CN116811985A

CN116811985A - Method, device and medium for controlling camping car to move based on intelligent handle

Info

Publication number: CN116811985A
Application number: CN202310508412.5A
Authority: CN
Inventors: 杜靖翊; 刘树炯; 宋盼
Original assignee: Shenzhen Yanwai Technology Co ltd
Current assignee: Shenzhen Yanwai Technology Co ltd
Priority date: 2022-11-14
Filing date: 2023-05-06
Publication date: 2023-09-29
Also published as: CN116279719A; CN116534098A

Abstract

The embodiment of the application discloses a method, a device and a medium for controlling camping vehicle movement based on an intelligent handle, wherein the method can comprise the following steps: determining the current working state of the safety switch; when the safety switch is in the current on state and the reversing switch of the camping car is in the off state, collecting acting force information of a user for towing the camping car, the inclination angle of the camping car relative to the horizontal plane and the running speed of the camping car; if the inclination angle is detected to be smaller than or equal to the first angle and the acting force information is thrust with a force larger than a first preset force, controlling the motor to realize the first abrupt slope descent control operation; if the inclination angle is detected to be smaller than or equal to the first angle and the acting force information is a pulling force larger than the first preset force, the motor is controlled to realize the second abrupt slope descent control operation. By implementing the method provided by the embodiment of the application, the power assisting direction and the power assisting size of the camping car can be intelligently adjusted according to the terrain of the camping car used by a user, and the user carrying experience can be improved.

Description

Method, device and medium for controlling camping car to move based on intelligent handle

Technical Field

The application relates to the technical field of Internet, in particular to a method, a device and a medium for controlling camping car movement based on an intelligent handle.

Background

Camping gradually becomes outdoor item selection among people at leisure, while camping vehicles are used for solving the problem of 'last kilometer' in camping activities, namely, camping equipment transportation from a parking point to a camping point, most camping vehicles are in a hand-push type mode at present on the market, but the hand-push type camping vehicles still have various problems, so that a user cannot obtain good transportation experience, for example, when camping equipment is heavy, the user still needs to be forced to push; and when going up and down a slope, a user is difficult to grasp proper control tension, and the vehicle body is easy to topple over, so that property loss and the like are caused.

Therefore, how to provide a camping car assisting method for improving the user carrying experience by intelligently identifying the actual carrying requirement of the user is a problem which needs to be solved by those skilled in the art.

Disclosure of Invention

The application aims to provide a method, a device and a medium for controlling movement of a camping car based on an intelligent handle, which can intelligently adjust the direction and the power of the camping car according to the scene or the terrain of a user using the camping car, are beneficial to helping the user to easily pull the camping car on various terrains, can also ensure the running stability and safety of the camping car, and improve the use experience of the user.

In a first aspect, an embodiment of the present application provides a method for controlling movement of a camping car based on an intelligent handle, the method may include the steps of:

determining a current working state of a safety switch, wherein the working state can comprise an on state and an off state, the safety switch is a switch on a handle system of the camping car, and the handle is used for towing the camping car;

when the safety switch is in an on state and the reversing switch of the camping car is in an off state, collecting acting force information of a user for pulling the camping car, an inclination angle of the camping car relative to a horizontal plane and a running speed of the camping car, wherein the acting force information can comprise the size and the direction of acting force;

if the inclination angle is detected to be smaller than or equal to the first angle and the acting force information is zero, controlling a motor of a wheel of the camping car to execute braking operation so that the camping car is kept stationary;

if the inclination angle is detected to be smaller than or equal to a first angle, the acting force information is thrust larger than a first preset force, and the speed of the camping car is detected to be smaller than or equal to a preset speed, a first power-assisted operation is performed according to the thrust control motor so as to realize a first steep slope descent operation, the direction of the thrust is the direction of the user to the camping car, and the first preset force represents the minimum force when the camping car is normally used;

If the inclination angle is detected to be smaller than or equal to the first angle, the acting force information is a pulling force larger than a first preset force, and the speed of the camping car is smaller than or equal to a preset speed, the second power-assisted operation is performed according to the pulling force to realize the second abrupt slope descent control operation, and the pulling force is directed to a user by the camping car.

In one possible implementation manner, the method according to the embodiment of the present application may further include the following steps:

if the inclination angle is detected to be larger than the first angle and smaller than or equal to the second angle, the acting force information is a pulling force larger than the first preset force, and the speed of the camping car is smaller than or equal to the preset speed, a third power-assisted operation is executed according to the pulling force control motor so as to realize speed control and reduce the pulling force of a user at the same time;

if the inclination angle is detected to be larger than the first angle and smaller than or equal to the second angle, the acting force information is a pulling force larger than a second preset force, and the speed of the camping car is smaller than or equal to a preset speed, a fourth assistance operation is executed according to the pulling force control motor to realize speed control and reduce the pulling force of a user at the same time, and the assistance weight coefficient in the third assistance operation is smaller than that in the fourth assistance operation;

if the inclination angle is detected to be larger than the second angle, the acting force information is larger than the first preset force and smaller than the second preset force, and the speed of the camping car is smaller than or equal to the preset speed, the fourth power-assisted operation is executed according to the tension control motor so as to realize speed control and reduce the user tension at the same time;

If the inclination angle is detected to be larger than the second angle, the acting force information is tension larger than a second preset force, and the speed of the camping car is smaller than or equal to the preset speed, executing a fifth power-assisted operation according to the tension control motor to realize speed control and reduce the user tension at the same time, wherein a power-assisted weight coefficient in the fifth power-assisted operation is larger than a power-assisted weight coefficient in the fourth power-assisted operation;

if the speed of the camping car is detected to be greater than the preset speed, the motor is controlled to stand by, the stand-by state can mean that the motor is in a power-on but not working state, and the non-working state can mean that the motor does not provide power or resistance for the camping car, the direction of the power is the same as the running direction of the camping car, and the direction of the resistance is opposite to the running direction of the camping car.

In another possible implementation manner, if the speed of the camping car is detected to be greater than the preset speed, the motor is controlled to stand by, and the following steps may be included:

if the speed of the camping car is detected to be greater than the preset speed and the acting force information is acting force smaller than the second preset force, controlling the motor to stand by;

and if the speed of the camping car is detected to be greater than the preset speed and the acting force information is the acting force which is greater than the second preset force, controlling the motor to execute the fourth power-assisted operation or the fifth power-assisted operation.

In another possible implementation manner, the method according to the embodiment of the present application may further include the following steps:

when the safety switch is in the on state and the reversing switch of the camping car is in the triggering state, the load information of the camping car is collected, the sixth power-assisted operation is determined according to the load information, the motor is controlled to execute the sixth power-assisted operation so as to realize automatic reversing, the reversing direction is consistent with the pushing force direction, and the load information can be the weight of an object loaded in the camping car.

In another possible embodiment, after determining the current operating state of the safety switch, the method may further comprise the steps of:

when the safety switch is in a current closing state, judging whether the safety switch is in an opening state in a preset time period, wherein the preset time period is before a first moment point, and the first moment point is the moment point when the safety switch is converted into the closing state;

if yes, generating a control method according to the running state of the camping car at the first moment, wherein the running state can comprise a running direction and a running speed;

if not, the motor is controlled to keep in a standby state.

In another possible embodiment, if the determination is yes, the control method may be generated according to the running state of the camping car at the first time point, and the method may include the following steps:

Determining the running direction of the motor at a first moment;

determining a direction opposite to the driving direction as a boosting direction;

calculating the boosting power according to the running speed of the camping car;

and generating a control method according to the power assisting direction and the power assisting power, and controlling the motor to execute the parking operation according to the control method.

In another possible embodiment, determining the driving direction of the motor at the first point in time may comprise the steps of:

if the running direction does not exist, the motor is controlled to keep in a standby state.

In a second aspect, an embodiment of the present application provides a device for controlling movement of a camping car based on an intelligent handle, the device may include: the device comprises a calculation module, an acquisition module and a control module;

the computing module can be used for determining the current working state of a safety switch, wherein the working state comprises an on state and an off state, the safety switch is a switch on a handle system of the camping car, and the handle is used for towing the camping car;

the acquisition module can be used for acquiring acting force information of a user for towing the camping car, the inclination angle of the camping car relative to the horizontal plane and the running speed of the camping car when the safety switch is in the current on state and the reversing switch of the camping car is in the off state, wherein the acting force information comprises the size and the direction of acting force;

The control module can be used for controlling the motor of the wheel of the camping car to execute braking operation so as to keep the camping car stationary when the inclination angle is detected to be smaller than or equal to the first angle and the acting force information is zero;

the control module is further used for controlling the motor to execute first power-assisted operation according to the thrust to realize first abrupt slope descent operation when the inclination angle is smaller than or equal to a first angle, the acting force information is thrust larger than a first preset force and the speed of the camping car is smaller than or equal to a preset speed, wherein the direction of the thrust is the minimum force when the user points to the camping car, and the first preset force represents the normal use of the camping car;

the control module is further configured to, when the inclination angle is detected to be smaller than or equal to the first angle, the acting force information is a pulling force greater than a first preset force, and the speed of the camping car is smaller than or equal to a preset speed, control the motor to execute a second power-assisted operation according to the pulling force so as to achieve a second abrupt slope descent control operation, wherein the pulling force is directed by the camping car to a user.

In a third aspect, embodiments of the present application provide a device for controlling movement of a camper based on an intelligent handle, the device may comprise: a processor, a memory, and a bus;

The processor and the memory are connected by a bus, wherein the memory is adapted to store a set of program code and the processor is adapted to invoke the program code stored in the memory for performing the method according to the first aspect.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium comprising:

the computer readable storage medium has stored therein instructions which, when run on a computer, implement the method as described in the first aspect.

According to the application, the current running terrain and running state of the camping car can be intelligently identified, the power assisting state or power of the camping car can be automatically adjusted, convenience of a user in using the camping car can be improved, and the camping car can be driven more stably and safely, so that the use experience of the user is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are of some embodiments of the application and that other drawings may be derived from them without undue effort.

Fig. 1 is a schematic perspective view of an electric power-assisted camping car according to an embodiment of the present application;

FIG. 2 is a schematic perspective view of a frame according to an embodiment of the present application;

FIG. 3 is a schematic top view of a frame according to an embodiment of the present application;

FIG. 4 is a schematic side view of a frame according to an embodiment of the present application;

fig. 5 is a schematic perspective view of an end frame and a tail frame according to an embodiment of the present application;

FIG. 6 is a schematic cross-sectional view of an end frame and a tail frame according to an embodiment of the present application;

fig. 7 is a schematic perspective view of a tail frame and a table board on the tail frame according to an embodiment of the present application;

fig. 8 is a schematic perspective view of a battery assembly according to an embodiment of the present application;

fig. 9 is a schematic cross-sectional view of a battery assembly according to an embodiment of the present application;

fig. 10 is a schematic perspective view of a battery module according to an embodiment of the present application;

fig. 11 is a schematic perspective view of a battery module according to an embodiment of the present application;

fig. 12 is a schematic perspective view of an operation lever according to an embodiment of the present application;

fig. 13 is a schematic cross-sectional view of a first rod body and a second rod body of an operation rod at a hinge position of the first rod body and the second rod body according to an embodiment of the present application;

FIG. 14 is a schematic cross-sectional view of a controller mounted in a joystick according to an embodiment of the application;

FIG. 15 is a schematic diagram of a control sensor assembly according to an embodiment of the present application;

fig. 16 is a schematic flow chart of a method for controlling movement of a camping car based on an intelligent handle according to an embodiment of the present application;

fig. 17 is a schematic diagram of a device for controlling movement of a camping car based on an intelligent handle according to an embodiment of the present application;

fig. 18 is a schematic diagram of another device for controlling movement of a camping car based on an intelligent handle according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terms "first," "second," "third," and "fourth" and the like in the description and in the claims and drawings are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, result, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The present application provides two concepts (a first concept and a second concept) regarding camping car design. The following examples of fig. 1 to 15 of the present application are different embodiments under the first concept, in which like parts are denoted by like reference numerals and different reference numerals denote different parts. The following examples of fig. 16 to 18 of the present application are different embodiments under the second concept, in which like parts are denoted by like reference numerals and different reference numerals denote different parts. Under different conception, the same reference numerals may represent different parts, and the parts with the same names may be given different reference numerals.

Referring to fig. 1 to 4, the vehicle body 1 includes a foldable folding frame 11, a cloth 12 fixed to the folding frame 11, and wheels 13 fixed to the bottom of the folding frame 11. The cloth 12 is preferably made of a material having high strength and water resistance, such as nylon cloth, oxford cloth, etc. The cloth 12 is secured to the folding chassis 11 to form a generally rectangular recess for storing items.

The folding chassis 11 includes two end frames 111 at both ends in the length direction, two side frames 112 at both ends in the width direction, and a bottom frame 113 at the bottom. The bottom frame 113 includes a first bottom frame 1131 and a second bottom frame 1132 disposed along a length direction of the folding chassis 11, where the first bottom frame 1131 and the second bottom frame 1132 are all formed into a substantially rectangular frame member by welding and fixing a plurality of rods, and opposite ends of the first bottom frame 1131 and the second bottom frame 1132 are hinged, and opposite ends of the first bottom frame 1131 and the second bottom frame 1132, which are far from each other, are respectively hinged with the two end frames 111.

The side frame 112 includes a first fork 1121 and a second fork 1122, where the first fork 1121 and the second fork 1122 are connected by two sheets to form an "x" structure, and the middle portions of the two sheets are hinged together, so that the first fork 1121 and the second fork 1122 can be folded and unfolded about respective hinge points. The opposite ends of the first and second scissors members 1121, 1122 are hinged, and the opposite ends of the first and second scissors members 1121, 1122 are hinged to the two end frames 111. The two end frames 111 can be folded and unfolded in the length direction through the side frames 112 and the bottom frame 113 which are connected in a hinged mode. One end frame 111 can be further provided with a fixing piece, one end of the fixing piece is hinged with one end frame, the other end of the fixing piece is arranged on the buckling structure, the other end of the fixing piece is provided with a fixing column matched with the buckling structure, after the two end frames are folded in opposite directions, the fixing column is clamped by the buckling structure on the fixing piece, so that the two end frames are fixed, and the frame can be stored and carried conveniently after being folded.

In an embodiment, the side frame 112 further includes two connecting pieces 1123 and a fixing piece 1124, the fixing piece 1124 is disposed along the height direction of the folding frame 11, the bottom of the fixing piece 1124 is hinged to one opposite ends of the first and second scissors members 1121 and 1122, the top of the fixing piece 1124 is hinged to one opposite ends of the two connecting pieces 1123, and the other ends of the two connecting pieces 1123 are hinged to the opposite ends of the first and second scissors members 1121 and 1122, respectively, so that the two connecting pieces 1123 can be folded synchronously with the folding frame 11. In the unfolded state of the folding frame 11, the two connecting pieces 1123 extend along the length direction of the folding frame 11, so that the two connecting pieces 1123 can serve as frame members for extending the side frames 112 along the length direction at the upper part of the folding frame 11, the cloth 12 can be conveniently fixed on the folding frame 11, the cloth 12 can be unfolded along the length direction at the middle part of the frame, and the strength of the side frames 112 in the width direction can be increased by matching with the fixing pieces 1124.

In another embodiment, referring to fig. 5, a tail frame 114 is further connected to one end frame 111, and the tail frame 114 can rotate relative to the end frame 111 to allow the end frame 111 to be closed or opened. The side frames 112 are generally rectangular frame structures including a bottom bar 1111 placed horizontally in the width direction and two side bars 1112 fixed to both ends of the bottom bar 1111 in the width direction and extending in the height direction. The tail frame 114 has a substantially "door" -shaped frame structure, and the opening side of the tail frame 114 faces the bottom bar 1111 and is hinged to both ends of the bottom bar 1111 in the width direction. The inner side wall of the tail frame 114 is also provided with a locking piece 115, the side bar 1112 is provided with a locking groove 1113 matched with the locking piece 115, and the position of the locking piece 115 on the tail frame 114 is matched with the locking groove 1113 on the side bar 1112. The tail frame 114 can rotate to be approximately horizontal to the bottom frame 113 after the locking piece 115 and the end frame 111 are unlocked, so that the length of the bottom frame 113 can be increased, the tail parts of some articles exceeding the length of the folding frame 11 can be extended to the outside of the bottom frame 113, and further, the articles with larger length can be placed in the folding frame 11 for carrying.

Referring to fig. 6, the locking member 115 in this embodiment includes a locking piece 1151 and a first elastic member 1152, where the locking piece 1151 is hinged on the tail frame 114, one end of the first elastic member 1152 is fixedly connected to the locking piece 1151, and the other end is fixedly connected to the tail frame 114, and the elastic member 1152 generates a force for maintaining locking on the locking piece 1151. The first elastic member 1152 in this embodiment is a spring, and in the locked state, the spring generates a tensile force on the locking piece 1151, and when unlocking is required, the tensile force needs to be overcome to release the locking portion of the locking piece 1151 from the locking groove 1113 to complete unlocking.

Referring to fig. 5 and 7, the tail frame 114 further includes a table 116 and a supporting member 117, the table 116 is a substantially rectangular flat plate structure, and an upper end of the table 116 is hinged to an upper portion of the tail frame 114, so that the table 116 can perform a rotation angle of substantially 90 degrees with respect to the tail frame 114. The support 117 may be a support rod, one end of the support 117 is hinged to the tail frame 114, the other end of the support 117 is detachably connected to the table 116, and the support 117 plays a role in supporting the table 116 when the table 116 is in a substantially vertical state relative to the tail frame 114, so that the table 116 can be in a horizontal state, and has a certain bearing capacity, articles can be placed on the table 116, and the use is convenient.

Referring again to fig. 1, the number of wheels 13 at the bottom of the folding frame 11 is plural, and the wheels 13 are preferably fixed on two end frames 111 respectively, as in this embodiment, two ends of each end frame 111 in the width direction are fixedly connected with one wheel 13 respectively, at least one wheel 13 of the plural wheels 13 is an electrically driven driving wheel, and the remaining wheels may be driving wheels or driven wheels. The driving wheel is electrically connected with the battery assembly 3, so that the driving wheel can rotate to drive the folding frame 11 to move.

Referring to fig. 8, the battery assembly 3 includes a fixing frame 31 and a battery module 32, the fixing frame 31 is fixedly mounted with the folding chassis 11, and the battery module 32 is fixedly mounted with the fixing frame 31. The battery module 32 is preferably detachably mounted on the fixing frame 31, so as to facilitate the charging operation of the battery module 32. Referring to fig. 9, the battery module 32 includes a housing 320, a control panel 321 and a battery cell 322, the battery cell 322 is mounted inside the housing 320, the control panel 321 is mounted at the top of the housing 320, and the control panel 321 is electrically connected with the battery cell 322 to control the operation state of the battery module 32 and display the state of the battery module 32, for example, to control the on/off state of the battery module and display the electric quantity. The bottom of the shell 320 is further provided with a charging interface 323, and the charging interface 323 can be any interface in the prior art such as USB, type-C and the like.

Referring to fig. 9-11, a housing 320 of a battery module 32 is provided with a clamping groove 3201 extending along a height direction, a fixing frame 31 is provided with clamping blocks 311 arranged left and right in a matching manner with the clamping groove 3201, when the battery module 32 is assembled, the clamping groove 3201 and the clamping blocks 311 are opposite, and then the clamping blocks 311 of the battery module 32 are clamped into the clamping groove 3201 from top to bottom, so that the battery module 32 is fixedly assembled on the fixing frame 31. Preferably, the middle part of the clamping groove 3201 is further provided with a limiting groove 3202 recessed along the width direction of the clamping groove 3201, and the fixing frame 31 is provided with a limiting piece 312 matched with the limiting groove 3202. The limiting groove 3202 in the embodiment is a substantially circular groove structure, the limiting member 312 is a disc-shaped structure matched with the limiting groove 3202, and when the limiting member 312 is clamped into the limiting groove 3202, the movement of the battery module 32 in the up-down direction is limited, so as to prevent the release of the battery module 32 caused by jolt, vibration and other factors, and further ensure the stability of the assembly of the battery module 32 on the fixing frame 31.

Referring to fig. 9, the limiting member 312 is further fixedly connected with an extension rod 3121, and a first inclined surface 3122 is disposed at the end of the extension rod 3121, and the first inclined surface 3122 is disposed at the top of the end of the extension rod 3121 and is inclined from a direction approaching the limiting member 312 to a direction separating from the limiting member 312. The fixing frame 31 is further provided with a push rod 313, the push rod 313 is vertically arranged on the fixing frame 31, a second inclined plane 3131 matched with the first inclined plane 3122 on the extension rod 3121 is arranged at the bottom of the push rod 313, and when the push rod 313 is pushed in the opposite direction, the second inclined plane 3131 is matched with the first inclined plane 3122 to enable the extension rod 3121 to push the limiting piece 312 to move towards the battery module 32, and then the limiting piece 312 is clamped into the limiting groove 3202, so that limiting of the battery module 32 is achieved.

Referring to fig. 1, 12-14, the operating assembly 2 includes an operating lever 21 and a controller 22 fixedly mounted on the operating lever 21. The bottom end of the operation rod 21 is fixedly connected to the vehicle body 1, and the top of the operation rod 21 is a handle part. The controller 22 on the operating rod 21 is electrically connected with the battery assembly 3, and then the movement of the wheels 13 on the folding bicycle frame 11 is controlled by the controller 22, so that the purpose of driving the folding bicycle frame 11 by electric assistance is achieved.

Referring to fig. 12, the operation rod 21 includes a first rod 211 and a second rod 212, the second rod 212 is fixedly connected to the folding frame 11, and opposite ends of the first rod 211 and the second rod 212 are hinged and fixed by a hinge shaft 213, so that the first rod 211 can be folded and folded relative to the second rod 212, which can reduce the occupied space of the operation rod 21 and facilitate the carrying and storage of the electric-assisted camping car after folding. In this embodiment, referring to fig. 13, the unlocking device 214 is further included at the hinge of the first rod 211 and the second rod 212, the unlocking device 214 includes an unlocking button 2141 and a second elastic member 2142, the first rod 211 has a cavity for accommodating the unlocking button 2141, the unlocking button 2141 is disposed opposite to the hinge shaft 213, and includes a first portion located in the cavity and a second portion extending out of the cavity, and the second elastic member 2142 is fixedly installed in the cavity of the first rod 211 and generates a pushing force on the unlocking button 2141, and the pushing force pushes the second portion of the unlocking button 2141 out of the cavity. The cavity and the first part of the unlocking button are provided with step structures which are arranged in a matching manner, when the unlocking is needed, the second part of the unlocking button 2141 is pressed, the first part of the unlocking button 2141 is separated from the step structure of the cavity, at this time, the unlocking button 2141 cannot block the rotation between the first rod body 211 and the second rod body 212, and the first rod body 211 can be folded relative to the second rod body 212. Similarly, in a natural state where the unlock button 2141 is not acted by an external force, the first portion of the unlock button 2141 is located in the step structure of the cavity, and at this time, the unlock button 2141 blocks the rotation of the first rod 211 relative to the second rod 212, so that the first rod 211 is maintained in an unfolded or folded state relative to the second rod 212.

Preferably, a positioning means may be further provided at the hinge of the first rod body 211 and the second rod body 212 to define an angle at which the first rod body 211 is rotatably unfolded with respect to the second rod body 212. For example, a bead screw is fixedly installed on the first rod body 211, and a groove matched with the bead screw is formed in the second rod body 212, when the first rod body 211 rotates to a set position, a steel ball of the bead screw is clamped into the groove of the second rod body 212, so that the first rod body 211 and the second rod body 212 are limited relatively, and damage between the first rod body 211 and the second rod body 212 caused by overlarge rotation angle is avoided.

Referring to fig. 14, the controller 22 includes a control button 221 and a control circuit 222, and the control button 221 is electrically connected to the battery assembly 3 through the control circuit 222 to control movement of the wheels 13 on the folding chassis 11, for example, to control forward, backward, etc. movements of the folding chassis 11. The control circuit 222 is installed in the first rod body 211, and the control button 221 is installed at the top of the first rod body 211, so that an operator can conveniently operate the control button 221 when pushing or pulling the electric power assisted camping car. In this embodiment, a control button 221 is respectively disposed on the left and right sides of the first rod 211, so as to facilitate people with different handedness to operate the control button 221 conveniently.

Preferably, the first rod 211 and the second rod 212 are hollow rods, and the control circuit 222 is electrically connected with the battery assembly 3 through the lead 215, and most of the lead 215 is positioned in the first rod 211 and the second rod 212 except the hinge part of the first rod 211 and the second rod 212, so that not only can the lead be protected, but also the aesthetic property of the electric-assisted camping car is improved.

Referring to fig. 15, the electric power assisted camping car further comprises a control sensing assembly 4, wherein the control sensing assembly 4 can judge the operation intention of an operator according to the action applied by the operator to the operation rod 21, so that the electric power assisted camping car can perform corresponding actions such as forward and backward. The control sensor assembly 4 includes a fixed block 41, a connecting shaft 42, and a sensor 43, wherein the fixed block 41 is fixedly mounted on the vehicle body 1, the connecting shaft 42 is fixedly mounted on the fixed block 41, and the operating lever 21 is fixedly connected with the connecting shaft 42, and the sensor 43 is mounted on the fixed block 41. When a force is applied to the operation rod 21, the operation rod 21 transmits the force to the fixed block 41 through the connecting shaft 42, so that the fixed block 41 deforms in a direction corresponding to the applied force, and the sensor 43 on the fixed block 41 can detect the deformation of the fixed block 41, so as to generate a corresponding signal and send the signal to the control circuit 222, thereby enabling the control circuit 222 to control the wheel 13 to perform corresponding movement. In the present embodiment, the fixing block 41 is a rectangular block-shaped body, and the connecting shaft 42 penetrates the fixing block 41 from the width direction of the fixing block 41. Of course, the connecting shaft 42 may have one end fixed to the fixed block 41 and the other end extending to the outside of the fixed block 41 to be connected to the operation lever 21.

The top and bottom surfaces of the fixed block 41 are provided with rectangular grooves 411, the sensor 43 is a strain gauge, the strain gauge is fixedly arranged in the groove 411 of the fixed block 41, and when the fixed block 41 deforms, the strain gauge also transmits corresponding deformation, so that corresponding signals are generated. Likewise, other sensors that can detect the deformation of the fixed mass 41 can be applied to this, for example weighing sensors.

For example, when the lever 21 is pulled forward, the lever generates a force obliquely upward to the fixed block 41, and the force deforms the fixed block 41 to extend toward the lever 21, so that the strain gauges on the top and bottom surfaces of the fixed block 41 are deformed to extend toward the lever 21, and the generated signals are sent to the control circuit 222, which can determine the forward pulling operation by the operator, thereby driving the wheels 13 to move forward and realizing the forward movement of the vehicle body.

Similarly, when the operation lever 21 is pushed backward, it generates a downward force on the fixed block 41, and the force causes the fixed block 41 to deform downward, so that the strain gauges on the top and bottom surfaces of the fixed block 41 deform downward, and the generated signals are sent to the control circuit 222, which can determine the operation of pushing backward by the operator, so as to drive the wheel 13 to move backward or travel at a preset speed, specifically, when traveling on a flat road, the control circuit drives the wheel 13 to move backward after determining the operation of pushing backward by the operator; when the vehicle runs on a flat road or a downhill, the control circuit controls the wheels 13 to run at a preset speed after judging the backward operation of the operator, so as to realize speed control and avoid the wheels 13 from colliding with the operator during the downhill.

Further, the sensors 43 may be fixedly attached to both sides in the width direction of the fixing block 41, and the deformation of the fixing block 41 in the width direction may be detected by the sensors on the sides in the width direction, thereby determining the operations of the left turn and the right turn.

In one possible implementation manner, the movement state of the electric booster bikes can also be controlled by the mobile terminal, and the control command can be sent by a bluetooth module of the mobile terminal or by a base station of an operator (the user issues a command in a characteristic application program of the mobile terminal, and the command is sent to the electric booster bikes through the base station of the operator). The electric booster camping car can calculate specific working states (including booster direction, running speed, booster power and the like) according to control instructions of the mobile terminal. Further, the mobile terminal may also remotely control the electric camping car to perform a solid state update when the mobile terminal communicates with the electric camping car through a particular application. The mobile terminal may also be referred to as a User Equipment (UE). It may be deployed on land, including indoors or outdoors, hand held, wearable or vehicle mounted. It may also be referred to as a user terminal, terminal device, access terminal device, vehicle terminal, UE unit, UE station, mobile station, remote terminal device, mobile device, UE terminal device, mobile terminal, wireless communication device, UE agent, UE apparatus, or the like. The terminal may be fixed or mobile, etc. The specific form of the mobile phone can be a mobile phone (mobile phone), a tablet personal computer (Pad), a smart watch, a computer with a wireless receiving and transmitting function, a vehicle-mounted terminal device, a wireless terminal in a smart home (smart home), a wearable terminal device and the like. The operating system of the terminal device at the PC end, such as an all-in-one machine, may include, but is not limited to, linux system, unix system, windows series system (such as Windows xp, windows 7, etc.), mac OS X system (operating system of apple computer), etc. The operating system of the terminal device of the mobile terminal, such as a smart phone, may include, but is not limited to, an android system, an IOS (operating system of an apple phone), a Window system, and other operating systems. Which is an entity on the user side for receiving signals or transmitting signals.

The method for controlling the movement of the camping car based on the intelligent handle according to the embodiment of the application is described in detail below with reference to fig. 16. It should be noted that the camping car described below may be the electric power-assisted camping car described in fig. 1 to 15.

Referring to fig. 16, a flow chart of a method for controlling movement of a camping car based on an intelligent handle according to an embodiment of the present application may include the following steps:

it should be noted that, in the embodiment of the present application, the station positions of the user and the camping car are: the user is in front of the camper drawbar (or handle), and during downhill descent, the user's altitude is lower than that of the camper; during uphill, the user's altitude is higher than for camping vehicles. More specifically, the embodiment of the application further provides a positive driving state and a negative driving state of the motor, wherein the positive driving state of the motor is used for providing assistance to the camping vehicle in the same direction as the pulling force applied to the handle of the camping vehicle, and the negative driving state of the motor is used for providing assistance to the camping vehicle in the same direction as the pushing force applied to the handle of the camping vehicle. Specifically, the direction of the pulling force is directed by the camper to the user, and the direction of the pushing force is directed by the user to the camper. The method of the embodiment of the application is described by the station mode, only for explaining the method of the embodiment of the application in more detail and avoiding understanding ambiguity, and the application should not be limited.

S501, determining the current working state of the safety switch.

It should be noted that the working states may include an on state and an off state, and the safety switch refers to a switch on a handle system of the camping car, and the handle is used for towing the camping car.

S502, when the safety switch is in the current on state and the reversing switch of the camping car is in the off state, collecting acting force information of a user for pulling the camping car, the inclination angle of the camping car relative to the horizontal plane and the running speed of the camping car.

It should be noted that the force information may include the magnitude and direction of the force. More specifically, the force information may be measured by a force sensor configured with a camper, the tilt angle of the camper relative to the horizontal may be measured by a gyroscope configured with the camper, and the speed at which the camper is traveling may be measured by a speed sensor configured with the camper.

And S503, if the inclination angle is detected to be smaller than or equal to the first angle and the acting force information is zero, controlling a motor of a wheel of the camping car to execute braking operation so that the camping car is kept stationary.

Specifically, if the camping car is in a downhill state due to the action force (pushing force or pulling force) of a user, negative driving force (namely, assistance force opposite to the moving direction of the camping car) is required to be provided for the camping car to help the camping car slowly descend the hill, so that the situation that the camping car turns over due to the fact that the descending speed of the camping car is too high is prevented, and the personal and property safety of the user is guaranteed; if the camper is not subjected to the user's force (pushing or pulling), in a stationary state, it is necessary to control the motor of the wheels of the camper to perform a braking operation so that the camper remains stationary. For example, if the first angle is-6 degrees, the detected inclination angle is-7 degrees, and the magnitude of the acting force corresponding to the acting force information of the camping car is detected to be 0N, a motor of a wheel of the camping car is controlled to perform braking operation so that the camping car is kept stationary, the camping car is prevented from sliding downwards, and safety of articles in the camping car is guaranteed.

Possibly, when the camper is on a downhill slope, due to excessive grade and/or excessive weight of the loaded object, the motor may be controlled to provide resistance to the camper with a suitable power (i.e. the direction of assistance is opposite to the direction of movement of the camper), thereby bringing the camper to a stationary or slowly sliding state on the slope. When the motor can provide the camping vehicle with resistance greater than the sliding force actually received by the camping vehicle (the sliding force is opposite to the direction of the resistance), the camping vehicle can be stationary on the slope; when the motor cannot provide the camping car with a resistance greater than the sliding force actually received by the camping car (the sliding force is related to the direction of the resistance), the camping car can be in a slowly sliding state. The slow sliding down can be uniform sliding down or accelerating sliding down, and if the motor works with maximum power, the resistance provided for the camping vehicle is opposite to the sliding down force actually received by the camping vehicle in the same direction, the camping vehicle can be in a uniform sliding down state; if the motor is operated at maximum power, the resistance provided to the camper is less than the slip force actually experienced by the camper (opposite direction), the camper will be in an accelerated slip condition (but with an acceleration less than the acceleration of the camper when it is not providing resistance to the motor). The camper may be stopped from moving (at rest) when it is slowly slid down to a flat or less sloped surface (or the weight of the object it is carrying becomes small) until the motor is able to provide sufficient resistance to the camper.

Further, when the motor can provide the resistance (the direction of the sliding force is opposite to that of the sliding force) larger than the sliding force actually received by the camping vehicle for the camping vehicle, but the residual electric quantity of the motor is smaller than or equal to the preset electric quantity, the camping vehicle can be in a slowly descending state (namely, less resistance is provided, the consumption of the electric quantity of the motor is facilitated to be slowed down, the working time of the motor is prolonged) until the camping vehicle runs on a plane or a road surface with a smaller gradient (or the weight of an object loaded by the camping vehicle is reduced), and then the motor is controlled to provide proper resistance for the camping vehicle, so that the camping vehicle stops moving (is in a static state) until the electric quantity of the motor is exhausted.

And S504, if the inclination angle is detected to be smaller than or equal to the first angle, the acting force information is thrust with a force larger than a first preset force, and the speed of the camping car is smaller than or equal to a preset speed, controlling the motor to execute a first power-assisted operation according to the thrust so as to realize a first steep descent control operation.

It should be noted that, the direction of the pushing force is the direction of the camping car pointed by the user, and the first preset force represents the minimum force when the camping car is used normally.

For example, if the first preset force is 10N, and it is considered that when the user normally uses the camping car, the tension values are all greater than the first preset force, and when the force value corresponding to the force information collected by the pressure sensor is less than 10N, the user may be considered to mistakenly touch the pull rod of the camping car, so that the motor of the camping car may be controlled to be in a standby state without providing assistance for the user, the standby state may refer to a state in which the motor is powered but not working, the non-working state may refer to a state in which the motor does not provide power or resistance for the camping car, the direction of the power is the same as the running direction of the camping car, and the direction of the resistance is opposite to the running direction of the camping car.

Possibly, the first angle is-6 degrees, the detected inclination angle is-10 degrees, the first preset force is 10N, the detected acting force information is the thrust of 100N, the preset speed is 6km/h and the detected speed is 5km/h, and in this case, the camping car can be considered to move downwards on a large-angle slope, assistance opposite to the moving direction is needed to be provided for the camping car, the camping car is helped to descend at a slower speed, and therefore the moving burden of a user is lightened. It is understood that the first assist operation is a negative drive operation, i.e., the motor is controlled to be in a negative drive state.

And S505, if the inclination angle is detected to be smaller than or equal to the first angle, the acting force information is a pulling force larger than the first preset force, and the speed of the camping car is detected to be smaller than or equal to the preset speed, controlling the motor to execute a second power-assisted operation according to the pulling force so as to realize a second steep descent control operation.

The direction of the tensile force is directed to the user by the camping car.

The first angle is set to be-6 degrees, the detected inclination angle is set to be-10 degrees, the first preset force is set to be 10N, the detected acting force information is set to be 100N tension, the preset speed is set to be 6km/h, and the detected speed is set to be 5km/h, under the condition, the user can be considered to drag the camping car to rapidly move down on a large-angle slope, the danger coefficient is too high, accidents such as car turning and the like are easy to occur, assistance opposite to the moving direction is needed to be provided for the user, the purpose of realizing abrupt slope descent of the camping car is achieved, and safety guarantee is provided for the user. It is understood that the second assist operation is a negative drive operation, i.e., the motor is controlled to be in a negative drive state.

And if the speed of the camping car is detected to be greater than the preset speed, controlling the motor to stand by.

The first angle is set to be-6 degrees, the second angle is set to be 6 degrees, the first preset force is set to be 10N, the second preset force is set to be 200N and the preset speed is set to be 6km/h, if the detected inclination angle is set to be 0 degrees, the acting force information is set to be 100N tensile force and the speed is set to be 5km/h, the user can be considered to be a normally-pulled camping car on a flat ground, the camping car belongs to a general pulling scene, positive driving assistance (such as 1000W) with moderate power can be provided for the user, the pulling force of the user can be reduced, the user can pull the camping car more easily, and the use experience of the user is improved; if the detected inclination angle is 0 °, the acting force information is a pulling force of 260N and the speed is 3km/h, it can be considered that the user is pulling a heavier (or more) object, and it is necessary to provide the user with a positive driving assisting operation (or assisting operation with a higher assisting weight) than the third assisting operation (e.g., 2200W), so as to reduce the carrying burden of the user; if the detected inclination angle is 7 degrees, the acting force information is a pulling force of 100N and the speed is 4km/h, the user can be considered to pull the camping car on a road surface with a larger gradient, and positive driving power assisting operation (or power assisting operation with high power assisting weight) (such as 2200W) with higher power than the third power assisting operation is required to be provided for the user, so that the carrying burden of the user is reduced; if the detected inclination angle is 8 degrees, the acting force information is 220N pulling force and the speed is 3km/h, the user can be considered to pull a heavier object on a road surface with a larger gradient, and the user needs to provide power assisting operation (or power assisting operation with high power assisting weight) with power higher than that of the fourth power assisting operation (such as 3500W), so that the user can be helped to carry heavy objects on the road surface with a larger gradient more easily, and the carrying burden of the user is lightened. It can be seen that the third assist operation, the fourth assist operation, and the fifth assist operation are all positive drive operations.

More specifically, the preset speed is set to be 6km/h, when the detected speed is greater than 6km/h, the user can be considered to pull the camping car at a higher speed, and the user can be considered that the articles currently loaded on the camping car are too few and too light, so that assistance is not required to be provided for the user, unnecessary energy waste is reduced, and the cruising performance of the camping car is improved.

Optionally, the embodiment of the application can also adopt a power adjustment mode of 'the working power of the positive driving state increases along with the increase of the acting force applied by the camping car', namely, the power of the positive driving state of the motor is flexibly adjusted according to the changing acting force according to a specific 'acting force-power' direct proportional function. By way of example, assuming that the "force-power" function is f (x) =10x, (x+.0), the positive drive power of the motor can be adjusted to 500W when the camping car is subjected to a force of 50N; when the acting force applied to the camping car is 130N, the positive driving power of the motor can be adjusted to 1300W; when the camping car is subjected to a force of 300N, the positive driving power of the motor can be adjusted to 30000W.

Possibly, if the speed of the camping car is detected to be greater than the preset speed and the camping car is in a downhill state, the motor needs to be started to control the camping car to move at a slow descent speed. It should be noted that the slow-down speed may be the same as the preset speed or different from the preset speed, and the specific numerical value is set by the technician according to the actual situation, which is not limited herein. By way of example, assuming that the detected speed of the camping car is 7km/h (the preset speed is 6 km/h), the detected inclination angle of the camping car is-8 ° (the first angle is-6 °) and the slow-descent speed is 4km/h, the camping car can be considered to be in a dangerous state (the falling speed is too fast to easily cause the camping car to roll over, and the life and property safety of a user can be threatened), the motor can be controlled to be in a negative driving state, resistance is provided for the camping car, the camping car slowly slides down at 4km/h, and the safety of the user using the camping car can be improved.

It will be appreciated that the force is rated higher than the speed. For example, if the detected speed is 7km/h (the preset speed is set to be 6 km/h), and the acting force value corresponding to the acting force information collected by the force sensor is 9N (the first preset force is set to be 10N), the motor can be controlled to be in a standby state, and the assistance is not required to be provided for the user; if the detected acting force information corresponds to an acting force value of 220N (the first preset force is set to be 10N, the second preset force is set to be 200N), the detected inclination angle is 0 degree (the first angle is set to be-6 degrees, the second angle is set to be 6 degrees) and the detected speed is 7km/h, the fact that although the running speed of the camping car is faster, the pulling force of a user is too large, the user can be considered to have difficulty in pulling, the motor can be controlled to execute fourth power-assisted operation, power assistance which is the same as the running direction of the camping car is provided for the camping car, and the burden of pulling the camping car by the user is lightened; if the detected acting force information corresponds to an acting force value of 220N (the first preset force is set to be 10N, the second preset force is set to be 200N), the detected inclination angle is 5 degrees (the first angle is set to be-6 degrees, the second angle is set to be 6 degrees) and the detected speed is 7km/h, the fact that although the running speed of the camping car is faster, the pulling force of a user is overlarge and the camping car is in an uphill state can be seen, a motor can be controlled to execute a fifth power-assisted operation, power assistance which is the same as the running direction of the camping car is provided for the camping car, and the burden of pulling the camping car by the user is lightened; if the detected acting force information corresponds to an acting force value of 220N (the first preset force is set to be 10N, the second preset force is set to be 200N), the detected inclination angle is-7 degrees (the first angle is set to be-6 degrees, the second angle is set to be 6 degrees), and the detected speed is 7km/h, the situation that the camping vehicle is driven at the slope downwards at too high speed although the pulling force of the user is too high can be seen, the user can be considered to pull the camping vehicle at present, the motor can be controlled to execute the fourth power assisting operation, the resistance opposite to the driving direction of the camping vehicle is provided for the camping vehicle, the camping vehicle can be driven at a slow speed, and the safety of the user using the camping vehicle is improved.

For example, when the safety switch is currently in an on state and the reverse switch of the camping car is in a trigger state, the motor can be controlled to output proper power so that the camping car can move at a specific speed. Specifically, when the camping car loads heavier objects, the output power of the motor is higher; the higher the gradient of the road surface on which the camping car runs, the higher the power output by the motor. For example, when the camper triggers a back button in an uphill state (where an uphill state may refer to a detected camper inclination angle being greater than a second angle, subject to a user's pulling force), the motor may provide an effort to the camper directed in a direction "by the user to the camper" to assist the camper in moving down at a specific speed, helping to ensure the safety of the camper in sliding down; when the camping car triggers a reversing button in a downhill state (the downhill state can mean that the detected camping car inclination angle is smaller than a first angle and is pulled by a user), the motor can provide acting force in the direction of 'pointing to the user by the camping car' for the camping car, the camping car is helped to move upwards at a specific speed, the operation difficulty of the user is reduced, and the user with a changeable phase is helped to realize ascending.

if yes, generating a control method according to the power-assisted operation of the motor at the first moment;

if not, the motor is controlled to keep in a standby state.

In another possible embodiment, if the determination is yes, the generating a control method according to the power assisting operation of the motor at the first moment may include the following steps:

determining a first power assisting direction of the motor at a first moment;

determining a direction opposite to the first assist direction as a second assist direction;

calculating the power assisting power according to the weight of the articles in the camping car;

and generating a control method according to the second assistance direction and the assistance power, and controlling the motor to execute a parking operation according to the control method.

The preset time period is set to be 5 milliseconds before the first time point, if the motor still executes positive driving operation within 5 milliseconds before the user releases the safety switch and the weight of the article is 10kg, the first assistance direction is pointed by the camping car to the user, the second assistance direction can be determined to be pointed by the user to the camping car, the calculated assistance power can be 2000W, in sum, the motor can be controlled to execute negative driving operation with the power of 2000W, and the motor is controlled to output negative torque; if the motor is still executing the positive driving operation within 5 milliseconds before the user releases the safety switch and the weight of the object is 10kg, the first assistance direction is pointed by the user to the camping car, the second assistance direction can be determined to be pointed by the camping car to the user, the calculated assistance power can be 2000W, and in sum, the motor can be controlled to execute the positive driving operation with the power of 2000W, and the motor is controlled to output positive torque. The adjustment of the working state of the motor is beneficial to accelerating the camping vehicle to enter a static state, preventing the camping vehicle from sliding due to inertia after a user leaves hands, and further providing a guarantee for the safety of the camping vehicle and articles in the vehicle.

More specifically, the method of the embodiment of the application can also directly generate the control method according to the running speed and the running direction of the camping car, and the specific steps are as follows:

determining the running direction of the motor at a first moment;

determining a direction opposite to the traveling direction as a boosting direction;

calculating the power assisting power according to the running speed (or acceleration) of the camping car at the first moment;

and controlling the motor to execute a stopping operation according to the power assisting direction and the power assisting power generation control method.

By way of example, assuming that the traveling direction of the camping car at the first moment is 'pointed to the camping car by the user', and the (instantaneous) traveling speed is 3km/h, the power assisting direction can be determined to be 'pointed to the user by the camping car', the calculated power assisting power can be 2000W, in summary, the motor can be controlled to execute positive driving operation with the power of 2000W, and the motor is controlled to output positive torque; assuming that the traveling direction of the camping car at the first moment point of time is 'pointed to the user by the camping car', and the (instantaneous) traveling speed is 3km/h, the power assisting direction can be determined to be 'pointed to the camping car by the user', the calculated power assisting power can be 2000W, and in sum, the motor can be controlled to execute negative driving operation with the power of 2000W, and the motor is controlled to output negative torque. The adjustment of the working state of the motor is beneficial to accelerating the camping vehicle to enter a static state, preventing the camping vehicle from sliding due to inertia after a user leaves hands, and further providing a guarantee for the safety of the camping vehicle and articles in the vehicle.

In another possible embodiment, determining the first direction of assistance of the electric machine at the first point in time may comprise the steps of:

and if the first boosting direction does not exist, controlling the motor to keep in a standby state.

For example, if the motor is in a stationary state (the motor is in a standby state) before the timing at which the safety switch is released, the standby state of the motor is continued.

More specifically, the method of the embodiment of the application can also control the working mode of the motor by detecting the rugged degree of the running road surface of the camping vehicle (such as infrared detection road surface, vibration detection and the like) through the working assembly and integrating the acting force direction (the force acting on the pull rod) of the user and the resistance and the direction of the camping vehicle. By way of example, when a user receives resistance opposite to the running direction (the user is set to pull the camping car) on the running road surface, the method of the embodiment of the application can intelligently adjust the power of the motor in the positive driving state according to the resistance, and the larger the received resistance is, the larger the power of the motor in the positive driving state can be adjusted; when a user runs on a downhill road, the user also receives the thrust of strong wind with the same running direction, so that the power of the negative driving state of the motor can be increased, the camping car is prevented from sliding off too fast, and the personal and property safety of the user is protected.

It should be noted that the foregoing examples of the angle (the first angle, the second angle, and the detected inclination angle), the force information (the first preset force, the second preset force, and the detected force information), the speed (the preset speed and the detected speed), and the related power levels are only for describing the method of the embodiment of the present application in more detail, and should not be construed as limiting the present application.

It can be seen that the embodiment of the application can determine the current running condition of the camping car according to different factors (such as the running gradient and speed of the camping car, acting force received by the camping car and the like), and properly adjust the working mode of the motor, so that a user can be helped to carry objects more conveniently, and the use experience of the user is improved. Specifically, the method provided by the embodiment of the application can intelligently adjust the working state of the motor according to the acting force of the user on the camping car, is beneficial to reducing the difficulty of pulling the camping car by the user and improves the use experience of the user. More, the embodiment of the application can select different driving modes according to different driving gradients of the camping vehicle, and can provide the assistance opposite to the driving direction for a downhill scene, thereby being beneficial to realizing the steep slope descent control function; aiming at an ascending scene, the method of the embodiment of the application can provide high-power assistance, and is beneficial to reducing the burden of a user for pulling the camping car.

The following describes an apparatus according to an embodiment of the present application with reference to the drawings.

Referring to fig. 17, a schematic diagram of a device for controlling movement of a camping car based on an intelligent handle according to an embodiment of the present application may include: a calculation module 610, a collection module 620, and a control module 630;

the computing module 610 may be configured to determine a current operating state of a safety switch, the operating state including an on state and an off state, the safety switch being a switch on a handle system of the camping car, the handle being configured to pull the camping car;

the collection module 620 may be configured to collect, when the safety switch is currently in an on state and the reversing switch of the camping car is in an off state, information of an acting force for a user to pull the camping car, an inclination angle of the camping car relative to a horizontal plane, and a speed of running of the camping car, where the information of the acting force includes a magnitude and a direction of the acting force;

a control module 630 for controlling the motor of the wheels of the camping car to perform a braking operation to keep the camping car stationary when the inclination angle is detected to be less than or equal to the first angle and the force information is zero;

the control module 630 is further configured to, when the inclination angle is less than or equal to the first angle, the acting force information is a thrust force greater than a first preset force, and the speed of the camping car is less than or equal to a preset speed, control the motor according to the thrust force to perform a first power-assisted operation to implement a first steep slope descent operation, where the direction of the thrust force is directed to the camping car by the user, and the first preset force represents a minimum force when the camping car is normally used;

The control module 630 may be further configured to, when the inclination angle is detected to be less than or equal to the first angle, the acting force information is a pulling force greater than a first preset force, and the speed of the camping car is less than or equal to a preset speed, control the motor according to the pulling force to perform a second power-assisted operation to implement a second abrupt slope descent control operation, where the pulling force is directed by the camping car to the user.

In one possible embodiment, the apparatus may further include:

the control module 630 is further configured to, when detecting that the inclination angle is greater than the first angle and less than or equal to the second angle, the acting force information is a pulling force greater than a first preset force, and the speed of the camping car is less than or equal to a preset speed, control the motor to perform a third power-assisting operation according to the pulling force to realize speed control and simultaneously reduce the pulling force of the user;

the control module 630 is further configured to, when the inclination angle is detected to be greater than the first angle and less than or equal to the second angle, the acting force information is a pulling force greater than a second preset force, and the speed of the camping car is less than or equal to a preset speed, perform a fourth power-assisted operation according to the pulling force control motor to achieve speed control while reducing the pulling force of the user, where a power-assisted weight coefficient in the third power-assisted operation is less than a power-assisted weight coefficient in the fourth power-assisted operation;

The control module 630 is further configured to, when detecting that the inclination angle is greater than the second angle, the acting force information is a pulling force greater than the first preset force and less than the pulling force of the second preset force, and the speed of the camping car is less than or equal to the preset speed, perform a fourth power-assisted operation according to the pulling force control motor to achieve speed control and reduce the pulling force of the user at the same time;

the control module 630 is further configured to, when the inclination angle is detected to be greater than the second angle, the acting force information is a pulling force greater than a second preset force, and the speed of the camping car is less than or equal to a preset speed, control the motor according to the pulling force to perform a fifth assistance operation to control the speed and reduce the pulling force of the user, where a assistance weight coefficient in the fifth assistance operation is greater than a assistance weight coefficient in the fourth assistance operation;

the control module 630 may be further configured to control the motor to stand by when it is detected that the speed of the camping car is greater than the preset speed, where the stand-by may refer to a state where the motor is powered on but not working, and the non-working state may refer to that the motor does not provide power or resistance for the camping car, where a direction of the power is the same as a running direction of the camping car, and a direction of the resistance is opposite to the running direction of the camping car.

In another possible embodiment, the apparatus may further include:

the control module 630 is further configured to control the motor to stand by when detecting that the speed of the camping car is greater than a preset speed and the acting force information is acting force smaller than a second preset force;

the control module 630 may be further configured to control the motor to perform a fourth assist operation or a fifth assist operation when it is detected that the speed of the camping car is greater than the preset speed and the force information is a force greater than a second preset force.

In another possible embodiment, the apparatus may further include:

the collection module 620 may be further configured to collect load information of the camping car, where the load information may be a weight of an object loaded in the camping car;

the calculation module 610 may be further configured to determine a sixth power-assisted operation according to the load information when the safety switch is currently in an on state and the reversing switch of the camping car is in a triggered state;

the control module 630 may be further configured to control the motor to perform a sixth power-assisted operation to achieve automatic reversing, where a reversing direction is consistent with a direction of the thrust. In another possible embodiment, the apparatus may further include: a judgment module 640;

The judging module 640 may be configured to, when the safety switch is currently in an off state, judge whether the safety switch is in an on state within a preset time period, where the preset time period is before a first time point, and the first time point is a time point when the safety switch is switched to the off state;

the calculation module 610 may be further configured to generate a control method according to a power-assisted operation of the motor at the first time point when the safety switch is in the on state in the preset time period;

the control module 630 may be further configured to control the motor to continue to maintain the standby state when the safety switch is not in the on state within a preset period of time.

In another possible embodiment, the apparatus may further include:

the calculation module 610 may be further configured to determine a first assist direction of the motor at a first time point;

the calculating module 610 may be further configured to determine a direction opposite to the first assist direction as a second assist direction;

the calculation module 610 is further configured to calculate a boosting power according to the weight of the articles in the camping car;

the control module 630 may be further configured to generate a control method according to the second assist direction and the assist power, and control the motor to perform a parking operation according to the control method.

In another possible embodiment, the apparatus may further include:

the control module 630 may be further configured to control the motor to continue to maintain the standby state when the first assist direction is not present.

Referring to fig. 18, a schematic diagram of another device for controlling movement of a camping car based on an intelligent handle according to an embodiment of the present application may include:

processor 710, memory 720, and I/O interface 730. The processor 710, the memory 720 and the I/O interface 730 are communicatively coupled, the memory 720 being configured to store instructions, and the processor 710 being configured to execute the instructions stored by the memory 720 to implement the method steps corresponding to fig. 16 as described above.

Processor 710 is configured to execute instructions stored in memory 720 to control I/O interface 730 to receive and transmit signals, thereby performing the steps of the method described above. The memory 720 may be integrated into the processor 710 or may be provided separately from the processor 710.

Memory 720 may also include a storage system 721, a cache 722, and RAM723. Wherein the cache 722 is a primary memory present between the RAM723 and the CPU, consisting of static memory chips (SRAM), with smaller capacity but much higher speed than main memory, approaching the speed of the CPU; RAM723 is an internal memory that exchanges data directly with the CPU, can be read and written at any time (except when refreshed), and is fast, typically as a temporary data storage medium for an operating system or other program in operation. The three combine to implement the memory 720 function.

As one implementation, the functionality of I/O interface 730 may be considered to be implemented by a transceiver circuit or a dedicated chip for transceiving. Processor 710 may be considered to be implemented by a dedicated processing chip, a processing circuit, a processor, or a general-purpose chip.

As another implementation, a manner of using a general purpose computer may be considered to implement the apparatus provided by the embodiments of the present application. I.e., program code that implements the functionality of processor 710, i/O interface 730 is stored in memory 720 and a general purpose processor implements the functionality of processor 710, i/O interface 730 by executing code in memory 720.

The concepts related to the technical solutions provided by the embodiments of the present application, explanation and detailed description of the concepts related to the embodiments of the present application and other steps refer to the foregoing methods or descriptions of the contents of the method steps performed by the apparatus in other embodiments, which are not repeated herein.

As another implementation of this embodiment, a computer-readable storage medium is provided, on which instructions are stored, which when executed perform the method in the method embodiment described above.

As another implementation of this embodiment, a computer program product is provided that contains instructions that, when executed, perform the method of the method embodiment described above.

Those skilled in the art will appreciate that only one memory and processor is shown in fig. 18 for ease of illustration. In an actual terminal or server, there may be multiple processors and memories. The memory may also be referred to as a storage medium or storage device, etc., and embodiments of the present application are not limited in this respect.

It should be appreciated that in embodiments of the present application, the processor may be a central processing unit (Central Processing Unit, CPU for short), other general purpose processor, digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Progracmable Gate Array, FPGA for short) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.

It should also be understood that the memory referred to in embodiments of the present application may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable ROM (Electrically EPROM, EEPROM), or a flash Memory. The volatile memory may be a random access memory (Random Access Memory, RAM for short) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (Direct Rambus RAM, DR RAM).

Note that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, the memory (storage module) is integrated into the processor.

It should be noted that the memory described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

The bus may include a power bus, a control bus, a status signal bus, and the like in addition to the data bus. But for clarity of illustration, the various buses are labeled as buses in the figures.

It should also be understood that the first, second, third, fourth and various numerical numbers referred to herein are merely descriptive convenience and are not intended to limit the scope of the application.

It should be understood that the term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in the processor for execution. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method. To avoid repetition, a detailed description is not provided herein.

In various embodiments of the present application, the sequence number of each process does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Those of ordinary skill in the art will appreciate that the various illustrative logical blocks (illustrative logical block, abbreviated ILBs) and steps described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), etc.

Embodiments of the present application also provide a computer storage medium storing a computer program for execution by a processor to perform part or all of the steps of any one of the intelligent handgrip-based methods of controlling camping car movement as described in the method embodiments above.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform part or all of the steps of any one of the methods of controlling camping car movement based on a smart grip as described in the method embodiments above.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for controlling movement of a camper based on an intelligent handle, the method comprising the steps of:

Determining the current working state of a safety switch, wherein the working state comprises an on state and an off state, the safety switch is a switch on a handle system of a camping car, and the handle is used for towing the camping car;

when the safety switch is in an on state and the reversing switch of the camping car is in an off state, collecting acting force information of a user for pulling the camping car, an inclination angle of the camping car relative to a horizontal plane and a running speed of the camping car, wherein the acting force information comprises the size and the direction of acting force;

if the inclination angle is detected to be smaller than or equal to a first angle and the acting force information is zero, controlling a motor of a wheel of the camping car to execute braking operation so that the camping car is kept stationary;

if the inclination angle is detected to be smaller than or equal to the first angle, the acting force information is thrust larger than a first preset force, and the speed of the camping car is detected to be smaller than or equal to a preset speed, controlling the motor to execute a first power-assisted operation according to the thrust so as to realize a first steep descent operation, wherein the direction of the thrust is the direction from the user to the camping car, and the first preset force represents the minimum force when the camping car is normally used;

If the inclination angle is detected to be smaller than or equal to the first angle, the acting force information is a pulling force larger than the first preset force, and the speed of the camping car is smaller than or equal to the preset speed, controlling the motor to execute a second power-assisted operation according to the pulling force so as to realize a second steep descent operation, wherein the direction of the pulling force is the direction from the camping car to the user.

2. The method according to claim 1, characterized in that the method further comprises the steps of:

if the inclination angle is detected to be larger than the first angle and smaller than or equal to the second angle, the acting force information is a pulling force larger than the first preset force, and the speed of the camping car is smaller than or equal to the preset speed, controlling the motor to execute a third power-assisted operation according to the pulling force so as to realize speed control and simultaneously reduce the pulling force of a user;

if the inclination angle is detected to be larger than the first angle and smaller than or equal to a second angle, the acting force information is a pulling force larger than a second preset force, and the speed of the camping car is smaller than or equal to the preset speed, controlling the motor to execute a fourth power-assisted operation according to the pulling force so as to realize speed control and reduce the pulling force of a user at the same time, wherein a power-assisted weight coefficient in the third power-assisted operation is smaller than a power-assisted weight coefficient in the fourth power-assisted operation;

If the inclination angle is detected to be larger than the second angle, the acting force information is larger than the first preset force and smaller than the second preset force, and the speed of the camping car is smaller than or equal to the preset speed, controlling the motor to execute a fourth power-assisted operation according to the tension so as to realize speed control and reduce the user tension at the same time;

if the inclination angle is detected to be larger than the second angle, the acting force information is a pulling force larger than the second preset force, and the speed of the camping car is smaller than or equal to the preset speed, controlling the motor to execute a fifth power-assisted operation according to the pulling force so as to realize speed control and simultaneously reduce the pulling force of a user, wherein a power-assisted weight coefficient in the fifth power-assisted operation is larger than a power-assisted weight coefficient in the fourth power-assisted operation;

and if the speed of the camping car is detected to be greater than the preset speed, controlling the motor to stand by, wherein the stand by refers to a state that the motor is electrified but does not work, the non-working state refers to a state that the motor does not provide power or resistance for the camping car, the direction of the power is the same as the running direction of the camping car, and the direction of the resistance is opposite to the running direction of the camping car.

3. The method according to claim 2, wherein the controlling the motor to stand by if the speed of the camping car is detected to be greater than the preset speed comprises the steps of:

4. The method according to claim 1 or 2, characterized in that the method further comprises the steps of:

when the safety switch is in an on state and the reversing switch of the camping car is in a triggering state, acquiring load information of the camping car, determining sixth power-assisted operation according to the load information, controlling the motor to execute the sixth power-assisted operation so as to realize automatic reversing, wherein the reversing direction is consistent with the pushing force direction, and the load information is the weight of an object loaded in the camping car.

5. The method of claim 4, further comprising, after said determining the current operating state of the safety switch, the steps of:

when the safety switch is currently in the off state, judging whether the safety switch is in the on state in a preset time period, wherein the preset time period is before a first time point, and the first time point is the time point when the safety switch is converted into the off state;

and if not, controlling the motor to keep the standby state.

6. The method according to claim 5, wherein if the determination is yes, generating a control method according to the power assisting operation of the motor at the first time point, comprising the steps of:

determining a first power assisting direction of the motor at the first moment;

and generating the control method according to the second assistance direction and the assistance power, and controlling the motor to execute a parking operation according to the control method.

7. The method of claim 6, wherein said determining a first direction of assistance for said motor at said first point in time comprises the steps of:

and if the first power assisting direction does not exist, controlling the motor to keep the standby state.

8. An apparatus for controlling movement of a camper based on an intelligent handle, the apparatus comprising: the device comprises a calculation module, an acquisition module and a control module;

the computing module is used for determining the current working state of a safety switch, wherein the working state comprises an on state and an off state, the safety switch is a switch on a handle system of the camping car, and the handle is used for pulling the camping car;

the acquisition module is used for acquiring acting force information of a user for pulling the camping car, the inclination angle of the camping car relative to the horizontal plane and the running speed of the camping car when the safety switch is in an on state and the reversing switch of the camping car is in an off state, wherein the acting force information comprises the size and the direction of acting force;

the control module is used for controlling a motor of a wheel of the camping car to execute braking operation so as to keep the camping car stationary when the inclination angle is detected to be smaller than or equal to a first angle and the acting force information is zero;

The control module is further used for controlling the motor to execute first power-assisted operation according to the thrust to realize first steep descent operation when the inclination angle is detected to be smaller than or equal to the first angle, the acting force information is thrust larger than a first preset force and the speed of the camping car is smaller than or equal to the preset speed, wherein the direction of the thrust is the minimum force directed to the camping car by the user when the camping car is normally used;

the control module is further used for controlling the motor to execute a second power-assisted operation according to the tension to realize a second abrupt slope descent operation when the inclination angle is detected to be smaller than or equal to the first angle, the acting force information is tension larger than the first preset force and the speed of the camping car is smaller than or equal to the preset speed, and the direction of the tension is that the camping car points to the user.

9. An intelligent handle-based device for controlling movement of a camper, comprising:

a processor, a memory and an I/O interface, the processor, the memory and the I/O interface being communicatively connected, wherein the memory is to store a set of program code, the processor to invoke the program code stored in the memory to perform the method of any of claims 1-7.

10. A computer storage medium, comprising:

the computer readable storage medium having instructions stored therein which, when run on a computer, implement the method of any of claims 1-7.