CN207611242U - Intelligent cart - Google Patents
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- CN207611242U CN207611242U CN201720979265.XU CN201720979265U CN207611242U CN 207611242 U CN207611242 U CN 207611242U CN 201720979265 U CN201720979265 U CN 201720979265U CN 207611242 U CN207611242 U CN 207611242U
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- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000012806 monitoring device Methods 0.000 claims abstract description 13
- 230000001960 triggered effect Effects 0.000 claims description 23
- 230000001133 acceleration Effects 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
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Abstract
The utility model discloses a kind of intelligent carts, including controller, and pavement state monitoring device, trigger signal detection device and the pressure sensor being connect respectively with controller, pavement state monitoring device, for detecting the pavement state residing for intelligent cart；Trigger signal detection device, for detecting whether receiving the intelligent control instruction of user's triggering；Pressure sensor, in the intelligent control instruction for receiving user's triggering, detection to act on the thrust magnitude or value of thrust of intelligent cart；Controller, for when thrust magnitude is greater than or equal to predetermined thrust magnitude or value of thrust is greater than or equal to predetermined pull value, being corresponded to according to pavement state and starting intelligent control function：Assist function or resistance function.The utility model can make the functional diversities of intelligent cart, can not only ensure safety, moreover it is possible to mitigate user's physical demands.
Description
Technical Field
The utility model relates to an intelligence shallow technical field especially relates to an electronic intelligence shallow.
Background
When the user uses ordinary children's shallow, if long-time pushing or when the shallow goes up a slope, because rely on external force to promote completely, consequently, can consume a large amount of physical power, in addition, when the user pulls the car downhill path, owing to also need lean on external force pulling completely, if the pulling force is not enough, probably lead to the emergence of accident, so can reduce user experience.
SUMMERY OF THE UTILITY MODEL
A primary object of the utility model is to provide an intelligent cart aims at according to the current state of locating of shallow, and the intelligent control function that starts intelligent cart makes intelligent cart's function diversification like helping hand function or resistance function intelligently, not only can guarantee the security, can also reach the effect that alleviates user's physical demands to improve user experience.
In order to achieve the above object, the utility model provides an intelligent cart, which comprises a controller, and a road surface state monitoring device, a trigger signal detection device and a pressure sensor which are respectively connected with the controller;
the road surface state monitoring device is used for detecting the road surface state of the intelligent cart;
the trigger signal detection device is used for detecting whether the intelligent cart receives an intelligent control instruction triggered by a user;
the pressure sensor is used for detecting a thrust value or a tension value acting on the intelligent cart under the condition that the intelligent cart receives an intelligent control instruction triggered by a user;
the controller is used for correspondingly starting an intelligent control function of the intelligent cart according to the road surface state under the condition that the thrust value is greater than or equal to a preset thrust value or the tension value is greater than or equal to a preset tension value, wherein the intelligent control function comprises a power assisting function or a resistance function.
Preferably, the intelligent cart further comprises a speed sensor connected with the controller, and the speed sensor is used for monitoring the running speed of the intelligent cart.
Preferably, the controller is further configured to turn off the intelligent control function when the thrust value is greater than or equal to a predetermined thrust value and the speed sensor monitors that the running speed is greater than or equal to a predetermined speed, or when the tension value is greater than or equal to a predetermined tension value and the speed sensor monitors that the running speed is greater than or equal to a predetermined speed.
Preferably, the intelligent control function further includes an automatic braking function, and the controller is further configured to, when the intelligent cart does not receive an intelligent control instruction triggered by a user, start the automatic braking function if the speed sensor monitors that the driving speed is not zero, the road surface state is a flat road, and the controller determines that the driving speed of the intelligent cart is in a deceleration state; or the road surface state is a slope, and the controller judges that the running speed of the intelligent cart is in an acceleration state, and then the automatic braking function is started.
Preferably, the intelligent cart further comprises a low-speed large-torque motor connected with the controller, and the controller is further configured to control the low-speed large-torque motor to generate assistance when the intelligent control function comprises an assistance function; or, under the condition that the intelligent control function comprises a resistance function or an automatic braking function, controlling the low-speed high-torque motor to generate resistance.
Preferably, the low-speed large-torque motor is an in-wheel motor, a brushless direct current motor or a speed reduction motor.
Preferably, the intelligent cart is further provided with a power-assisted switch connected with the controller, and the power-assisted switch is used for controlling the intelligent control function of the intelligent cart to be turned on or off.
Preferably, the smart cart further comprises:
and the manual brake device is used for starting a brake function under the trigger of a user when the vehicle is braked for a long time or temporarily parked on a slope.
Preferably, the manual brake device is a mechanical brake or an electric brake.
Preferably, the smart cart further comprises a lithium battery for supplying power.
The utility model provides an intelligent cart detects the road surface state that intelligent cart is located through road surface state monitoring devices to detect whether intelligent cart receives the intelligent control instruction that the user triggered through trigger signal detection device, then under the intelligent control instruction's that the user triggered intelligent cart received, detect through pressure sensor and act on the thrust value or the pulling force value of intelligent cart are at last thrust value more than or equal to predetermined thrust value, or under the pulling force value is more than or equal to predetermined pulling force value's the condition, the controller basis road surface state corresponds the start the intelligent control function of intelligent cart, the intelligent control function includes helping hand function or resistance function. Like this, according to the current state of locating of shallow, start helping hand function or resistance function intelligently, make intelligent cart's function diversified, like this, when guaranteeing intelligent cart security, can also alleviate user's physical demands to improve user experience.
Drawings
Fig. 1 is a schematic diagram of functional modules of an embodiment of the intelligent cart of the present invention;
fig. 2 is a schematic flow chart of a first embodiment of a power control method for the intelligent cart according to the present invention;
fig. 3 is a schematic flow chart of a power control method for the intelligent cart according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a detailed flow of starting the boosting function if the road surface state is a flat road in the case that the thrust value is greater than or equal to a predetermined thrust value or the tension value is greater than or equal to a predetermined tension value in the step of FIG. 3;
fig. 5 is a detailed flowchart of the step in fig. 3, when the thrust value is greater than or equal to a predetermined thrust value or the tension value is greater than or equal to a predetermined tension value, if the road surface state is a slope and the smart cart runs upward along the slope, the boosting function is started;
fig. 6 is a schematic diagram of a refining process of starting the resistance function when the road surface state is a slope and the smart cart runs down the slope under the condition that the tension value is greater than or equal to a predetermined tension value or the thrust value is greater than or equal to a predetermined thrust value in the step in fig. 3;
fig. 7 is a schematic flow chart of a power control method for the intelligent cart according to a third embodiment of the present invention;
fig. 8 is a schematic flow chart of a fourth embodiment of the power control method for the intelligent cart according to the present invention.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The utility model provides an intelligence shallow 1, refer to fig. 1, in an embodiment, intelligence shallow includes controller 40, and respectively with road surface state monitoring devices 10, trigger signal detection device 20 and pressure sensor 30 that the controller is connected:
the road surface state monitoring device 10 is used for detecting the road surface state of the intelligent cart;
in this embodiment, the road surface state monitoring device is a gyroscope, preferably a three-axis gyroscope, and obtains the road surface state of the intelligent cart by monitoring the running state of the intelligent cart in real time or at regular time, for example: the intelligent cart is characterized by comprising a road surface or a slope, wherein the road surface or the slope is flat, and specifically, the gyroscope is used for determining the road surface state of the intelligent cart by detecting the inclination angle of the intelligent cart. The inclination angle of the head of the intelligent cart can be used as a reference, and when the inclination angle of the head of the intelligent cart is zero, the state of the road surface where the intelligent cart is located can be judged to be a flat road; when the inclination angle of the head of the intelligent cart is 0-90 degrees (the horizontal line is upward), the state of the road surface where the intelligent cart is located can be judged to be a slope, and the state of the intelligent cart along the slope is upward driving; when the inclination angle of the head of the intelligent cart is 0-minus 90 degrees (horizontal line is downward), the state of the road surface where the intelligent cart is located can be judged to be a slope, and the state of the intelligent cart along the slope is downward driving.
The trigger signal detection device 20 is used for detecting whether the intelligent cart receives an intelligent control instruction triggered by a user;
in this embodiment, the trigger signal detection device may be a capacitance sensor or a resistance sensor, and the capacitance sensor is taken as an example for explanation, and the controller of the intelligent cart may determine whether the hand of the user is placed in the handle pushing sensing area of the intelligent cart according to the capacitance difference detected by the capacitance sensor, and further determine whether to trigger the intelligent control instruction. If when the handle induction zone of pushing away at the intelligence shallow does not have user's hand to place, the capacitance value that capacitive sensor detected this moment can be 4850, if detect the capacitance value and be 5850, the capacitance difference that corresponds this moment is 1000, and is greater than preset standard value as 800, shows that there is user's hand to place in pushing away the handle induction zone at present, also shows that the intelligence shallow receives intelligent control instruction promptly. It should be understood that the specific values of the capacitance values are merely used to aid in understanding the present invention and are not intended to be limiting.
The pressure sensor 30 is used for detecting a thrust value or a tension value acting on the intelligent cart under the condition that the intelligent cart receives an intelligent control instruction triggered by a user;
in this embodiment, when the intelligent cart receives the intelligent control instruction triggered by the user, it indicates that the hand of the user is placed in the handle-pushing sensing area, so that the thrust value F of the hand of the user to the intelligent cart can be further monitoredThrust forceOr tensile value FTension forceAnd determining whether to start the intelligent control function of the intelligent cart according to the magnitude of the thrust value or the tension value. And under the condition that an intelligent control instruction triggered by a user is not detected, the intelligent control function of the intelligent cart is not started, and the intelligent cart only has the function of a common cart at the moment.
Wherein, FThrust forceThe forward thrust which is applied to the push handle of the intelligent cart by the hand of the user and is consistent with the direction of the head of the intelligent cart is applied; fTension forceThe backward pulling force which is applied to the push handle of the intelligent cart by the hand of the user and is opposite to the direction of the cart head.
And the controller 40 is used for correspondingly starting the intelligent control function of the intelligent cart according to the road surface state under the condition that the thrust value is greater than or equal to a preset thrust value or the tension value is greater than or equal to a preset tension value, wherein the intelligent control function comprises a power assisting function or a resistance function.
In the embodiment, when the intelligent cart starts the power assisting function, the acting force consistent with the driving direction of the intelligent cart is generated, so that the acting force of the hand of the user on the pushing handle of the intelligent cart is reduced; when the intelligent cart starts the resistance function, acting force opposite to the driving direction of the intelligent cart is generated, so that the aim of reducing speed is fulfilled.
Specifically, if the thrust value F is detectedThrust forceNot less than predetermined pushAnd a force value, wherein the road surface state of the intelligent cart is a flat road or the road surface state of the intelligent cart is a slope, the intelligent cart runs upwards along the slope, and the condition shows that the intelligent cart is at FThrust forceThe advancing direction under the action of the push rod is the same as that of the head of the vehicle, and the push force is used for propelling the intelligent cart to advance, so that the power-assisted function of the intelligent cart is started, and the force F is enabled to be in a range ofThrust forceThe force beyond the preset thrust value is completely compensated by the motor, and the physical consumption generated by the thrust exerted by a user is reduced.
If the pulling force value F is detectedTension forceThe tension value is not less than a preset tension value, the road surface state where the intelligent cart is located is a flat road or the road surface state where the intelligent cart is located is a slope, the intelligent cart runs upwards along the slope, and the situation shows that the intelligent cart is in an F state at the momentTension forceThe advancing direction of the intelligent cart is opposite to the cart head, and the pulling force is used for pulling the intelligent cart to advance, so that the boosting function of the intelligent cart is started, and the force F is enabled to beTension forceThe force beyond the preset tension value is completely compensated by the motor, and the physical consumption generated by the application of the tension by the user is reduced.
If the thrust value F is detectedThrust forceThe thrust value is not less than a preset thrust value, the road surface state where the intelligent cart is located is a slope, the intelligent cart runs downwards along the slope, and the situation shows that the intelligent cart is at FThrust forceThe advancing direction is opposite to the vehicle head under the action of the push force, and the push force is used for preventing the intelligent cart from sliding down along the slope, so that the resistance function of the intelligent cart is started, and the force F is enabled to be opposite to the force FThrust forceThe force beyond the preset thrust value is completely compensated by the motor, and the physical consumption generated by the thrust exerted by a user is reduced.
If the pulling force value F is detectedTension forceThe tensile force value is not less than a preset tensile force value, the road surface state where the intelligent cart is located is a slope, and when the intelligent cart runs downwards along the slope, the situation that the intelligent cart is at FTension forceThe advancing direction under the action of the intelligent cart is the same as the cart head, and the pulling force is used for preventing the intelligent cart from sliding down along a slope, so that the resistance of the intelligent cart can be started for reducing the physical consumption of applying the pulling force by a userThe force function enables the intelligent cart to run at a reduced speed or at a constant speed.
The utility model provides an intelligent cart detects the road surface state that intelligent cart is located through road surface state monitoring devices to detect whether intelligent cart receives the intelligent control instruction that the user triggered through trigger signal detection device, then under the intelligent control instruction's that the user triggered intelligent cart received, detect through pressure sensor and act on the thrust value or the pulling force value of intelligent cart are at last thrust value more than or equal to predetermined thrust value, or under the pulling force value is more than or equal to predetermined pulling force value's the condition, the controller basis road surface state corresponds the start the intelligent control function of intelligent cart, the intelligent control function includes helping hand function or resistance function. Like this, according to the current state of locating of intelligent shallow, start helping hand function or resistance function intelligently, make intelligent shallow's function diversification, like this, when guaranteeing intelligent shallow security, can also alleviate user's physical demands to improve user experience.
Further, referring to fig. 1, the smart cart further includes a speed sensor 50 connected to the controller, wherein the speed sensor 50 is used for monitoring the driving speed of the smart cart.
In this embodiment, the speed sensor 50 is preferably a hall sensor, and can monitor the driving speed of the smart cart in real time or at regular time. Of course, in other embodiments, other types of speed sensors may be selected, and the invention is not limited thereto.
Further, the controller 40 is further configured to close the intelligent control function when the thrust value is greater than or equal to a predetermined thrust value and the speed sensor monitors that the running speed is greater than or equal to a predetermined speed, or when the tension value is greater than or equal to a predetermined tension value and the speed sensor monitors that the running speed is greater than or equal to a predetermined speed.
In the present embodiment, the thrust valueFThrust forceWhen the thrust value is larger than or equal to the preset thrust value, if the speed sensor monitors that the driving speed of the intelligent cart is larger than or equal to the preset speed such as the maximum driving speed of the intelligent cart, the situation that the thrust of the intelligent cart is too large at the moment is indicated, and the power assisting function of the intelligent cart needs to be closed; at the tension value FTension forceWhen the tension value is larger than or equal to the preset tension value, if the speed sensor monitors that the running speed of the intelligent cart is larger than or equal to the preset speed, such as the maximum running speed of the intelligent cart, the situation shows that the tension of the intelligent cart is too large at the moment, and the power assisting or resistance function of the intelligent cart needs to be closed.
Further, the intelligent control function further comprises an automatic braking function, and the controller is further configured to, when the intelligent cart does not receive an intelligent control instruction triggered by a user, start the automatic braking function if the speed sensor monitors that the driving speed is not zero, the road surface state is a flat road, and the controller determines that the driving speed of the intelligent cart is in a deceleration state; or the road surface state is a slope, and the controller judges that the running speed of the intelligent cart is in an acceleration state, and then the automatic braking function is started.
In this embodiment, the intelligent control function of the intelligent cart further includes an automatic braking function, and when the intelligent cart does not receive an intelligent control instruction triggered by a user, it indicates that the hand of the user is not in the handle pushing area of the intelligent cart at this time, and if the speed sensor monitors that the driving speed of the intelligent cart is not zero, there may be a danger at this time, and therefore, the automatic braking function needs to be started in time.
Specifically, when the road surface state is a flat road, if the running speed of the intelligent cart is in a deceleration state, the automatic braking function can be started; or when the road surface state is a slope, if the driving speed of the intelligent cart is in an acceleration state, which indicates that the intelligent cart is in a downhill driving state at the moment, the automatic braking function can be started.
In another embodiment, the risk degree of the intelligent cart can be further evaluated according to the current running speed of the intelligent cart, so that whether the automatic braking function needs to be started in time is judged. The danger degree can be measured according to the rotating distance of the wheels of the intelligent cart, for example, whether the wheels rotate for a preset distance such as 30cm is judged, if the rotating distance of the wheels reaches 30cm, a user may not react in time, and at the moment, it can be judged that the danger degree is high and an automatic braking function needs to be started in time; if the rotating distance of the wheels does not reach 30cm, the danger degree can be judged to be low in the controllable range of a user, and the automatic braking function does not need to be started.
Further, the intelligent cart further comprises a low-speed large-torque motor 60 connected with the controller, and the controller 40 is further configured to control the low-speed large-torque motor to generate an assisting force under the condition that the intelligent control function includes an assisting function, that is, the assisting force is an acting force in accordance with the driving direction of the intelligent cart; or the controller is used for controlling the low-speed large-torque motor to generate resistance under the condition that the intelligent control function comprises a resistance function or an automatic braking function, namely the resistance is an acting force opposite to the driving direction of the intelligent cart.
In the preferred embodiment, the low-speed large-torque motor is a hub motor, so that the intelligent cart can be pushed freely and easily even if the intelligent cart is powered off; in addition, when the hub motor is started, preset torque can be output, and closed-loop control is formed by the preset torque and the thrust, so that a user can feel comfortable when pushing or pulling the intelligent cart.
In this embodiment, when the intelligent cart starts the power assisting function, the controller may control the low-speed high-torque motor to generate power assisting, so as to reduce the acting force of the user's hand on the pushing handle of the intelligent cart; when the intelligent cart starts a resistance function or an automatic braking function, the controller can control the low-speed large-torque motor to generate resistance, so that physical consumption of a user can be reduced, the intelligent cart can be in a safety range, and danger is avoided.
Referring to fig. 1, the intelligent cart may further include a power-assisted switch 70 connected to the controller, for controlling the intelligent control function of the intelligent cart to be turned on or off. For example, when going upstairs or downstairs, the power-assisted switch can be turned on or off according to actual needs, and if the power-assisted switch is not pressed, the intelligent cart does not start the intelligent control function.
Further, referring to fig. 1, the smart cart may further include a manual brake device 80 for activating a braking function by a user when the smart cart is braked for a long time or temporarily parked on a slope. Preferably, the hand brake device can be a mechanical brake or an electric brake, etc. Of course, the automatic braking function can also be started according to actual conditions. If the intelligent cart brakes for a long time or temporarily stops on a slope for a preset time, if the manual braking signal is not detected, the automatic braking function is started.
Further, referring to fig. 1, the smart cart further includes a lithium battery providing a power supply 90 to ensure safety and performance of the battery.
Referring to fig. 2, in an embodiment, the utility model provides an intelligent cart, its power control method includes the following steps:
s1, detecting the road surface state of the intelligent cart;
in this embodiment, can detect the road surface state of intelligent shallow through a road surface state monitoring devices, road surface state monitoring devices is the gyroscope, preferably triaxial gyroscope, through the running state of real-time or regularly monitoring intelligent shallow, learns the road surface state that intelligent shallow is located, if: the intelligent cart is characterized by comprising a road surface or a slope, wherein the road surface or the slope is flat, and specifically, the gyroscope is used for determining the road surface state of the intelligent cart by detecting the inclination angle of the intelligent cart. The inclination angle of the head of the intelligent cart can be used as a reference, and when the inclination angle of the head of the intelligent cart is zero, the state of the road surface where the intelligent cart is located can be judged to be a flat road; when the inclination angle of the head of the intelligent cart is 0-90 degrees (the horizontal line is upward), the state of the road surface where the intelligent cart is located can be judged to be a slope, and the intelligent cart is driven upwards along the slope at present; when the inclination angle of the head of the intelligent cart is 0-minus 90 degrees (horizontal line is downward), the state of the road surface where the intelligent cart is located can be judged to be a slope, and the state of the intelligent cart along the slope is downward driving.
Step S2, detecting whether the intelligent cart receives an intelligent control instruction triggered by a user;
in this embodiment, whether the intelligent cart receives an intelligent control instruction triggered by a user is detected by the trigger signal detection device, the trigger signal detection device may be a capacitance sensor or a resistance sensor, and the capacitance sensor is taken as an example for explanation, and the controller of the intelligent cart may judge whether the hand of the user is placed in a handle-pushing sensing area of the intelligent cart according to a capacitance difference value detected by the capacitance sensor, so as to judge whether the intelligent control instruction is triggered. If when the handle induction zone of pushing away at the intelligence shallow does not have user's hand to place, the capacitance value that capacitive sensor detected this moment can be 4850, if detect the capacitance value and be 5850, the capacitance difference that corresponds this moment is 1000, and is greater than preset standard value as 800, shows that there is user's hand to place in pushing away the handle induction zone at present, also shows that the intelligence shallow receives intelligent control instruction promptly. It should be understood that the specific values of the capacitance values are merely used to aid in understanding the present invention and are not intended to be limiting.
Step S3, under the condition that the intelligent cart receives an intelligent control instruction triggered by a user, detecting a thrust value or a tension value acting on the intelligent cart;
in this embodiment, when the intelligent cart receives the intelligent control instruction triggered by the user, it indicates that the hand of the user is placed in the handle-pushing sensing area, so that the thrust value F of the hand of the user to the intelligent cart can be further monitoredThrust forceOr tensile value FTension forceRoot of large-flowered skullcapAnd determining whether to start the intelligent control function of the intelligent cart or not according to the magnitude of the thrust value or the tension value. And if the induction signal of the handle pushing induction area is not detected, the intelligent control function of the intelligent cart is not started, and the intelligent cart only has the function of a common cart at the moment.
Wherein, FThrust forceThe forward thrust which is applied to the push handle of the intelligent cart by the hand of the user and is consistent with the direction of the head of the intelligent cart is applied; fTension forceThe hand of the user applies backward pulling force opposite to the direction of the cart head to the pushing handle of the intelligent cart.
And step S4, correspondingly starting an intelligent control function of the intelligent cart according to the road surface state under the condition that the thrust value is greater than or equal to a preset thrust value or the tension value is greater than or equal to a preset tension value, wherein the intelligent control function comprises a power assisting function or a resistance function.
In the embodiment, when the intelligent cart starts the power assisting function, the acting force consistent with the driving direction of the intelligent cart is generated, so that the acting force of the hand of the user on the pushing handle of the intelligent cart is reduced; when the intelligent cart starts the resistance function, acting force opposite to the driving direction of the intelligent cart is generated, so that the aim of reducing speed is fulfilled.
Specifically, if the thrust value F is detectedThrust forceThe thrust value is not less than a preset thrust value, the road surface state of the intelligent cart is a flat road or the road surface state of the intelligent cart is a slope, the intelligent cart runs upwards along the slope, and the situation shows that the intelligent cart is in an F state at the momentThrust forceThe advancing direction under the action of the push rod is the same as that of the head of the vehicle, and the push force is used for propelling the intelligent cart to advance, so that the power-assisted function of the intelligent cart is started, and the force F is enabled to be in a range ofThrust forceThe force beyond the preset thrust value is completely compensated by the motor, and the physical consumption generated by the thrust exerted by a user is reduced.
If the pulling force value F is detectedTension forceThe tension value is more than or equal to a preset tension value, the road surface state of the intelligent cart is a flat road or the road surface state of the intelligent cart is a slope, and the intelligent cart is arranged along the slope directionGo up, show that the smart cart is at F this momentTension forceThe advancing direction of the intelligent cart is opposite to the cart head, and the pulling force is used for pulling the intelligent cart to advance, so that the boosting function of the intelligent cart is started, and the force F is enabled to beTension forceThe force beyond the preset tension value is completely compensated by the motor, and the physical consumption generated by the application of the tension by the user is reduced.
If the thrust value F is detectedThrust forceThe thrust value is not less than a preset thrust value, the road surface state where the intelligent cart is located is a slope, the intelligent cart runs downwards along the slope, and the situation shows that the intelligent cart is at FThrust forceThe advancing direction is opposite to the vehicle head under the action of the push force, and the push force is used for preventing the intelligent cart from sliding down along the slope, so that the resistance function of the intelligent cart is started, and the force F is enabled to be opposite to the force FThrust forceThe force beyond the preset thrust value is completely compensated by the motor, and the physical consumption generated by the thrust exerted by a user is reduced.
If the pulling force value F is detectedTension forceThe tensile force value is not less than a preset tensile force value, the road surface state where the intelligent cart is located is a slope, and when the intelligent cart runs downwards along the slope, the situation that the intelligent cart is at FTension forceThe moving direction under the action of the intelligent cart is the same as that of the cart head, and the pulling force is used for preventing the intelligent cart from sliding down along a slope, so that the resistance function of the intelligent cart can be started for reducing the physical consumption of a user for applying the pulling force, and the intelligent cart can run at a reduced speed or at a constant speed.
In an embodiment, as shown in fig. 3, on the basis of the embodiment shown in fig. 2, the step S4 includes:
step S41, when the thrust value is greater than or equal to a preset thrust value or the tension value is greater than or equal to a preset tension value, if the road surface state is a flat road, the power assisting function is started;
in this embodiment, when the road surface state is a flat road, if it is detected that the thrust value is greater than or equal to the predetermined thrust value, it is described that the thrust at this time is for assisting the intelligent cart to travel, and at this time, the power assisting function of the intelligent cart may be startedCan make the FThrust forceForces other than those greater than the predetermined thrust value are completely compensated by the motor, so that physical exertion by the user can be reduced.
Step S42, under the condition that the thrust value is greater than or equal to a preset thrust value or the tension value is greater than or equal to a preset tension value, if the road surface state is a slope and the intelligent cart runs upwards along the slope, starting the boosting function;
in this embodiment, when the road surface state is a slope and the smart cart travels upward along the slope, if it is detected that the thrust value is greater than or equal to the predetermined thrust value or the tension value is greater than or equal to the predetermined tension value, it is indicated that the tension at this time is for assisting the smart cart to travel, and at this time, the boosting function of the smart cart may be started, so that the force F isThrust forceForces other than greater than a predetermined thrust value or FTension forceForces other than those greater than the predetermined tension value are completely compensated by the motor, so that physical exertion by the user can be reduced.
Step S43, when the pulling force value is larger than or equal to a preset pulling force value or the thrust force value is larger than or equal to a preset thrust force value, if the road surface state is a slope and the intelligent cart runs downwards along the slope, starting the resistance function.
In this embodiment, when the road surface state is a slope and the smart cart travels downward along the slope, if it is detected that the thrust value is greater than or equal to the predetermined thrust value or the tension value is greater than or equal to the predetermined tension value, it is indicated that the tension at this time is for preventing the smart cart from traveling, and in order to reduce the physical consumption of the user and ensure safety, the resistance function of the smart cart needs to be started.
In one embodiment, if the intelligent cart is selected to move forward when moving along the direction of the cart head (the direction opposite to the pushing handle), the wheels are defined to rotate clockwise at the moment; when the bicycle runs along the reverse direction of the bicycle head (the direction of the push handle), the bicycle runs in the reverse direction, and the wheel rotates anticlockwise at the moment. The boosting function can comprise a forward boosting function and a reverse boosting function, wherein the forward boosting function indicates that the intelligent cart generates boosting in the direction consistent with the direction of the cart head, namely the wheels are driven to rotate clockwise, and the reverse boosting function indicates that the intelligent cart generates boosting in the direction consistent with the direction of the pushing handle, namely the wheels are driven to rotate anticlockwise. As shown in fig. 4, on the basis of the embodiment shown in fig. 3, the step S41 includes:
step S411, if the thrust value is larger than or equal to a preset thrust value under the condition that the road surface state is a flat road, starting a positive power assisting function;
in this embodiment, when the road surface state is a flat road, if the detected thrust value F is equal to or greater than the predetermined valueThrust forceThe thrust value is larger than or equal to a preset thrust value, such as 15N, at the moment, the motor of the intelligent cart generates forward assistance clockwise, and drives the wheels to rotate clockwise, so that the forward assistance consistent with the direction of the vehicle head is generated.
And step S412, under the condition that the road surface state is a flat road, if the tension value is larger than or equal to a preset tension value, starting a reverse power assisting function.
In this embodiment, when the road surface state is a flat road, a person pulls the vehicle backward on the flat road, and if the detected pulling force value F is detectedTension forceThe tension value is larger than or equal to a preset tension value, such as 15N, at the moment, a motor of the intelligent cart generates backward power assistance anticlockwise and drives the wheels to rotate anticlockwise, and therefore backward reverse power assistance opposite to the direction of the head of the vehicle is generated.
In one embodiment, if the intelligent cart is selected to move forward when moving along the direction of the cart head (the direction opposite to the pushing handle), the wheels are defined to rotate clockwise at the moment; when the bicycle runs along the reverse direction of the bicycle head (the direction of the push handle), the bicycle runs in the reverse direction, and the wheel rotates anticlockwise at the moment. The boosting function can comprise a forward boosting function and a reverse boosting function, wherein the forward boosting function indicates that the intelligent cart generates boosting in the direction consistent with the direction of the cart head, namely the wheels are driven to rotate clockwise, and the reverse boosting function indicates that the intelligent cart generates boosting in the direction consistent with the direction of the pushing handle, namely the wheels are driven to rotate anticlockwise.
As shown in fig. 5, on the basis of the embodiment shown in fig. 3, the step S42 includes:
step S421, if the thrust value is greater than or equal to a predetermined thrust value, starting the forward boosting function when the road surface state is a slope and the intelligent cart runs upwards along the slope;
in this embodiment, if a person pushes the intelligent cart to travel upward along the slope, if the detected thrust value F isThrust forceThe thrust value is larger than or equal to a preset thrust value, such as 15N, at the moment, the motor of the intelligent cart generates forward assistance clockwise, and drives the wheels to rotate clockwise, so that the forward assistance consistent with the direction of the vehicle head is generated.
And S422, under the condition that the road surface state is a slope and the intelligent cart runs upwards along the slope, if the tension value is greater than or equal to a preset tension value, starting the reverse power assisting function.
In this embodiment, if the person pulls the intelligent cart to drive upwards along the slope, if the pulling force value F that detectsTension forceThe tension value is larger than or equal to a preset tension value, such as 15N, at the moment, a motor of the intelligent cart generates backward power assistance anticlockwise and drives the wheels to rotate anticlockwise, and therefore backward reverse power assistance opposite to the direction of the head of the vehicle is generated.
In an embodiment, as shown in fig. 6, if the intelligent cart is selected to be moving forward when moving along the direction of the cart head (the direction opposite to the pushing handle), it is defined that the wheels rotate clockwise at this time; when the bicycle runs along the reverse direction of the bicycle head (the direction of the push handle), the bicycle runs in the reverse direction, and the wheel rotates anticlockwise at the moment. The resistance function can include a forward resistance function and a reverse resistance function, wherein the scenario indicated by the forward resistance function is that the intelligent cart generates a resistance opposite to the direction of the cart head to prevent the intelligent cart from advancing along the direction of the cart head, i.e., preventing the wheel from rotating clockwise at the moment, and the scenario indicated by the reverse resistance function is that the intelligent cart generates a resistance consistent with the direction of the cart head, i.e., preventing the wheel from rotating counterclockwise at the moment. On the basis of the embodiment shown in fig. 3, the step S43 includes:
step S431, under the condition that the road surface state is a slope and the intelligent cart runs downwards along the slope, if the tension value is larger than or equal to a preset tension value, starting a forward resistance function;
in this embodiment, if the person pulls the intelligent cart to drive down along the slope, the pulling force value F is detectedTension forceThe tension value is larger than or equal to the preset tension value, such as 15N, at the moment, a motor of the intelligent cart generates backward resistance in the direction opposite to the direction of the cart head clockwise, and the wheels are driven to rotate anticlockwise, so that the intelligent cart can slowly run downwards along the slope.
And S432, under the condition that the road surface state is a slope and the intelligent cart runs downwards along the slope, if the thrust value is greater than or equal to a preset thrust value, starting a reverse resistance function.
In this embodiment, if a person pushes the intelligent cart to travel down the slope, the detected thrust value F is used as the thrust valueThrust forceThe thrust value is larger than or equal to a preset thrust value, such as 15N, at the moment, a motor of the intelligent cart generates forward resistance in the same direction with the direction of the cart head clockwise, and drives the wheels to rotate anticlockwise, so that the intelligent cart slowly runs downwards along the slope.
In an embodiment, as shown in fig. 7, on the basis of the embodiment shown in fig. 2, the step S4 is further followed by:
s5, acquiring the driving speed of the intelligent cart;
in this embodiment, the driving speed of the intelligent cart can be monitored in real time or at regular time through a speed sensor, preferably a hall sensor. Of course, in other embodiments, other types of speed sensors may be selected, and the invention is not limited thereto.
And step S6, when the thrust value is greater than or equal to a preset thrust value and the running speed is greater than or equal to a preset speed, or when the tension value is greater than or equal to a preset tension value and the running speed is greater than or equal to a preset speed, the intelligent control function is closed.
In the present embodiment, the thrust value FThrust forceWhen the thrust value is larger than or equal to the preset thrust value, if the speed sensor monitors that the driving speed of the intelligent cart is larger than or equal to the preset speed such as the maximum driving speed of the intelligent cart, the situation that the thrust of the intelligent cart is too large at the moment is indicated, and the power assisting function of the intelligent cart needs to be closed; at the tension value FTension forceWhen the tension value is larger than or equal to the preset tension value, if the speed sensor monitors that the running speed of the intelligent cart is larger than or equal to the preset speed, such as the maximum running speed of the intelligent cart, the situation shows that the tension of the intelligent cart is too large at the moment, and the power assisting or resistance function of the intelligent cart needs to be closed.
In an embodiment, as shown in fig. 8, on the basis of the embodiment shown in fig. 2, fig. 3 or fig. 7, the step S2 is further followed by:
and S7, when the intelligent cart does not receive an intelligent control instruction triggered by a user, if the running speed of the intelligent cart is not zero and the running speed of the intelligent cart is in a deceleration state, starting an automatic braking function of the intelligent cart.
In this embodiment, the intelligent control function of the intelligent cart further includes an automatic braking function, and when the intelligent cart does not receive an intelligent control instruction triggered by a user, it indicates that the hand of the user is not in the handle pushing area of the intelligent cart at this time, and if the speed sensor monitors that the driving speed of the intelligent cart is not zero, there may be a danger at this time, and therefore, the automatic braking function needs to be started in time.
Specifically, when the road surface state is a flat road, if the running speed of the intelligent cart is in a deceleration state, the automatic braking function can be started; or when the road surface state is a slope, if the driving speed of the intelligent cart is in an acceleration state, which indicates that the intelligent cart is in a downhill driving state at the moment, the automatic braking function can be started.
In another embodiment, the risk degree of the intelligent cart can be further evaluated according to the current running speed of the intelligent cart, so that whether the automatic braking function needs to be started in time is judged. The danger degree can be measured according to the rotating distance of the wheels of the intelligent cart, for example, whether the wheels rotate for a preset distance such as 30cm is judged, if the rotating distance of the wheels reaches 30cm, a user may not react in time, and at the moment, it can be judged that the danger degree is high and an automatic braking function needs to be started in time; if the rotating distance of the wheels does not reach 30cm, the danger degree can be judged to be low in the controllable range of a user, and the automatic braking function does not need to be started.
The above is only the preferred embodiment of the present invention, and not the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings or the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims (10)
1. The intelligent cart is characterized by comprising a controller, and a road surface state monitoring device, a trigger signal detection device and a pressure sensor which are respectively connected with the controller;
the road surface state monitoring device is used for detecting the road surface state of the intelligent cart;
the trigger signal detection device is used for detecting whether the intelligent cart receives an intelligent control instruction triggered by a user;
the pressure sensor is used for detecting a thrust value or a tension value acting on the intelligent cart under the condition that the intelligent cart receives an intelligent control instruction triggered by a user;
the controller is used for correspondingly starting an intelligent control function of the intelligent cart according to the road surface state under the condition that the thrust value is greater than or equal to a preset thrust value or the tension value is greater than or equal to a preset tension value, wherein the intelligent control function comprises a power assisting function or a resistance function.
2. The intelligent cart of claim 1, further comprising a speed sensor coupled to the controller, the speed sensor configured to monitor a travel speed of the intelligent cart.
3. The intelligent cart of claim 2, wherein the controller is further configured to turn off the intelligent control function if the thrust value is greater than or equal to a predetermined thrust value and the speed sensor monitors that the travel speed is greater than or equal to a predetermined speed, or if the tension value is greater than or equal to a predetermined tension value and the speed sensor monitors that the travel speed is greater than or equal to a predetermined speed.
4. The intelligent cart according to claim 2, wherein the intelligent control function further comprises an automatic braking function, and the controller is further configured to, when the intelligent cart does not receive an intelligent control command triggered by a user, activate the automatic braking function if the speed sensor monitors that the driving speed is not zero, the road surface state is a flat road, and the controller determines that the driving speed of the intelligent cart is in a deceleration state; or the road surface state is a slope, and the controller judges that the running speed of the intelligent cart is in an acceleration state, and then the automatic braking function is started.
5. The smart cart of claim 4, further comprising a low-speed, high-torque motor coupled to the controller, the controller further configured to:
under the condition that the intelligent control function comprises a power assisting function, controlling the low-speed high-torque motor to generate power assisting; or,
and under the condition that the intelligent control function comprises a resistance function or an automatic braking function, controlling the low-speed high-torque motor to generate resistance.
6. The intelligent cart of claim 5, wherein the low-speed high-torque motor is an in-wheel motor, a brushless DC motor, or a gear motor.
7. The intelligent cart according to claim 1, further comprising a power-assisted switch connected to the controller for controlling the intelligent control function of the intelligent cart to be turned on or off.
8. The smart cart of claim 1, further comprising:
and the manual brake device is used for starting a brake function under the trigger of a user when the vehicle is braked for a long time or temporarily parked on a slope.
9. The intelligent cart of claim 8, wherein the hand brake device is a mechanical brake or an electrical brake.
10. The smart cart of claim 1, further comprising a lithium battery to provide a power source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720979265.XU CN207611242U (en) | 2017-08-07 | 2017-08-07 | Intelligent cart |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720979265.XU CN207611242U (en) | 2017-08-07 | 2017-08-07 | Intelligent cart |
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| CN207611242U true CN207611242U (en) | 2018-07-13 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107463115A (en) * | 2017-08-07 | 2017-12-12 | 深圳和而泰智能家居科技有限公司 | Intelligent stroller and its power-control method |
| CN116954131A (en) * | 2023-07-28 | 2023-10-27 | 重庆明月湖智能科技发展有限公司 | Intelligent control method and system for trolley |
-
2017
- 2017-08-07 CN CN201720979265.XU patent/CN207611242U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107463115A (en) * | 2017-08-07 | 2017-12-12 | 深圳和而泰智能家居科技有限公司 | Intelligent stroller and its power-control method |
| CN116954131A (en) * | 2023-07-28 | 2023-10-27 | 重庆明月湖智能科技发展有限公司 | Intelligent control method and system for trolley |
| CN116954131B (en) * | 2023-07-28 | 2024-02-02 | 重庆明月湖智能科技发展有限公司 | Intelligent control method and system for trolley |
| CN117872931A (en) * | 2023-07-28 | 2024-04-12 | 重庆明月湖智能科技发展有限公司 | Intelligent control method and system for trolley |
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Effective date of registration: 20221019 Address after: 1010-1011, 10 / F, block D, Shenzhen Aerospace Science and Technology Innovation Research Institute building, no.6, Keji south 10 road, high tech South Zone, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: SHENZHEN H&T INTELLIGENT CONTROL Co.,Ltd. Address before: 1002, 10 / F, block D, Shenzhen Aerospace Science and Technology Innovation Research Institute building, no.6, Keji south 10 road, high tech South Zone, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN H&T SMART HOME TECHNOLOGY Co.,Ltd. |
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