart 100 further operates a driving control system 101. The driving control system 101 at least includes a first obtaining module 110, a determining module 120, a second obtaining module 130 and a control module 140. In the present embodiment, the above modules are programmable software instructions stored in the memory 80 and called by the processor 70 to execute. It will be appreciated that in other embodiments, the modules may also be program instructions or firmware (firmware) that are resident in the processor 70.
The first obtaining module 110 is configured to obtain a first pressure value sensed by the pressure sensing element 40 before the motor 50 is not started.
In one embodiment, the processor 70 may be in communication with the pressure sensing element 40. When a user needs to push the electric cart 100 in a stationary state, the user may apply a pushing force or a pulling force to the handle 20, the pressure sensing element 40 may sense a first pressure value, and the first obtaining module 110 may obtain the first pressure value sensed by the pressure sensing element 40.
The determining module 120 is configured to determine whether the first pressure value is greater than or equal to a first threshold.
In an embodiment, the first threshold may be set according to an actual usage scenario, and a size of the first threshold is not specifically limited.
The control module 140 is configured to activate the motor 50 to drive the electric cart 100 to move when the first pressure value is greater than or equal to the first threshold value.
In an embodiment, when the first pressure value is greater than or equal to the first threshold value, the control module 140 starts the motor 50, and when the first pressure value is less than the first threshold value, the control module 140 does not start the motor 50, so that the electric cart 100 is prevented from being started (in a stationary state) when being touched by mistake, and the safety of the electric cart 100 is improved.
In one embodiment, the control module 140 may activate the motor 50 by outputting an activation control signal to the motor controller 60.
The second obtaining module 130 is configured to obtain a second pressure value sensed by the pressure sensing element 40 after the motor 50 is started.
In one embodiment, after the motor 50 is started, the pressure sensing element 40 continues to sense the pulling force or pushing force currently applied to the handle 20, and the second obtaining module 130 may obtain a second pressure value sensed by the pressure sensing element 40.
The determining module 120 is further configured to determine whether the second pressure value is greater than or equal to a second threshold.
In an embodiment, the second threshold may be set according to an actual usage scenario, and a size of the second threshold is not specifically limited.
The control module 140 is configured to control the motor 50 to accelerate when the second pressure value is greater than or equal to the second threshold value.
In one embodiment, the control module 140 can control the motor 50 to accelerate to a maximum speed limit value and then stop accelerating the motor 50, so as to avoid that the user cannot normally push the electric cart 100 due to too high speed. The maximum speed limit value may be set with reference to a walking speed of a person, for example, the maximum speed limit value is set to 4 km/h.
In an embodiment, the determining module 120 is further configured to determine whether the second pressure value is smaller than the second threshold and greater than or equal to a third threshold. When the second pressure value is less than the second threshold and greater than or equal to the third threshold, the control module 140 controls the motor 50 to decelerate. Wherein the second threshold is greater than the third threshold.
In one embodiment, the control module 140 can control the motor 50 to stop decelerating the motor 50 after decelerating to a minimum speed limit, so as to avoid the electric cart 100 from stopping moving due to deceleration to zero. The minimum speed limit value may be set with reference to a walking speed of a person, for example, the minimum speed limit value is set to 1 km/h.
In an embodiment, the determining module 120 is further configured to determine whether the second pressure value is smaller than the third threshold. When the second pressure value is less than the third threshold value, the control module 140 controls the motor 50 to stop operating.
In an embodiment, after the motor 50 stops operating, the determining module 120 needs to determine whether the pressure value sensed by the pressure sensing element 40 is greater than the first threshold again, and the control module 140 determines whether to start the motor 50 again according to the determination result of the determining module 120. That is, after the motor 50 stops operating, the user needs to apply a pulling force or pushing force greater than or equal to the first threshold value to the handle again to start the motor 50 again.
In one embodiment, the first threshold may be set equal to the second threshold. In other embodiments of the present invention, the first threshold may not be equal to the second threshold. The pressure or the tensile force sensed by the strain gauge pressure sensor is in units of kilograms, the first threshold and the second threshold may be set to 2 kilograms, the second threshold is greater than the third threshold, and the third threshold may be set to 1 kilogram. When the user needs to push the electric cart 100 in a stationary state, the user may apply a pushing force or a pulling force of a first pressure value to the handle 20, and when the first pressure value is greater than or equal to 2 kg, the control module 140 activates the motor 50. After the motor 50 is started, the user may continue to apply a pushing force or a pulling force of a second pressure value to the handle 20, and when the second pressure value is greater than or equal to 2 kg, the control module 140 controls the motor 50 to accelerate; when the second pressure value is greater than 1 kg and less than or equal to 2 kg, the control module 140 controls the motor 50 to decelerate; when the second pressure value is less than 1 kg, the control module 140 controls the motor 50 to stop operating. When the motor 50 stops operating, the control module 140 may control the motor 50 to be activated again when the user applies a pushing or pulling force of 2 kg or more to the handle 20 again.
In an embodiment, after the motor 50 is started, the second obtaining module 130 is configured to obtain a third pressure value sensed by the pressure sensing element 40 at a first time node t1, the second obtaining module 130 is further configured to obtain a fourth pressure value sensed by the pressure sensing element 40 at a second time node t2, the determining module 120 is further configured to determine whether a difference between the third pressure value and the fourth pressure value is greater than or equal to a fourth threshold, and the control module 140 is further configured to control the motor 50 to stop operating when the difference between the third pressure value and the fourth pressure value is greater than or equal to the fourth threshold.
In an embodiment, the fourth threshold may be set according to an actual usage scenario, and a size of the fourth threshold is not specifically limited. The first time node t1 and the second time node t2 are adjacent time points, such as the first time node t1 and the second time node t2 are separated by 2 s. Assuming that the fourth threshold is 1 kg, when the motor 50 is started, the second obtaining module 130 obtains that the pulling force or the pushing force sensed by the pressure sensing element 40 at the first time node t1 is 2.8 kg, and the pulling force or the pushing force sensed at the second time node t2 is 1.5 kg, and the determining module 120 determines that the difference (2.8-1.5 ═ 1.3 kg) between the third pressure value and the fourth pressure value is greater than the fourth threshold (1 kg), so that the control module 140 controls the motor 50 to stop operating.
Fig. 5 is a flowchart of a driving control method according to an embodiment of the invention. The method may be used in the powered cart 100 shown in fig. 1.
In step S500, the first obtaining module 110 obtains a first pressure value sensed by the pressure sensing element 40 before the motor 50 is started.
In step S502, the determining module 120 determines whether the first pressure value is greater than or equal to a first threshold.
In step S504, when the first pressure value is greater than or equal to the first threshold value, the control module 140 activates the motor 50 to drive the electric cart 100 to move.
In step S506, when the first pressure value is smaller than the first threshold value, the motor 50 is not started.
In step S508, the second obtaining module 130 obtains a second pressure value sensed by the pressure sensing element 40 after the motor 50 is started.
In step S510, the determining module 120 determines whether the second pressure value is greater than or equal to a second threshold.
In step S512, when the second pressure value is greater than or equal to the second threshold value, the control module 140 controls the motor 50 to accelerate.
In step S514, the determining module 120 determines whether the second pressure value is smaller than the second threshold and greater than or equal to a third threshold.
In step S516, when the second pressure value is smaller than the second threshold and greater than or equal to the third threshold, the control module 140 controls the motor 50 to decelerate.
In step S518, when the second pressure value is smaller than the third threshold value, the control module 140 controls the motor 50 to stop operating.
According to the electric cart and the driving control system and method thereof, the pushing force and the pulling force of an operator on the electric cart are sensed by the pressure sensor, and the speed of the motor is controlled according to the magnitude of the pushing force or the pulling force, so that the purpose of operating the cart is achieved, and the operation is simple and labor-saving.
It will be apparent to those skilled in the art that other variations and modifications may be made in accordance with the invention and its spirit and scope in accordance with the practice of the invention disclosed herein.
Claims (10)
1. A driving control method is applied to an electric cart, and is characterized in that a pressure sensing element and at least one motor are arranged on the electric cart, and the motor is used for driving the electric cart to move, and the method comprises the following steps:
acquiring a first pressure value sensed by the pressure sensing element before the motor is started;
judging whether the first pressure value is greater than or equal to a first threshold value;
when the first pressure value is larger than or equal to the first threshold value, starting the motor to drive the electric cart to move;
acquiring a second pressure value sensed by the pressure sensing element after the motor is started;
judging whether the second pressure value is greater than or equal to a second threshold value; and
and when the second pressure value is greater than or equal to the second threshold value, controlling the motor to accelerate.
2. The method of claim 1, wherein the method further comprises:
judging whether the second pressure value is smaller than the second threshold value and larger than or equal to a third threshold value; and
when the second pressure value is smaller than the second threshold value and larger than or equal to the third threshold value, controlling the motor to decelerate;
wherein the second threshold is greater than the third threshold.
3. The method of claim 2, wherein the method further comprises:
judging whether the second pressure value is smaller than the third threshold value; and
and when the second pressure value is smaller than the third threshold value, controlling the motor to stop running.
4. The method of claim 1 or 2, wherein the method further comprises:
acquiring a third pressure value sensed by the pressure sensing element at a first time node after the motor is started;
acquiring a fourth pressure value sensed by the pressure sensing element at a second time node after the motor is started;
judging whether the difference value between the third pressure value and the fourth pressure value is greater than or equal to a fourth threshold value; and
and when the difference value between the third pressure value and the fourth pressure value is larger than or equal to the fourth threshold value, controlling the motor to stop running.
5. A method according to any of claims 1-3, wherein the first threshold value is equal to the second threshold value.
6. The method of claim 2, wherein the motor has a minimum speed limit, and the motor is decelerated to a speed greater than or equal to the minimum speed limit.
7. The method of claim 1, wherein the motor has a maximum speed limit, and the motor is accelerated to less than or equal to the maximum speed limit.
8. The method of any one of claims 1-3, wherein the pressure value sensed by the pressure sensing element is a push force or a pull force.
9. A drive control system comprising a plurality of program instructions for loading execution by an electric cart to control the electric cart to perform the drive control method of any of claims 1-8.
10. An electric cart, comprising:
a pressure sensing element;
the motor is used for driving the electric cart to move;
a motor controller for controlling the rotation of the motor;
a memory for storing a plurality of program instructions; and
a processor for loading the program instructions to perform the drive control method of any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811083354.1A CN110901713A (en) | 2018-09-17 | 2018-09-17 | Electric cart and driving control system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811083354.1A CN110901713A (en) | 2018-09-17 | 2018-09-17 | Electric cart and driving control system and method thereof |
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| CN110901713A true CN110901713A (en) | 2020-03-24 |
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| CN201811083354.1A Pending CN110901713A (en) | 2018-09-17 | 2018-09-17 | Electric cart and driving control system and method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024021221A1 (en) * | 2022-07-28 | 2024-02-01 | 湖南三一中益机械有限公司 | Wheeled work machine, drive control method thereof, and drive control system |
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