CN116954131B

CN116954131B - Intelligent control method and system for trolley

Info

Publication number: CN116954131B
Application number: CN202310959791.XA
Authority: CN
Inventors: 王世杰; 罗腾涵; 文璐; 沈嘉文; 毛榉
Original assignee: Chongqing Mingyuehu Intelligent Technology Development Co ltd
Current assignee: Chongqing Zhixing Future Technology Co ltd
Priority date: 2023-07-28
Filing date: 2023-07-28
Publication date: 2024-02-02
Anticipated expiration: 2043-07-28
Also published as: CN116954131A; CN117872931A

Abstract

The invention relates to the technical field of power-assisted carrying, in particular to an intelligent control method and system for a trolley. The method comprises the following steps: s100, acquiring user input information of the trolley and/or an actual running state of the trolley, and enabling the trolley to be in or converted into a corresponding functional state according to the user input information and/or the actual running state; s101, corresponding control condition information is collected according to the current functional state, and the running state of the cart is controlled according to the corresponding control condition. On one hand, the intelligent control method of the invention carries out intelligent decision according to the input of the user or the actual running state so as to provide corresponding function combinations aiming at different running environments and user requirements; meanwhile, the invention also provides a vehicle speed adjusting mode with auxiliary push rod adjustment and auxiliary pressure, so as to ensure flexible operability and running stability of the trolley.

Description

Intelligent control method and system for trolley

Technical Field

The invention relates to the technical field of power-assisted carrying, in particular to an intelligent control method and system for a trolley.

Background

In performing camping activities in the field, carts are one of the most common handling tools. Conventional carts are typically manually propelled to carry the load, and thus once the load is high, or the road topography is complex (e.g., rough road, steep road or many obstacles on the road), the pushing up can be very laborious. At present, in order to reduce the manpower burden, some intelligent carts capable of automatically assisting are also proposed on the market. However, these intelligent carts often suffer from poor operational flexibility, difficulty in quick control for beginners, and the like.

Existing carts typically employ a pressure governor mode, i.e., an active assist mode that adjusts the cart based on the pressure applied by the user to the handle. See, for example, application publication number CN110901713a, which discloses a motor-driven cart and a drive control system and method thereof. In order to accurately achieve cart assist, such pressure governor modes require continuous monitoring of the hand pressure of the user. In turn, this also requires the user to hold or pull the handle in a preset posture for a long time while the cart is traveling, otherwise the cart will not accurately recognize the current user's control intent. The learning cycle of this steering method is relatively long because the user may need to test the grip or tension of the hand multiple times to be able to master the vehicle speed adjustment mode of the cart. Meanwhile, in the process of pushing the cart for a long time, the user is easy to be tired because the user keeps the preset posture for a long time.

For another example, see the invention patent application with application number CN2015106213519, which discloses an intelligent electric power-assisted cart. The intelligent electric power-assisted cart measures rotation information of the connecting rod through the angle detection device arranged on the rotating shaft, judges whether the force born by the connecting rod is pushing force or pulling force based on the electric signal output by the angle detection device, and finally selects the power-assisted cart to advance or retreat according to the corresponding electric signal. However, this relatively single tie rod adjustment mode provides less flexibility in adjustment when faced with complex terrain (e.g., uphill road sections).

Disclosure of Invention

The invention aims to provide an intelligent control method and system for a trolley, which partially solve or relieve the defects in the prior art and can improve the adjustment sensitivity of the trolley and the running stability of the trolley.

In order to solve the technical problems, the invention adopts the following technical scheme:

in a first aspect of the present invention, there is provided an intelligent control method for a cart, the cart comprising: a body part for carrying an object, and a push rod rotatable in at least one plane of rotation relative to the body part, the method comprising, correspondingly:

s100, acquiring user input information of the trolley and/or an actual running state of the trolley, and enabling the trolley to be in or converted into a corresponding functional state according to the user input information and/or the actual running state;

s101, corresponding control condition information is collected according to the current functional state, and the running state of the cart is controlled according to the corresponding control condition;

wherein, when the cart is in the first functional state, S101 includes the steps of:

s11, determining a speed regulation interval of the trolley according to a first control condition, wherein the first control condition comprises: the first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotation plane, the number of included angles between the push rod and the horizontal plane of the main body part

A value or a value of change in the angle;

s12, inputting the first control condition into a first vehicle speed adjusting module corresponding to the adjusting section

And the first vehicle adjustment model comprises:

V＝λ ₁ V _a +λ ₂ V _b (1-1)；

wherein V is the first target vehicle speed, V _a For first regulating vehicle speed, V _b For second regulating speed lambda ₁ Lambda is the first adjustment coefficient ₂ Is the second adjustment coefficient.

In some embodiments, the functional state includes:

a first functional state, and when the cart is in the first functional state, the first control condition collected comprises one or more of: first rotation signal of push rod, user applied on push rod

A first pressure signal of the cart;

and/or, (ii) a second functional state, and when the cart is in the second functional state, the second control condition collected comprises one or more of: first rotation signal of push rod and second rotation signal of push rod

A rotation signal;

and/or (iii) a third functional state, and when the cart is in the third functional state, is taken

The third control conditions of the set include one or more of: reversing signals and steering signals;

and/or, (iv) a fourth functional state, and when the cart is in the fourth functional state, the fourth control condition collected comprises one or more of: a first rotation signal of the cart, a second pressure signal applied by the user on the push rod, a shaking signal of the cart.

In some embodiments, the user input information comprises: a switching signal indicating switching of the functional state; and/or the actual operating state comprises one or more of the following: acceleration, deceleration, uniform speed, flat road running, uphill running, downhill running, shaking state, steering state.

In some embodiments, when the first rotation signal is in the acceleration adjustment range and/or the deceleration of the pushrod

When the speed is adjusted in the interval, the first vehicle speed adjusting model is as follows:

V＝λ ₁ (v ₀ +v _Δ0 (α-θ))+λ ₂ V _b (1-2)；

wherein V is the first target vehicle speed lambda ₁ Lambda is the first adjustment coefficient ₂ For the second adjustment factor, v ₀ V, the initial speed of the cart _Δ0 For the preset first speed variation, alpha is a preset parking angle, theta is the first included angle, V _b And the vehicle speed is adjusted for the second.

In some embodiments, the first control condition further comprises: a first pressure signal, and the first pressure signal comprises: data of a first pull force or a first pull force exerted by the user on the push rod

Or change data; correspondingly, the step S101 further includes the steps of:

judging whether the data or the change data of the first pressure or the second tension belongs to a preset first pressure threshold range, if so, inputting the first pressure signal into the first vehicle speed adjusting model, and

The first vehicle speed adjustment model is:

wherein V is the first target vehicle speed lambda ₁ Lambda is the first adjustment coefficient ₂ For the second adjustment factor, v ₀ V, the initial speed of the cart _Δ0 For the preset first speed variation, alpha is a preset parking angle, theta is the first included angle, v _Δ1 And P is the pressure or tension, and P is the proportionality coefficient for the preset second speed variation.

In some embodiments, when the cart is in the second functional state, S101 includes the steps of:

s13, determining an adjustment interval of the cart according to a second control condition, wherein the second control condition comprises: a second rotation signal, and the second rotation signal comprises: when the push rod rotates in a preset second rotation plane, the value or the change value of the included angle between the push rod and the preset position of the push rod, wherein the second rotation plane is perpendicular or approximately perpendicular to the first rotation plane;

s14, inputting the second control condition into a second vehicle speed regulation model corresponding to the regulation interval, wherein the second vehicle speed regulation model is:

wherein V is _a For first regulating vehicle speed, V _b For second regulating speed lambda ₁ Lambda is the first adjustment coefficient ₂ For the second adjustment factor, V _R Vehicle speed V for right side wheels of the cart _L The vehicle speed of the left wheels of the cart is m, n is a first steering coefficient, n is a second steering coefficient, pi is a circumference ratio, beta is a second included angle, and R is the wheel distance between motors on the left side and the right side of the cart.

In some embodiments, when the cart is in the third functional state, the S101 includes:

s15, determining an adjusting state of the cart according to a third control condition, wherein the third control condition comprises:

a reverse signal, and the reverse signal comprises: reverse direction, and/or reverse angle;

and/or a turn signal, and the turn signal comprises: a rotation angle, and/or the rotation direction;

s16, inputting the reversing angle or the rotating angle into a third vehicle speed adjusting model corresponding to the adjusting state, wherein the third vehicle speed adjusting model is as follows:

wherein V' is the second target vehicle speed lambda ₃ For the third adjustment factor, pi is the circumference ratio,and R is the wheel distance between motors on the left side and the right side of the cart for reversing angle or rotating angle.

In some embodiments, when the cart is in the fourth functional state, S101 includes the steps of:

S18, determining an adjusting state of the cart according to the fourth control condition, wherein the fourth control condition comprises: a second pressure signal, and the second pressure signal comprises: a second pressure or second pull data size applied by a user on the handle of the cart, and a second pressure or second pull direction applied by a user on the handle of the cart;

s19 inputs the second pressure signal to a fourth vehicle speed adjustment model corresponding to the adjustment state, and the fourth vehicle speed adjustment model is:

wherein V' is the second target vehicle speed lambda ₃ For the third adjustment coefficient, pi is the circumference ratio, phi is the set rotation

The moving angle is R, and the wheel distance between the motors at the left side and the right side of the cart is R;

determining an adjustment state of the cart according to the fourth control condition, wherein the fourth control condition comprises: a dither signal, and the dither signal comprises: the main body part is arranged between the horizontal plane and the length direction, and/or the main body part is arranged between the horizontal plane and the width direction

Included angle data of (a);

Judging whether the current vehicle speed of the cart needs to be corrected according to the shaking signals; if so, the first and second data are not identical,

inputting the dithering signal into a preset fifth vehicle speed adjustment model, wherein the fifth vehicle speed adjustment model comprises:

V″＝λ ₁ V _a ′+λ ₂ V _b (4)；

wherein V' is the corrected third target vehicle speed, V _a ' is the first vehicle speed adjustment at the time immediately before the entering of the shake state.

In some embodiments, the first pressure signal is acquired indirectly using a pressure data acquisition module;

the push rod comprises an inner pipe and an outer pipe sleeved outside the inner pipe; the pressure data acquisition module is arranged on the outer side of the inner tube, and when the push rod receives the push-pull action of a user, the pressure data acquisition module senses the change of pressure data under the extrusion action of the inner wall of the outer tube; or the pressure data acquisition module is arranged on the inner side of the outer tube, and when the push rod receives the push-pull action of a user, the pressure data acquisition module senses the change of pressure data under the extrusion action of the outer wall of the inner tube;

in some embodiments, when the included angle between the push rod and the horizontal plane is a first preset angle, the push rod is in a reset state; wherein, along the push rod is in the first direction of rotation of horizontal plane has set gradually: the device comprises a first parking section, an acceleration section, a uniform speed section and a second parking section.

The second aspect of the present invention also provides an intelligent control system for a cart, the cart comprising:

a body part for carrying an object, and a push rod rotatable in at least one plane of rotation relative to the body part, the system accordingly comprising:

the function conversion module is configured to acquire user input information of the cart and/or an actual running state of the cart, and enable the cart to be in or converted into a corresponding function state according to the user input information and/or the actual running state;

the state control module is configured to acquire corresponding control condition information according to the current functional state and control the running state of the cart according to the corresponding control condition;

the state control module includes:

a first condition acquisition unit configured to determine an adjustment interval of the cart according to a first control condition when the cart is in a first functional state, wherein the first control condition comprises:

the first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotating plane, the value of the included angle between the push rod and the horizontal plane where the main body part is positioned or the change value of the included angle;

A first state control unit configured to input the first control condition and the speed regulation

The first vehicle speed adjustment model corresponding to the interval comprises:

V＝λ ₁ V _a +λ ₂ V _b (1-1)；

The beneficial technical effects are as follows:

in order to meet the material carrying requirements of complex field terrains, the invention provides an intelligent control method capable of switching functional states under different environments (such as different user input signals or actual driving environments of a cart). And, for the main functional state (such as first functional state, second functional state, etc.), a control route is provided in which the push rod is adjusted to be main and the pressure is adjusted to be auxiliary. The control route adopts a push rod to carry out slow speed regulation (namely, the speed change is in a straight line or an approximate straight line) on one hand, and adopts pressure to carry out fast speed regulation on the other hand. The two different speed regulation modes are coordinated, so that the speed can be adaptively regulated according to the real-time road surface condition and the walking speed of a user, and meanwhile, the trolley can be ensured to be in a relatively safe and stable running state.

In addition, the slow mode of push rod is controlled more easily to the beginner, and the mode of rotating the push rod is easier to go up the hand (compare in the pressure size, the user is more directly perceived, clear to angle modulation), controls the accuracy also more. Meanwhile, compared with the traditional pressure speed regulation, the speed regulation method adopting the push rod rotating mode is more flexible, for example, a user only needs to keep the hand to be placed on the handle of the push rod, and no special requirement exists on the hand control posture (in other words, the control burden of the user is reduced to a certain extent).

Further, the intelligent switching of the functional status can be adapted to the use requirements of different users on the one hand

And the operation habit is adopted, and on the other hand, the accuracy and the stability of intelligent decision making under corresponding scenes can be improved.

Further, the functional state in the invention can be automatically switched by a user on one hand, and simultaneously, the user-defined function can be provided, so that the flexibility of function combination is further provided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale. 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 invention and that other drawings may be derived from these drawings without inventive faculty.

FIG. 1a is a flow chart of an exemplary intelligent control method according to the present application;

FIG. 1b is a schematic diagram of a smart cart module according to an exemplary embodiment of the present application;

FIG. 1c is a schematic view of a push rod in a forward and backward rotation in an exemplary embodiment of the present application;

FIG. 1d is a side-to-side rotational schematic view of a putter in accordance with an exemplary embodiment of the present application;

FIG. 1e is a block diagram of a smart control system in an exemplary embodiment of the present application;

fig. 1f is a schematic structural view of an electric cart for camping according to an exemplary embodiment of the present invention;

FIG. 2 is a diagram of the wiring of the various electronics in the electric cart for camping in accordance with an exemplary embodiment of the present invention

A wiring schematic diagram;

FIG. 3 is a schematic view reflecting a mounting slot in the handle;

FIG. 4a is a schematic view of a connecting member with a wiring hole;

FIG. 4b is a schematic view of the outer tube of the telescopic push rod with routing holes;

FIG. 5 is a schematic view reflecting the gap between the inner and outer tubes in the telescoping rod;

FIG. 6a is a schematic view reflecting the fit between four diagonal braces and a center connector in a chassis;

FIG. 6b is a schematic diagram showing the routing of wires in a chassis;

fig. 7 is a schematic view reflecting the notch on the diagonal brace.

Reference numerals: 1 frame, 2 electric control box, 11 push rod, 111 inner tube, 112 outer tube, 1120 first wiring hole, 12 handle, 121 handle body, 123 mounting groove, 124 third wiring hole, 13 connecting piece,

131 second wiring holes, 14 support connecting rods, 15 center connecting pieces, 150 connecting piece bodies, 151 through holes, 1501 fourth wiring holes, 16 rear wheels, 17 underframe, 171 diagonal support rods, 1710 openings and O1 first axes.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In this document, suffixes such as "module", "component", or "unit" used to represent elements are used only for facilitating the description of the present invention, and have no particular meaning in themselves. Thus, "module," "component," or "unit" may be used in combination.

Herein, the terms "upper", "lower", "inner", "outer", "front", "rear", "one end", "the other end"

The orientation or positional relationship indicated by the like is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description and to simplify the description, and is not indicative or implying that the apparatus or elements in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Herein, unless specifically stated and limited otherwise, the terms "mounted," "provided," "connected," and "connected" are used interchangeably "

Etc., it is to be understood in a broad sense, e.g., "connected," which may be a fixed connection, a removable connection, or an integral connection; the two components can be mechanically connected, can be directly connected or can be indirectly connected through an intermediate medium, and can be communicated with each other. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Herein, "and/or" includes any and all combinations of one or more of the associated listed items.

Herein, "plurality" means two or more, i.e., it includes two, three, four, five, etc.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As used in this specification, the term "about", typically expressed as +/-5% of the value,

more typically +/-4% of the value, more typically +/-3% of the value, more typically +/-2% of the value, even more typically +/-1% of the value, even more typically +/-0.5% of the value.

In this specification, certain embodiments may be disclosed in a format that is within a certain range. It should be appreciated that such a description of "within a certain range" is merely for convenience and brevity and should not be construed as a inflexible limitation on the disclosed ranges. Accordingly, the description of a range should be considered to have specifically disclosed all possible sub-ranges and individual numerical values within that range. For example, a range The description of (2) should be taken as having specifically disclosed sub-ranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4From 2 to 6, from 3 to 6, etc., and individual numbers within this range, such as 1,2,3,

4,5 and 6. The above rule applies regardless of the breadth of the range.

Example 1

As shown in fig. 1 a-1 f, the present invention provides an intelligent control method for a cart, the cart comprising: a body portion (e.g., a frame) for carrying an object, and a pushrod rotatable relative to the body portion along at least one plane of rotation, the method comprising:

s100, acquiring user input information of the trolley and/or an actual running state of the trolley, and enabling the trolley to be in or converted into a corresponding functional state according to the user input information and/or the actual running state.

In some embodiments, the user input information further comprises: control signals input by the user, such as a turn signal, a pressure signal, an on signal, etc.

For example, in some embodiments, the cart may automatically switch to a default set functional state when a user input on signal is detected (e.g., power on via a power on button, or turning a push rod, etc.), or when a transition of the cart from a park state to a motion state is detected. Alternatively, the switching to the functional state associated therewith may be performed automatically in accordance with the user input information/actual operation state.

S101, corresponding control condition information is collected according to the current functional state, and the running state of the cart is controlled according to the corresponding control condition.

In some embodiments, the functional status includes one or more of:

a first functional state, and when the cart is in the first functional state, the first control condition collected comprises one or more of: a first rotation signal of the push rod, a first pressure signal applied by a user on the push rod (e.g., the first pressure signal includes data or change data of a first pressure or a first pull force applied by the user on the push rod), a shake signal of the cart.

For example, in some embodiments, the first pressure signal is acquired indirectly using a first pressure acquisition module (e.g., a pressure sensor). Specifically, the push rod comprises an inner pipe and an outer pipe sleeved outside the inner pipe; wherein the pressure data acquisition module is arranged on the outer side of the inner tube, and when the push rod receives the push-pull action of a user, the first pressure acquisition module is arranged on the inner wall of the outer tube

Under the extrusion action of the pressure sensor, sensing the change of the pressure data;

or, in other embodiments, the first pressure acquisition module is disposed on the inner side of the outer tube, and when the push rod receives the pushing and pulling action of the user, the first pressure acquisition module senses the change of pressure data under the extrusion action of the outer wall of the inner tube.

Alternatively, in other embodiments, the first pressure acquisition module may be provided on the handle of the pushrod,

to directly collect data of the pressure or tension applied by the user to the handle of the push rod, or data of the change in pressure or tension (i.e., the first pressure signal).

For example, in some embodiments, as shown in fig. 1f and 2, the cart further comprises: and a supporting connecting rod 14, wherein one end of the supporting connecting rod 14 is connected with the mounting seat of the wheel, and the other end of the supporting connecting rod 14 is connected with the second end of the push rod 11 through a connecting piece 13. Wherein the pressure sensor may be disposed inside the connection member 13 (specifically, may be disposed at a region contacting the push rod 11 inside the connection member 13), and the pressure sensor may indirectly sense pressure information applied to the handle by the user when the push rod 11 is rotated by the push-pull action of the user.

Alternatively, in other embodiments, the pressure sensor may be provided on the support link 14 in a region corresponding to the connection member 13.

In embodiments of the present invention, the pressure sensor is preferably disposed at or near the second end of the pushrod. The indirect force measurement mode can reduce or avoid interference of other factors (for example, operation and use habits of different users such as hand gesture of the handle, hand force and the like can be different, for example, the user can mistakenly touch the pressure sensing area when grasping the handle), so that the accuracy of intelligent decision is improved.

(ii) a second functional state, and when the cart is in the second functional state, the second control condition collected comprises one or more of: a first rotation signal of the push rod and a second rotation signal of the push rod.

And/or, (iii) a third functional state, and the third set of control conditions when the cart is in the third functional state comprises one or more of: reversing signal and steering signal.

(iv) a fourth functional state, and when the cart is in the fourth functional state, the fourth control condition collected comprises one or more of: a first rotation signal of the cart, a second pressure signal applied by the user on the push rod, a shaking signal of the cart.

In some embodiments, a second pressure acquisition module (e.g., a pressure sensor) is employed to acquire a second pressure signal. Specifically, a pressure sensor is provided on the handle of the push rod to collect data (including the magnitude of the value, and the direction of the force) of the user's pressure or tension applied to the handle.

The following are exemplary descriptions of the functional combination relationships in the preferred functional states in the present invention, respectively:

1. first functional state

In some embodiments, S101 includes the steps of, when the cart is in a first functional state:

s11, determining an adjusting interval (or speed regulating interval) of the trolley according to a first control condition,

wherein the first control condition includes: the first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotation plane, the value of the included angle between the push rod and the horizontal plane of the main body part or the change value of the included angle (such as the angle of the push rod rotating in the front-back direction)

Degree);

s12, inputting the first control condition into a first vehicle speed adjusting module corresponding to the speed adjusting section

And the first vehicle adjustment model comprises:

V＝λ ₁ V _a +λ ₂ V _b (1-1)；

In some embodiments, each parameter (such as the adjustment speed, the adjustment coefficient) in the speed adjustment model in the invention can be set by the user.

Alternatively, in some embodiments, various parameters (such as the adjustment speed, coefficient, etc.) in the speed adjustment model of the present invention may be intelligently switched according to the current actual running state or the user input information.

For example, in some embodiments, λ will be when the first rotation signal and the first pressure signal of the cart are detected simultaneously ₁ 、λ ₂ Set to 1.

For another example, in some embodiments, λ may be determined when a switch of the cart to the second functional state is detected ₁ Set to 1, lambda ₂ Set to 0.

In some embodiments, as shown in fig. 1c, the push rod 11 may rotate along the rotation direction T1 (i.e. the front-rear direction) on the first rotation plane P1 perpendicular or approximately perpendicular to the horizontal plane P2, where the first angle θ will correspondingly change along with the rotation of the push rod.

Of course, in other embodiments, the direction of rotation or plane of rotation of the push rod may be flexibly set according to the specific structure or design requirements of the cart.

For example, in some embodiments, an acceleration sensor is provided on the pushrod for detecting rotational acceleration of the pushrod in at least one rotational direction and for calculating the rotational angle of the pushrod.

For another example, in some embodiments, an attitude sensor is provided on the pushrod to directly acquire attitude data of the pushrod to determine a current angle of rotation of the pushrod.

In some embodiments, the first control conditions further comprise: the user sensing signal is used for judging the control state of the user on the cart, and the control state comprises: normal conditions, and/or uncontrolled conditions.

For example, in some embodiments, the user-induced signal is an infrared sensor signal. Specifically, the first end of push rod is provided with the handle, and is provided with infrared sensor in the handle department of push rod, infrared sensor judges whether user's hand is located on the handle through infrared sensing signal. And when the hands of the user are positioned on the handles, the cart is considered to be in a normal state, and otherwise, the cart is considered to be in an out-of-control state. And when the speed of the cart is not zero and the control state is in a runaway state, an alarm signal can be sent to a user.

In some embodiments, the timing interval of the pushrod includes one or more of: parking interval, acceleration interval, deceleration interval, uniform velocity interval.

In some embodiments, when the cart is in a park zone, the cart is in a park condition and is difficult to push or pull under external forces.

In some embodiments, when the included angle between the push rod and the horizontal plane is a first preset angle (for example, 90 degrees), the push rod is in a reset state/initial position (i.e., the cart is in a parking interval); wherein, along the push rod in the first rotation direction of the horizontal plane (namely, rotate along the direction gradually approaching to the horizontal plane P2) is provided with: the device comprises a first parking section, an acceleration section, a uniform speed section and a second parking section.

In some embodiments, when the first included angle is about 0 ° to about 20 °, the cart is in the park zone: and when the push rod slides down, braking and parking are realized. When the first included angle is about 20 ° to about 75 °, the cart is in the free zone (the user is in the normal cart pulling process). In the free zone, the push rod adjusting speed of the cart increases with the angle decrease, and when reaching the uniform speed zone in the free zone, the push rod adjusting speed is constant. When the first included angle is about 50 ° to about 75 °, the cart is in an acceleration zone where the speed of the cart push rod adjustment increases as the angle decreases. When the first included angle is about 20 DEG to about 50 DEG, the trolley is in a constant speed interval, and the speed of the push rod adjustment is constant. When the first included angle rotates to about 75 degrees to about 90 degrees, the trolley is in a parking interval, and the distance between the push rod reset/trolley and a user is too short, so that braking and parking are realized.

For example, in some embodiments, when the first rotation signal is in an acceleration adjustment interval and/or a deceleration

V＝λ ₁ (v ₀ +v _Δ0 (α-θ))+λ ₂ V _b (1-2)；

wherein v is ₀ V, the initial speed of the cart _Δ0 And alpha is a preset parking angle, and theta is the first included angle for the preset first speed variation.

For example, in some embodiments, the lowest speed at which the cart is started is the lowest speed at which it is started:

0.3m/s. Predetermined maximum travel speed: 1.5m/s. The first speed variation is about 0.3-0.8m/s.

Or change data; correspondingly, the step S101 further includes the steps of:

judging whether the data of the first pressure or the first tension belongs to a preset first pressure threshold range,

if yes, inputting the first pressure signal into the first vehicle speed adjusting model, and the first vehicle speed

The adjustment model is as follows:

wherein v is _Δ1 And P is the pressure or tension, and P is the proportionality coefficient for the preset second speed variation.

In some embodiments, for example, a pressure sensor is provided at the handle of the pushrod or in the middle of the pushrod,

for obtaining a first pressure/tension value.

In some embodiments, for example, the first pressure threshold range is 600, ++ infinity a) of the above-mentioned components, and its unit is g.

For example, in some embodiments, the second speed variation is about 0.2-0.7m/s.

In some embodiments, when the cart is traveling under flat road conditions, then the cart is preferably conditioned and controlled using the first functional state.

In this embodiment, when the cart (e.g., a camping car, a beach cart, etc.) is in the first functional state, the push rod is preferably used as the main and the pressure is used as the auxiliary speed adjustment mode.

On the one hand, the speed regulation of the push rod is adopted, so that the use habit of a user on the traditional camp car is met, namely, the push rod is pulled down, and the trolley is accelerated (for the user, the learning difficulty is lower). On the other hand, the invention sets the push rod speed regulation to a linear change mode with relatively slow speed change (such as linear speed change under the push rod speed regulation), and simultaneously sets the pressure speed regulation to a curve change mode with relatively faster speed change (such as faster speed change trend with larger pressure). The different operation modes are combined with the speed change characteristic, so that the speed can be regulated in a relatively low speed range, and the user can control the cart stably, safely and simply; meanwhile, the speed can be flexibly and rapidly regulated and controlled to match the walking speed of the user in real time.

In terms of changing, from the use angle of a user, the whole speed regulation process accords with the use habit of the user, when the user pulls a car normally, initial assistance is provided according to the angle of the push rod, and when the car is pulled, speed supplement is performed through a pressure sensor (namely pressure speed regulation), the speed of the car can be actively regulated by the car without the need of the user to deliberately regulate the running speed of the car, so that the car can adapt to the running speed of the user. Compared with the traditional handle speed regulation mode or push rod speed regulation mode in the prior art, the invention not only improves the operation sensitivity, but also reduces the operation and learning difficulty of users.

In some embodiments, when the rotation range of the push rod is in the same adjustment range (e.g., the first angle of the push rod is in the acceleration range), the minimum thrust force that can be used to rotate the push rod is the first thrust force f1. When the rotation range of the push rod is rotated from one adjustment interval to another adjustment interval (such as from an acceleration interval to a deceleration interval), the minimum thrust force that can be used to rotate the push rod from one adjustment interval to another adjustment interval is the second thrust force f2.

Preferably, in some embodiments, the magnitude of the second thrust f2 is greater than the magnitude of the first thrust f1,

So as to limit the flexibility of the rotation of the push rod to a certain extent and avoid the occurrence of excessive adjustment.

In some embodiments, the first thrust force f1 at each adjustment interval may be set to the same or different values. Alternatively, the second thrust force f2 for switching between different adjustment sections may be set to the same or different values.

For example, in some embodiments f2=3 kg.

In some embodiments, when the push rod of the cart is in the parking zone, the minimum thrust force that can pull/push the push rod to rotate at this time is the fourth thrust force f4.

In some embodiments, the pressure regulation mode may be temporarily turned off when the push rod of the cart is in the park zone, i.e., the pressure regulation mode is enabled only when the push rod enters the acceleration, deceleration, uniform speed regulation zone.

Preferably, in some embodiments, the fourth thrust f4 is greater than the first thrust f1.

It is noted that in the embodiment of the invention, the push rod adjustment and the tension adjustment are matched,

the magnitude of the second thrust force f2 can also be increased to some extent.

For example, in some embodiments, when the push rod is turned on from the initial position, the first parking interval, the acceleration adjustment interval, the deceleration adjustment interval, the constant speed adjustment interval, and the second parking interval of the push rod will be sequentially passed. During actual driving, if the push rod is currently in the acceleration adjustment interval, the user hopes to properly decelerate the cart. At this time, the user can rotate the push rod to the deceleration adjustment range to reduce the acceleration effect. However, since the second thrust f2 is set to be larger than the first thrust f1, there is a possibility that the user may not adjust in place due to effort or the like (e.g., adjustment time is long or the adjustment is excessive due to an excessively large hand user) when actually adjusting. To avoid these problems, the user may also directly input the first pressure signal (e.g., apply the third pushing force f3 on the push rod) to implement the deceleration adjustment of the cart in an assisted manner by means of pressure adjustment.

Therefore, the pressure adjustment is adopted as an auxiliary adjustment means in the present embodiment, which is also helpful to improve the difference between the second thrust f2 and the first thrust f1 to a certain extent, without reducing the flexibility of the adjustment method because the second thrust is greater than the first thrust.

In some embodiments, the third thrust f3 exerted by the user is of a smaller magnitude than the first thrust f1.

In some embodiments, the adjustment of the vehicle speed is preferably accomplished by rotating the push rod through an angle (e.g., a first included angle) while the push rod is in the process of rotating. When the push rod is in a relatively static state, a pressure factor (such as a first pressure) is added to assist in vehicle speed adjustment.

In some embodiments, the pushing force may be various external forces exerted by the user on the putter (e.g., the force of a human arm pulling the putter), such as a compressive force, or a tensile force, etc.

2. Second functional state

s13, determining an adjustment interval of the cart according to a second control condition, wherein the second control condition comprises: a second rotation signal, and the second rotation signal comprises: when the push rod rotates in a preset second rotation plane, the value or the change value of the included angle between the push rod and the preset position of the push rod (for example, the initial position of the push rod or the position of the push rod when the push rod is adjusted last time) (for example, the push rod rotates in the left-right direction of the cart), and the second rotation plane is mutually perpendicular or approximately perpendicular to the first rotation plane; as shown in fig. 1d, the push rod of the cart in this embodiment can also rotate left and right (i.e. in the rotation direction X1) to control the running direction of the cart.

S14, inputting the second control condition into a second vehicle speed adjusting module corresponding to the adjusting section

And the second vehicle adjustment model is:

It will be appreciated that the values of m, n may be default values for the system or set by the user himself. For example, in some embodiments, when m is set to 1, n may be set to-1.

Preferably, the second functional state will be switched to when the cart is turned under a flat road section.

Preferably, in some embodiments, the steering assist of the cart is achieved using a pressure governor + push rod steering function when the cart is in a flat section.

3. Third functional state

s15, determining the adjustment state of the cart according to a third control condition, wherein the third control condition

The conditions include:

and/or steering signals (e.g., the steering signals may be used to control the cart to achieve in-situ differential steering work

Energy), and the turn signal comprises: a rotation angle, and/or the rotation direction;

s16 inputs the rotation angle into a third vehicle speed adjustment model corresponding to the adjustment state,

and the third vehicle speed adjustment model is:

For example, in some embodiments, a button is added to the handle of the push rod as a condition for in-situ differential steering determination to avoid interference with the park function.

In some embodiments, buttons may be employed to effect switching of functions. For example, a short press of a button accelerates/shifts, a long press enters reverse mode.

Preferably, the third functional state is adapted for trolley control when the trolley is in a park state.

4. Fourth functional state

S18, determining an adjusting state of the cart according to the fourth control condition, wherein the fourth control condition comprises: a second pressure signal, and the second pressure signal comprises: a second pressure or second tension data size applied by a user on the handle of the cart, and a second tension data size applied by a user on the cart

A second compressive or second tensile force direction on the handle;

s19, inputting the second pressure signal to a fourth vehicle speed regulation corresponding to the regulation state

And the fourth car speed adjusting model is as follows:

for example, in some embodiments, when the second pressure or pull force is greater than the set threshold, then the pressure governor mode is initiated, i.e., the cart speed is controlled according to a fourth cart speed governor model.

For example, in some embodiments, the set rotation angle may be a default value, or may be selected according to a preset rule according to the detected second pressure or pull force value.

For example, in some embodiments, the direction of rotation of the cart may be determined from the direction of the force.

determining an adjustment state of the cart according to the fourth control condition, wherein the fourth control condition comprises: dither signal (anti-dither function for a cart), and the dither signal comprises:

first shake data, wherein the first shake data is included angle data between the main body part and the horizontal plane in the length direction, and/or second shake data is included angle data between the main body part and the horizontal plane in the width direction;

V″＝λ ₁ V _a ′+λ ₂ V _b (4)；

For example, in some embodiments, a determination is made as to whether the cart is in need of the dithering signal

The step of correcting the current vehicle speed comprises the following steps:

and adopting a sliding variance algorithm to respectively calculate a first standard variance and a second standard variance of the first jitter data and the second jitter data.

And judging whether the current speed of the trolley needs to be corrected or not (namely judging whether the trolley is in a shaking state or not) through the first standard deviation and the second standard deviation.

Specifically, in some embodiments, an average value of the first standard deviation and the second standard deviation may be calculated, and when the average value belongs to a preset jitter threshold range, the cart is judged to be in a jitter state, and the current vehicle speed is corrected.

For example, in some embodiments, the detection data of the acceleration sensor may also be preprocessed.

For example, the method of sliding average filtering can be adopted for preprocessing, namely, the data is averaged in a period of time, so that the change of angle data is smoother, and the violent shaking data is eliminated. Or, the angle data change is smoother and the violent shaking data is eliminated by preprocessing in a Kalman filtering mode, namely, by predicting the ratio.

In some embodiments, it is preferable to use a brushless DC motor for rotational speed adjustment. The number of pulses generated by three rotations of the brushless direct current motor ABC is 15 (pole pair number) x 3 = 45. An exemplary method of use is as follows: the pulses were processed using six times the frequency so that the number of pulses obtained was changed from 45 to 90 pulses/r. And acquiring and processing the pulse number in a fixed time period and the time corresponding to the generation of the pulse by using an MT method so as to initially acquire the motor rotating speed. And the motor rotating speed is filtered by using a sliding average filtering algorithm and a Kalman filtering algorithm, so that the change of the motor rotating speed is smoother.

Preferably, in some embodiments, the fourth functional state is applicable to a complex road condition in which the cart is on an uneven road, an uphill road, a downhill road, etc.

For example, in some embodiments, the cart will automatically switch to (or remain in) the fourth functional state when it monitors itself in the dithered state.

It is to be understood that the various functions of the present invention (including, but not limited to, the governor function of the push rod, the steering function of the push rod, the differential pressure steering function, the anti-shake function, etc.) may be operated alone in response to a user's operation or may be combined in other forms under the user's operation, in addition to the above-described preferred combination of functions.

For example, in some embodiments, the method further comprises the steps of:

s102, acquiring a first function adding signal input by a user, wherein the first function adding signal comprises:

at least one function information (such as the name of the function, or the type of signal to be collected, such as the first pressure signal, etc.) to be added, and a corresponding function status (e.g., the current function status, or any other preset function status);

s103, adding the at least one piece of function information to the corresponding function state according to the first function adding signal.

For example, in some embodiments, the method further comprises the steps of:

s104 obtains a second function removal signal input by the user, the second function removal signal including:

at least one piece of functional information to be removed and the corresponding functional state;

s105 removes the at least one function information from the corresponding function state according to the second function removal signal.

Further, in some embodiments, the respective priorities are marked for different signals (e.g., rotation signal, pressure signal, dither signal, etc.). S102 further comprises the steps of:

when the priority level I of at least one function information to be added is matched with the priority level II of the function information existing in the function state (for example, when the priority levels are the same), S103 is executed, otherwise, a corresponding prompt signal is sent to the user. At this time, the user may correct the inputted first function addition signal according to the prompt signal or stop the addition of the function.

In the embodiment of the invention, the user can carry out self-defined setting on the available functions/unavailable functions in the functional state by combining the self-use requirement so as to further improve the flexible decision-making capability of the cart and further improve the adaptability of the cart to different application scenes (such as links of mountain areas, sand beach, flat terrain and the like) or different users.

Meanwhile, aiming at different functional states, limited signal type combinations are selected for intelligent decision making, on one hand, the accuracy and safety of the power-assisted decision making can be improved, and the outdoor electric quantity consumption can be reduced to a certain extent.

Any coefficient in any vehicle speed regulation model in the embodiment of the invention can be preset by the intelligent control system of the trolley or can be changed by a user.

Further, in some embodiments, along the push rod in the first rotation direction of the horizontal plane, there are sequentially provided: the device comprises a first parking section, an acceleration section, a uniform speed section and a second parking section. When the included angle between the push rod and the horizontal plane belongs to a first preset angle, the push rod is located in a corresponding parking interval (namely, in a reset state).

In some embodiments, the method further comprises the step of:

determining a target motion trail of the cart according to a rotation angle input by a user and the current speed of the cart, wherein the target motion trail comprises: steering direction (i.e., angle of rotation);

acquiring a fifth control condition associated with steering safety of the cart, the fifth control condition comprising: obtaining target obstacle information of at least one side in the steering direction, wherein the target obstacle information comprises: coordinates of a first target obstacle located on one side of the steering direction;

Whether the distance between the first target obstacle and the second target obstacle is larger than a preset safe steering distance or not is judged, if yes, steering is continued, and if not, a first alarm signal is output to a user to remind the user of automatic steering (such as increasing or decreasing the rotation angle).

For example, in some embodiments, when the vehicle speed difference on the left and right sides of the cart is determined, the rotation angle of the cart is also determined accordingly, such as 30 ° to the left. At this time, the coordinates of the obstacle at the first distance (e.g., 2 m) in the left-to-30 ° direction are acquired, and when the front road section is detected to be narrower (i.e., the distance between the two obstacles is too close, the route is blocked), the user can be reminded to continuously adjust the rotation direction of the cart.

The control method is mainly applied to carrying scenes of the outdoor camping vehicle in the outdoor environment and the like. Wherein,

the outdoor environment may be terrain such as beach, mountain land, etc., especially for exploring camping activities, a tourist may traverse a rough road surface between walking to the target campsite, at which time the camping cart is very physically strenuous if the tourist is to be pushed by his hand. Moreover, it may be difficult for the user to observe the road surface condition at the first time and judge the pushing condition of the cart (for example, whether steering is required or whether pushing force is required to be increased or pushing force is reduced) due to the fact that the sight line is blocked (for example, the sight line is blocked by an obstacle of the outdoor environment, and the cart is blocked by accumulating more goods) and the like.

Specifically, in some embodiments, a push rod has integrated thereon a plurality of components, such as a button, an infrared sensor (preferably a sunlight-resistant HJ-IR2 module), an accelerometer, and a pressure-sensitive sensor. The button is used for controlling the reversing function of the trolley, so that the trolley can be normally carried through the reversing function when the trolley cannot turn in a narrow area; the infrared sensor is used for sensing whether the palm of the user is positioned on the handle or not so as to ensure the safety in the driving process of the cart and avoid the phenomena of collision, sliding and the like after the palm of the user is separated from the handle. The accelerometer user perceives the angle change of the push rod, such as the push rod moves up and down or swings left and right, and the walking condition of the user is judged by acquiring the angle information, so that the trolley can be ensured to be more stable and react to the walking condition of the user more quickly. The function of the pressure sensor is mainly used for sensing the pulling force applied to the trolley handle by a user in the advancing process, and the change of the pulling force value can be detected in real time to more directly and timely acquire the change of the force of the user pulling the trolley, and the accurate control of the speed of the trolley is realized based on the pulling force value.

Specifically, in some embodiments, as shown in fig. 1b, the chassis module of the main body part mainly includes two components, namely, a hub motor and an accelerometer, the hub motor is responsible for carrying and speed adjustment of the cart, and meanwhile, the number of pulses is counted through a hall sensor and fed back to the central control module, so that accurate detection of the speed of the cart is ensured. The accelerometer can sense the angle change of the chassis of the trolley, judge the road surface bumping condition according to the intensity of the change, judge the road surface gradient information according to the angle, and provide reference data for the adjustment of the running speed of the trolley. Through optimizing the chassis module, the stability and the running efficiency of the trolley can be improved, so that the trolley can be better adapted to different road conditions. This will make the dolly show more reliable and more stable in actual application, provide better use experience for the user.

In some embodiments, the motor is controlled using FOC (all Field Oriented Control, magnetic field orientation control, also called vector control), to achieve booster adjustment of the cart-

And (5) controlling. In FOC, the motor is regarded as a vector consisting of one base magnetic field and one space magnetic field, and the speed, direction and torque of the motor are controlled by controlling the relative angle and magnitude of the two vectors. According to the embodiment of the invention, the FOC control mode and the pull speed adjusting mode are matched, so that the speed adjustment of the trolley has the advantages of high efficiency, stable operation, high accuracy and the like.

In some embodiments, the driver circuit design in the cart mainly includes a power circuit, a FOC driving circuit, a main controller (preferably, an STM32F103C8T6 controller), a sensor, and the like, and the sensor acquires status information, and feeds back the information to the main controller for processing, so as to obtain a required driving speed signal, and sends the required driving speed signal to the FOC driving board through a serial port for driving the brushless dc motor, wherein the power supply supplies power for the whole, and the brushless motor feeds back hall signals to the driving circuit to determine the position of the rotor.

In some embodiments, to ensure that the intelligent control system of the cart can operate efficiently and to save as much as possible the operating cost of the intelligent control system, battery powered use of the following parameters is preferred. Width and height:

135 x 85 x 68, capacitance: 4.4Ah, charging voltage: 42V, discharge current: 15A peak 40A, charging temperature: -20-60 ℃, single cell: 18650, battery interface: input dc (42V), output RT60

(30-40V), battery packaging: bare cell. Currently, a 36v4.4Ah cell is using 1.75

After kilometers (about 50 minutes) the voltage drops from 42.1V to 40V, there is still enough power to continue to complete at least 500 m.

In some embodiments, the putter includes two adjustment parameters, angle and length, by which different users or terrain can be accommodated.

The intelligent control method provided by the embodiment of the invention integrates multiple functional modes such as power assisting, descent control, emergency braking, steering assistance and the like, can provide intelligent power assisting for users under complex field terrains (such as mountain roads with lower pavement evenness, narrow uphill road sections and the like), and can comprehensively regulate or correct the vehicle speed through operation signals (such as acceleration and deceleration signals transmitted by the control hand lever) actively sent by the users and environment information (such as shaking characteristics in the traveling process of the cart) actively acquired by the cart so as to ensure safe and stable operation of the cart while accurately receiving the user control signals.

Example two

As shown in fig. 1e, the present invention further provides an intelligent control system for a cart, the cart comprising: a body portion for carrying an object, and being movable relative to the main body along at least one plane of rotation

The body portion rotates the push rod and accordingly the system comprises:

a function conversion module 101 configured to obtain user input information of the cart and/or an actual operation state of the cart, and to perform a function according to the user input information and/or the actual operation state

The cart is in or converted into a corresponding functional state;

a state control module 102 configured to collect corresponding controls according to the current functional state

Control condition information and control the running state of the cart according to the corresponding control conditions;

the state control module includes:

a first condition acquisition unit 102a, configured for, when the cart is in a first functional state,

determining a speed regulation interval of the trolley according to a first control condition, wherein the first control condition comprises:

the first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotation plane, the value or the included angle between the push rod and the horizontal plane of the main body part

Changing the numerical value;

a first state control unit 102b configured to input the first control condition to the first control unit

The first vehicle speed adjusting model corresponding to the speed adjusting section comprises:

V＝λ ₁ V _a +λ ₂ V _b (1-1)；

In some embodiments, the state control module comprises:

a second condition acquisition unit 102c, configured for, when the cart is in a second functional state,

determining an adjustment interval of the cart according to a second control condition, wherein the second control condition comprises:

a second rotation signal, and the second rotation signal comprises: when the push rod rotates in a preset second rotation plane, the value or the change value of the included angle between the push rod and the preset position of the push rod, wherein the second rotation plane is perpendicular or approximately perpendicular to the first rotation plane;

a second state control unit 102d configured to input the second control condition into a second vehicle adjustment model corresponding to the adjustment section, and the second vehicle adjustment model is:

Wherein V is _a For first regulating vehicle speed, V _b For second regulating speed lambda ₁ Lambda is the first adjustment coefficient ₂ For the second adjustment factor, V _R Vehicle speed V for right side wheels of the cart _L Left-side wheel vehicle for said trolleyAnd the speed m is a first steering coefficient, n is a second steering coefficient, pi is a circumference ratio, beta is a second included angle, and R is the wheel distance between motors on the left side and the right side of the cart.

In some embodiments, when the first rotation signal is in an acceleration adjustment interval and/or a deceleration adjustment interval

During the interval, the first vehicle speed adjusting model is as follows:

V＝λ ₁ (v ₀ +v _Δ0 (α-θ))+λ ₂ V _b (1-2)；

In some embodiments, the first control condition further comprises: a first pressure signal, and the first pressure signal comprises: data or change data of a first pressure or a first tension applied by the user on the push rod; the first state control unit is further configured to determine whether the data of the first pressure or the first tension belongs to a preset first pressure threshold range, if yes, the first pressure signal is input into the first vehicle speed adjustment model, and the first vehicle speed adjustment model is:

/>

Wherein v is _Δ1 For the preset second speed variation, P is the first pressure or the first tension,

p is a scaling factor.

In some embodiments, the state control module comprises:

a third condition acquisition unit configured for, when the cart is in the third functional state,

determining an adjustment state of the cart according to a third control condition, wherein the third control condition comprises:

a third state control unit configured to input the rotation angle into a third vehicle speed adjustment model corresponding to the adjustment state, and the third vehicle speed adjustment model is:

In some embodiments, the state control module comprises:

a fourth condition acquisition unit configured for, when the cart is in the fourth functional state,

Determining an adjustment state of the cart according to the fourth control condition, wherein the fourth control condition comprises: a second pressure signal, and the second pressure signal comprises: a second pressure or second pull data size applied by a user on the handle of the cart, and a second pressure or second pull direction applied by a user on the handle of the cart;

a fourth state control unit configured to input the second pressure signal to a third vehicle speed adjustment model corresponding to the adjustment state, and the third vehicle speed adjustment model is:

wherein V' is the second target vehicle speed lambda ₃ For the third adjustment factor, pi is the circumference ratio,and R is the wheel distance between motors on the left side and the right side of the cart for rotating the angle.

For example, in some embodiments, when the direction of the force is to the left, the cart moves to the left, and when the direction of the force is to the right, the cart moves to the right.

In some embodiments, the state control module comprises:

a fourth condition acquisition unit further configured to determine an adjustment state of the cart according to the fourth control condition when the cart is in the fourth functional state, wherein the fourth control condition comprises: a dither signal, and the dither signal comprises: the included angle data between the frame and the horizontal plane in the length direction and/or the included angle data between the frame and the horizontal plane in the width direction;

The fourth state control unit is further configured to judge whether the current vehicle speed of the cart needs to be corrected according to the shaking signal; if yes, inputting the dithering signal into a preset fifth vehicle speed adjusting model, wherein the fifth vehicle speed adjusting model comprises:

V″＝λ ₁ V _a ′+λ ₂ V _b (4)；

The control system of an embodiment of the present invention is capable of implementing the method or steps of any of the embodiments described above,

and will not be described in detail herein.

Example III

The present invention also provides an electric cart according to an exemplary embodiment of the present invention, referring to fig. 1f and fig. 2, specifically, the electric cart includes: the frame 1, the telescopic push rod 11 is arranged on the telescopic push rod 11

A handle 12, an electric control box 2 fixed on the front frame of the frame 1, and a central control circuit board integrated in the electric control box 2.

Further, the electric cart further comprises a sensing module electrically connected with the central control circuit board through lines buried in the telescopic push rod 11 and the frame 1. Specifically, the sensing module includes: a push rod sensing portion and a chassis sensing portion, wherein the push rod sensing portion includes: pressure sensors, angle sensors (e.g., tri-axial accelerometers) and infrared sensors disposed on the handle 12; the chassis sensing portion includes an angle sensor (e.g., a tri-axial accelerometer) disposed within the electronic control box and integrated on the central control circuit board.

By providing two tri-axial accelerometers to collect the angles of the telescopic push rod 11 and the chassis relative to the ground, respectively (e.g., in some embodiments, the tri-axial accelerometers may be used to collect the first and second angles of the push rod), the main control circuit board recognizes the specific gestures of the push rod and the chassis according to the angles, and intelligent control is possible according to the gestures.

By providing an infrared sensor on the handle 12 to sense whether the user's hand is on the handle 12, it is possible to know whether the user is currently pushing the cart according to the detection result of the infrared sensor. Specifically, a mounting groove 123 is provided in the handle 12, and a corresponding third routing hole 124 (as shown in fig. 3) is provided at one side of the mounting groove 123, so that a line connected to the infrared sensor can enter the retracting push rod 11 through the third routing hole 124, then sequentially pass through the connecting piece 13, the supporting link 14, the diagonal support rod 171 in the chassis, the diagonal support rod in the rear frame, and finally be electrically connected with the central control circuit board.

Generally, a wireless communication mode is adopted for the pressure sensor, the accelerometer, the infrared sensor and the like, but since in the embodiment, the three sensors are all arranged in the handle, if the wireless communication mode is adopted to be electrically connected with the central control board, a battery module is not only required to be designed for the three sensors independently, but also the problems of instability and time delay exist. If the battery module is independently arranged, the weight and the volume of the handle are increased, and the handle structure is required to be redesigned, so that the stability of communication is ensured and the time delay is avoided on the premise that the handle structure is not greatly changed, the three are electrically connected with the central control board in a wired connection mode, and the wiring mode of the circuit is designed.

In some embodiments, the angle sensor is a variety of sensors that may be used to directly or indirectly collect angular data (e.g., a first angle, a second angle, a dither signal, etc.) of the cart, such as including: IMUs (e.g., devices that measure three-axis attitude angles (or angular rates) and accelerations of objects), gyroscopes, accelerometers, potentiometers, and the like.

In some embodiments, a reversing control button is further provided on the handle 12, and the reversing control button is electrically connected with the central control circuit board through a circuit embedded in the telescopic push rod 11 and the frame.

In some embodiments, the telescopic push rod 11 includes an inner tube 111 and an outer tube 112 sleeved outside the inner tube 111, and a gap L is provided between the inner wall of the outer tube 112 sleeved outside the inner tube 111 and the outer wall of the inner tube 111, so as to provide a wiring space for the circuits of the electronic devices in the handle 12. Specifically, the gap L is in the range of 3-5mm; preferably 4.2mm, see fig. 5.

Referring to fig. 4a and 4b, for convenience of routing, a first routing hole 1120 and a second routing hole 131 are respectively provided on the outer tube 112 and the connecting piece 13 of the telescopic rod; when the connecting piece and the telescopic rod are installed together, the wiring hole on the connecting piece corresponds to the wiring hole on the outer tube, so that a line can sequentially pass through the outer tube and the connecting piece and then enter a wiring channel arranged in one supporting connecting rod 14 connected with the connecting piece. Specifically, the support link 14 is a hollow tube.

In some embodiments, referring to fig. 6a and 6b, the undercarriage of the frame 1 comprises a set of X-assemblies comprising four diagonal braces 171 and a central connection 15 for hinging the four diagonal braces 171. Specifically, the center connector 15 includes: the connector body 150 having a first axis O1, through holes 151 penetrating the connector body 150 are respectively provided at the positions where the connector body 150 is hinged to the four diagonal support rods 171, the second axis of the through holes 151 is perpendicular to the first axis O1, and a fourth routing hole 1501 is provided in the connector body 150 along the diagonal direction, so that a line penetrating from a routing channel in one diagonal support rod 171 penetrates from one end of the fourth routing hole 1501 in the connector body 150, then penetrates out again, and enters into the diagonal connected diagonal support rod 171, see fig. 6b. By providing the through hole 151 and the fourth routing hole 1501, the influence of folding of the X assembly on the line in the cart storage process can be avoided, and thus the service life can be prolonged to some extent.

In order to enable the line to pass through the central connector 15 without affecting the folding, a notch 1710 is provided at the end of the diagonal support link 171, see fig. 7, to further ensure that the line passes through without damaging the line when folding.

In this embodiment, the circuit is disposed on the chassis, but not on any side frame on two sides, because the diagonal brace of the chassis adopts a hollow design, a routing channel can be provided for the circuit, and meanwhile, the same routing hole can be disposed on the central connecting piece, so that no influence is caused on the connection between the central connecting piece and the diagonal brace. If the side frame is adopted, corresponding wiring holes are required to be formed in the connecting pieces on the side frame, however, the connecting pieces on the side frame are small in structure and cannot be provided with corresponding wiring holes, or the whole structure of the connecting pieces is required to be changed greatly, so that the cost is increased, and the folding of the side frame is affected.

In some embodiments, the electric cart further comprises two in-wheel motors electrically connected to the central control circuit board, the in-wheel motors being disposed within the hubs of the two rear wheels 16 of the electric cart.

In some embodiments, the two front wheels are bearing universal wheels and are provided with physical brakes, which are known in the art and will not be described in detail herein.

In some embodiments, the triaxial accelerometer uses an ADXL accelerometer. In other embodiments, potentiometers may be used in place of the tri-axial accelerometers.

In some embodiments, the central control circuit board includes a single chip microcomputer and peripheral circuits thereof. Wherein,

the singlechip adopts an STM32F103C8T6 chip.

In some embodiments, the telescopic push rod 11 is fixed on the connecting piece 13, two sides of the connecting piece 13 are respectively and fixedly connected with the connecting ends of the two support connecting rods 14, and the other ends of the two support connecting rods 14 are respectively hinged on the mounting seats on the two front wheels, so that the rope push rod 11 rotates by a certain angle by taking the connecting line between the two front wheels as a rotating shaft.

Example IV

The fourth aspect of the present invention also provides an intelligent cart with intelligent decision making capability, the cart comprising:

frame 1, push rod 11 and set up handle 12 on the push rod, its characterized in that still includes:

the electric control box 2 fixed on the rear frame of the frame 1, a central control circuit board is integrated in the electric control box 2, the electric trolley further comprises a sensing module electrically connected with the central control circuit board through a circuit buried in the push rod 11 and the underframe of the frame 1, and the sensing module comprises:

a pressure sensor, a tri-axial accelerometer, and an infrared sensor disposed on the handle 12; and a triaxial accelerometer provided on the undercarriage of the frame 1;

And an intelligent control system connected with the central control circuit board, and the intelligent control system comprises:

and the state control module is configured to acquire corresponding control condition information according to the current functional state and control the running state of the cart according to the corresponding control condition.

In some embodiments, the three-axis accelerometer described above may also replace other types of angle sensors.

In some embodiments, the user input information may be detected by a sensing module.

In some embodiments, the first rotation signal may be obtained by at least one tri-axial accelerometer disposed on the pushrod.

In some embodiments, the second pressure signal may be obtained by a pressure sensor provided on the handle.

In some embodiments, the dither signal may be obtained by a tri-axial accelerometer disposed on the chassis.

It will be appreciated that the intelligent cart in this embodiment may include the same or similar functional modules or structures as in any of the embodiments described above.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a computer terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.

Claims

1. An intelligent control method for a cart, the cart comprising: a body part for carrying an object, and a push rod rotatable in at least one plane of rotation relative to the body part, the method comprising, correspondingly:

S11, determining an adjustment interval of the cart according to a first control condition, wherein the first control condition comprises: the first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotating plane, the value of the included angle between the push rod and the horizontal plane where the main body part is positioned or the change value of the included angle;

s12, inputting the first control condition into a first vehicle speed regulation model corresponding to the regulation interval, wherein when the first rotation signal is in an acceleration regulation interval and/or a deceleration regulation interval of a push rod, the first vehicle speed regulation model is as follows:

V＝λ ₁ (v ₀ +v _Δ0 (α-θ))+λ ₂ V _b (1-2)；

wherein V is the first target vehicle speed lambda ₁ Lambda is the first adjustment coefficient ₂ For the second adjustment factor, v ₀ For initiating the cartSpeed, v _Δ0 For a preset first speed variation, alpha is a preset parking angle, theta is a first included angle, V _b The vehicle speed is adjusted to a second vehicle speed, wherein the first included angle is an included angle between the push rod and the horizontal plane.

2. The intelligent control method according to claim 1, wherein the functional state includes:

a first functional state, and when the cart is in the first functional state, the first control condition collected comprises one or more of: a first rotation signal of the push rod, a first pressure signal applied by a user on the push rod, a shaking signal of the cart;

And/or, (ii) a second functional state, and when the cart is in the second functional state, the second control condition collected comprises one or more of: a first rotation signal of the push rod and a second rotation signal of the push rod;

and/or, (iii) a third functional state, and when the cart is in the third functional state, the third control conditions collected include one or more of: reversing signals and steering signals;

3. The intelligent control method according to claim 2, wherein the user input information includes: a switching signal indicating switching of the functional state; and/or the actual operating state comprises one or more of the following: acceleration, deceleration, uniform speed, flat road running, uphill running, downhill running, shaking state, steering state.

4. The intelligent control method according to claim 1 or 2, characterized in that the first control condition further includes: a first pressure signal, and the first pressure signal comprises: data or change data of a first pressure or a first tension applied by the user on the push rod; correspondingly, the step S101 further includes the steps of:

Judging whether the first pressure or the data or the change data of the first tension belongs to a preset first pressure threshold range, if yes, inputting the first pressure signal into the first vehicle speed adjusting model, wherein the first vehicle speed adjusting model is as follows:

5. The intelligent control method according to claim 2, wherein S101 includes the steps of, when the cart is in the second functional state:

wherein,V _a for first regulating vehicle speed, V _b For second regulating speed lambda ₁ Lambda is the first adjustment coefficient ₂ For the second adjustment factor, V _R Vehicle speed V for right side wheels of the cart _L The vehicle speed of the left wheel of the cart is m, n is a first steering coefficient, n is a second steering coefficient, pi is a circumference ratio, beta is a second included angle, and R is the wheel distance between motors on the left side and the right side of the cart; the second included angle is an included angle between the push rod and a preset position of the push rod in the second rotation plane.

6. The intelligent control method according to claim 2, wherein when the cart is in the third functional state, the S101 includes:

and/or a turn signal, and the turn signal comprises: rotation angle, and/or rotation direction;

7. The intelligent control method according to claim 3, wherein S101 includes the steps of, when the cart is in the fourth functional state:

when the second pressure or the second tension is greater than the set threshold, the vehicle speed is controlled according to a fourth vehicle speed adjusting model, and at this time, the fourth vehicle speed adjusting model is as follows:

wherein V' is the second target vehicle speed lambda ₃ The third adjustment coefficient is pi, the circumference ratio is pi, the phi is a set rotation angle, and the wheel distance between the motors on the left side and the right side of the cart is R;

and/or, when the cart is in the fourth functional state, S101 includes the steps of:

Determining an adjustment state of the cart according to the fourth control condition, wherein the fourth control condition comprises: a dither signal, and the dither signal comprises: the device comprises a main body part, first jitter data, second jitter data and a first buffer, wherein the first jitter data is included angle data between the main body part and a horizontal plane in the length direction, and the second jitter data is included angle data between the main body part and the horizontal plane in the width direction; judging whether the current vehicle speed of the cart needs to be corrected according to the shaking signals; the step of judging whether the current vehicle speed of the cart needs to be corrected according to the shaking signal comprises the following steps:

a sliding variance algorithm is adopted to respectively calculate a first standard variance and a second standard variance of the first jitter data and the second jitter data;

calculating average values of the first standard deviation and the second standard deviation, judging that the trolley is in a shaking state when the average values belong to a preset shaking threshold range, and carrying out vehicle speed adjustment according to a fifth vehicle speed adjustment model, wherein the fifth vehicle speed adjustment model is as follows:

V″＝λ ₁ V _a ′+λ ₂ V _b (4)；

8. The intelligent control method according to claim 1, wherein the first pressure signal is indirectly acquired by a pressure data acquisition module; the push rod comprises an inner pipe and an outer pipe sleeved outside the inner pipe; the pressure data acquisition module is arranged on the outer side of the inner tube, and when the push rod receives the push-pull action of a user, the pressure data acquisition module senses the change of pressure data under the extrusion action of the inner wall of the outer tube; or the pressure data acquisition module is arranged on the inner side of the outer tube, and when the push rod receives the push-pull action of a user, the pressure data acquisition module senses the change of pressure data under the extrusion action of the outer wall of the inner tube;

and/or when the included angle between the push rod and the horizontal plane belongs to a first preset angle, the push rod is in a reset state; wherein, along the push rod is in the first direction of rotation of horizontal plane has set gradually: the device comprises a first parking interval, an acceleration adjusting interval, a constant speed adjusting interval and a second parking interval.

9. An intelligent control system for a cart, the cart comprising: a body part for carrying an object, and a push rod rotatable in at least one plane of rotation relative to the body part, the system accordingly comprising:

the state control module includes:

a first condition acquisition unit configured to determine an adjustment interval of the cart according to a first control condition when the cart is in a first functional state, wherein the first control condition comprises: the first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotating plane, the value of the included angle between the push rod and the horizontal plane where the main body part is positioned or the change value of the included angle;

a first state control unit configured to input the first control condition into a first vehicle speed adjustment model corresponding to the adjustment section, wherein when the first rotation signal is in an acceleration adjustment section and/or a deceleration adjustment section of a push rod, the first vehicle speed adjustment model is:

V＝λ ₁ (v ₀ +v _Δ0 (α-θ))+λ ₂ V _b (1-2)；

Wherein V is the first target vehicle speed lambda ₁ Lambda is the first adjustment coefficient ₂ For the second adjustment factor, v ₀ V, the initial speed of the cart _Δ0 For the preset first speed variation, alpha is a preset parking angle, theta is the first included angle, V _b The vehicle speed is adjusted to a second vehicle speed, wherein the first included angle is an included angle between the push rod and the horizontal plane.