Reconstructing the motion trajectory of an intelligent cart based on an upper unit

The design of this paper employs the use of a scientific software, namely VOFA+, for the purpose of graphical debugging of embedded hardware, with the objective of producing the upper unit of the intelligent trolley. The upper unit establishes a Bluetooth connection to the intelligent trolley and is capable of modifying the control parameters of the intelligent trolley operation in real time. Additionally, it is able to plot the waveforms of the operation data in real time on the designated window. The upper unit, as designed in this paper, is capable of adjusting the PID parameters of the trolley in real time, viewing the waveform changes of the running data of the trolley directly in the drawing window, and determining the reasonability of the modified parameters. Additionally, the intelligent vehicle is equipped with a six-axis sensor MPU6050, which is reconfigured based on the obtained IMU data to track the cart's movement position and display its trajectory in real time to the upper unit. The data obtained from both the simulation and the actual test have been statistically analyzed, and it has been demonstrated that all the functions of the design have been achieved.