Hand wheeled vehicle

Abstract

The present invention relates to a hand-pushed wheeled vehicle, comprising: a running mechanism, the running mechanism comprising a front wheel and a rear wheel; a self-driving mechanism, the self-driving mechanism being used to drive the running mechanism; a first self-driving control device, the first self-driving control device controlling the self-driving mechanism according to whether the front wheel is high off the ground, so that the self-driving mechanism reduces the running speed of the running mechanism or stops driving the running mechanism when the front wheel is high off the ground. The first self-driving control device controls the rotation speed of the self-driving mechanism when the front wheel is high off the ground, thereby reducing the running speed of the rear wheel or stopping driving the rear wheel. The hand-pushed wheeled vehicle according to the embodiment of the present invention can reduce the turning radius, and there is no need to repeatedly operate the self-driving switch when turning, the operation procedure is simple, and misoperation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a hand-pushed wheeled vehicle. Background Art

[0002] When a push-wheeled vehicle is turning on the spot, the user needs to lift up the front wheel and then manually control the push-wheeled vehicle to turn on the spot; if the front wheel is not lifted up, the turning radius will be very large and turning on the spot cannot be achieved.

[0003] Taking a self-propelled push lawn mower as an example, during the process of turning on the spot, the front wheels also need to be lifted up, and the self-driving switch needs to be turned off to turn on the spot. After the turning is completed, the self-driving switch is turned on to continue self-propulsion.

[0004] If the self-driving switch is not turned off, the turning radius of the push lawn mower will also be large and difficult to control. Therefore, when the user needs to turn on the spot frequently during the use of the push lawn mower, the user needs to repeatedly operate the self-driving switch, which makes the operation procedure complicated and easy to operate incorrectly. Summary of the invention

[0005] In view of this, the present invention proposes a lawn mower, which can reduce the turning radius, does not need to repeatedly operate the self-driving switch, has a simple operation procedure, and reduces misoperation.

[0006] According to one aspect of the present invention, there is provided a hand-pushed wheeled vehicle, comprising:

[0007] A walking mechanism, the walking mechanism comprising front wheels and rear wheels;

[0008] A self-driving mechanism, the self-driving mechanism is used to drive the walking mechanism;

[0009] The first self-drive control device controls the self-drive mechanism according to whether the front wheel is high off the ground, so that the self-drive mechanism reduces the walking speed of the walking mechanism or stops driving the walking mechanism when the front wheel is high off the ground.

[0010] In one possible implementation, the first self-drive control device includes a self-drive switch. When the front wheel is high off the ground, the self-drive switch reduces the rotation speed of the self-drive mechanism or disconnects the self-drive mechanism from the traveling mechanism, and the self-drive mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism.

[0011] In a possible implementation, the first self-driving control device includes an identification sensor; the identification sensor includes a first sensor and a second sensor, the first sensor is used to detect the angle between the front wheel and the ground, and the second sensor is used to detect the pressure between the front wheel and the ground;

[0012] The first self-driving control device determines whether the front wheel is high off the ground according to the angle and the pressure.

[0013] In a possible implementation, the self-driving switch is a mechanical switch, and when the front wheel is high off the ground, the mechanical switch is at least partially disconnected.

[0014] In a possible implementation, the push wheeled vehicle further includes: a bottom shell and a front wheel axle, the bottom shell including a mounting hole for supporting the front wheel axle;

[0015] The front wheel is installed on one side of the bottom shell through the front wheel shaft, and the front wheel shaft includes a shaft body rotatably connected to the front wheel, and the shaft body can move in the installation hole;

[0016] When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, and the mechanical switch at least partially disconnects.

[0017] When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, and the mechanical switch is closed.

[0018] In a possible implementation, the mechanical switch includes a contact, and the bottom shell also includes a recessed portion for accommodating the contact.

[0019] The front wheel shaft further comprises a switch triggering portion for triggering the contact and a connecting portion connecting the shaft body and the switch triggering portion.

[0020] When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch triggering part disconnects from the contact point, and the self-driving mechanism stops driving the walking mechanism;

[0021] When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger portion is connected to the contact point, and the self-driving mechanism starts to drive the walking mechanism.

[0022] In a possible implementation manner, the contact is located at the top of the recess.

[0023] In a possible implementation, the contact is a sliding resistor.

[0024] When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat increases, and the self-driving mechanism reduces the walking speed of the walking mechanism;

[0025] When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat decreases, and the self-driving mechanism restores the walking speed of the walking mechanism.

[0026] In a possible implementation manner, the sliding resistor extends in a substantially vertical direction within the recess.

[0027] In a possible implementation, the connecting portion and the switch triggering portion are located on different sides of the bottom shell from the front wheel.

[0028] In a possible implementation, the mechanical switch includes a contact;

[0029] The push wheeled vehicle further comprises: a bottom shell, the bottom shell comprising a mounting hole for supporting the front wheel axle, the contact point being located at the top of the mounting hole;

[0030] The front wheel shaft comprises a shaft body rotatably connected to the front wheel, the shaft body can move in the mounting hole, and a switch trigger part is arranged on the upper side of the shaft body;

[0031] When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch triggering part disconnects from the contact point, and the self-driving mechanism stops driving the walking mechanism;

[0032] When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger portion is connected to the contact point, and the self-driving mechanism starts to drive the walking mechanism.

[0033] In a possible implementation, the contact is a sliding rheostat, and the sliding rheostat extends from the top to the bottom of the mounting hole;

[0034] When the shaft body moves to the lower side of the mounting hole, the resistance value of the sliding rheostat increases, and the self-driving mechanism reduces the walking speed of the walking mechanism;

[0035] When the shaft body moves to the upper side of the mounting hole, the resistance value of the sliding rheostat decreases, and the self-driving mechanism restores the walking speed of the walking mechanism.

[0036] In a possible implementation, the first self-driving control device further includes a control component;

[0037] When the control component determines that the front wheel is high off the ground according to the angle and pressure detected by the identification sensor, the control component sends a first control signal to the self-driving mechanism, and the self-driving mechanism reduces the walking speed of the walking mechanism or stops driving the walking mechanism according to the first control signal;

[0038] When the control component determines that the front wheel is in contact with the ground based on the angle and pressure detected by the identification sensor, the control component sends a second control signal to the self-driving mechanism, and the self-driving mechanism restores the walking speed of the walking mechanism based on the second control signal.

[0039] In a possible implementation, the push wheeled vehicle further includes: a bottom shell, the front wheel is mounted on one side of the bottom shell via a front wheel axle, and the front wheel is rotatably connected to the front wheel axle;

[0040] The first sensor is an angle sensor, and the first sensor is installed on the bottom shell or the front wheel axle;

[0041] The second sensor is a pressure sensor, and the second sensor is installed at one or more of the following positions: on the front wheel, between the front wheel axle and the front wheel, or between the bottom shell and the front wheel axle.

[0042] In a possible implementation, the pressure sensor is a capacitive pressure sensor.

[0043] In a possible implementation, the angle sensor sends the detected angle to the control component, and the pressure sensor sends the detected pressure to the control component.

[0044] In a possible implementation, when the control component determines that the front wheel is lifted according to the angle and determines that the pressure is less than a preset threshold, the control component determines that the front wheel is high off the ground.

[0045] In a possible implementation, when the control component determines that the front wheel is lifted according to the angle and determines that the pressure is greater than a preset threshold, the control component determines that the front wheel is in contact with the ground.

[0046] In a possible implementation manner, there is a corresponding relationship between the preset threshold and the angle signal.

[0047] In a possible implementation, the hand-pushed wheeled vehicle further includes:

[0048] The operating rod comprises a gripping portion, a second self-driving control device is installed on the gripping portion, and when the second self-driving control device is turned on, the first self-driving control device works normally.

[0049] In a possible implementation, the self-driving mechanism is used at least to drive the rear wheels.

[0050] When the front wheel is above the ground, the first self-driving control device controls the rotation speed of the self-driving mechanism, thereby reducing the travel speed of the walking mechanism or stopping driving the walking mechanism. According to the embodiment of the present invention, the hand-pushed wheeled vehicle can reduce the turning radius, and there is no need to repeatedly operate the self-driving switch when turning, the operation procedure is simple, and misoperation is reduced.

[0051] Further features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the invention and, together with the description, serve to explain the principles of the invention.

[0053] Figure 1 A block diagram of a push wheeled vehicle according to an embodiment of the present invention is shown.

[0054] Figure 2 A schematic structural diagram of a hand-pushed wheeled vehicle according to an embodiment of the present invention is shown.

[0055] Figure 3 Show Figure 2 A partial enlarged view of M in the figure.

[0056] Figure 4 A schematic diagram showing a mounting hole according to an embodiment of the present invention.

[0057] Figure 5 A schematic structural diagram of a hand-pushed wheeled vehicle according to an embodiment of the present invention is shown.

[0058] Figure 6 Show Figure 5 A partial enlarged view of M in the figure.

[0059] Figure 7a FIG. 4 is a schematic diagram showing a circuit structure according to an embodiment of the present invention.

[0060] Figure 7b FIG. 4 is a schematic diagram showing a circuit structure according to an embodiment of the present invention.

[0061] Figure 8a A schematic structural diagram of contacts and mounting holes according to an embodiment of the present invention is shown.

[0062] Figure 8b A schematic structural diagram of a sliding resistor and a mounting hole according to an embodiment of the present invention is shown.

[0063] Fig. 9 A schematic diagram showing the circuit connection relationship between a first self-drive control device and a second self-drive control device according to an embodiment of the present invention is shown.

[0064] Description of Reference Numerals

[0065] 1 grip portion, 2 second self-drive control device, 3 operating lever, 4 rear wheel, 5 bottom shell, 51 recess, 6 front wheel, 7 front wheel shaft, 71 shaft body, 72 connecting portion, 73 switch trigger portion, 8 contact point, 9 sliding rheostat, 10 self-drive mechanism. DETAILED DESCRIPTION

[0066] Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0067] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0068] In addition, in order to better illustrate the present invention, numerous specific details are provided in the following specific embodiments. It should be understood by those skilled in the art that the present invention can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present invention.

[0069] Figure 1 FIG. 2 is a block diagram of a push wheeled vehicle according to an embodiment of the present invention. Figure 1 As shown, the hand-pushed wheeled vehicle may include: a walking mechanism, a self-driving mechanism and a first self-driving control device.

[0070] Among them, the walking mechanism may include front wheels and rear wheels; the self-driving mechanism is used to drive the walking mechanism, for example, it can be used to drive the rear wheels or the front wheels, or to drive the front wheels and the rear wheels, and the self-driving mechanism can be a motor, gears, etc.

[0071] The first self-drive control device can control the self-drive mechanism according to whether the front wheel is high off the ground, so that the self-drive mechanism reduces the walking speed of the traveling mechanism or stops driving the traveling mechanism when the front wheel is high off the ground.

[0072] The front wheels being high off the ground may refer to: before turning, the user lifts up the front wheels so that the front wheels are high off the ground, or the depression of the ground during the forward movement of a hand-pushed wheeled vehicle causes the front wheels to be high off the ground, and so on.

[0073] Taking the self-driving mechanism being used to drive the rear wheels as an example, when the front wheels are high off the ground (for example, before turning, the user lifts up the front wheels), the first self-driving control device can control the rotation speed of the self-driving mechanism, thereby reducing the walking speed of the rear wheels or stopping driving the rear wheels. At this time, the user can push the hand-pushed wheeled vehicle to turn.

[0074] If the speed of the rear wheels is reduced (for example, only partially reduced and not reduced to 0), the user can easily control the hand-pushed wheeled vehicle to turn, and the turning radius can be reduced; if the speed of the rear wheels is reduced to 0, the user can turn on the spot when pushing the hand-pushed wheeled vehicle to turn; if the rear wheels are stopped, the user can turn on the spot when pushing the hand-pushed wheeled vehicle to turn.

[0075] According to the above-mentioned hand-pushed wheeled vehicle of the present invention, the turning radius can be reduced, and the first self-driving mechanism can control the self-driving mechanism to reduce the walking speed of the walking mechanism or stop driving the walking mechanism when the front wheel is high above the ground. There is no need to repeatedly operate the self-driving switch when turning, the operation procedure is simple, and misoperation is reduced.

[0076] First self-driving control device: Example 1

[0077] In a possible implementation, the first self-drive control device may include a self-drive switch. When the front wheel is high off the ground, the self-drive switch reduces the rotation speed of the self-drive mechanism or disconnects the self-drive mechanism from the walking mechanism, and the self-drive mechanism reduces the walking speed of the walking mechanism or stops driving the walking mechanism.

[0078] Among them, the self-driving switch can be a mechanical switch. When the front wheel is high above the ground, the mechanical switch can at least partially disconnect; when the front wheel contacts the ground, the mechanical switch is closed, and the self-driving mechanism starts to drive the walking mechanism.

[0079] Example 1.1

[0080] Figure 2 A schematic structural diagram of a hand-pushed wheeled vehicle according to an embodiment of the present invention is shown. Figure 3 Show Figure 2 A partial enlarged view of M in the figure.

[0081] like Figure 2 and Figure 3 As shown, the hand-pushed wheeled vehicle may include: an operating lever 3, and the operating lever 3 may include a gripping portion 1. The walking mechanism may include a front wheel 6 and a rear wheel 4, Figure 2The self-driving mechanism is not shown. The push wheeled vehicle may further include: a bottom shell 5 and a front wheel axle 7, wherein the bottom shell 5 includes a mounting hole (not shown) for supporting the front wheel axle 7; the front wheel 6 is mounted on one side of the bottom shell 5 through the front wheel axle 7, and the front wheel axle 7 includes an axle body 71 rotatably connected to the front wheel, and the axle body 71 can move in the mounting hole.

[0082] like Figure 2 As shown, a second self-driving control device 2 can be installed in the grip portion 1. The second self-driving control device 2 can include a push-type switch. When a user uses a hand-pushed wheeled vehicle, the user holds the grip portion 1 and presses the above switch. The self-driving mechanism drives the walking mechanism to start walking, and the user can adjust the walking direction through the grip portion 1.

[0083] The bottom shell 5 can be used to connect the front wheel 6 and the rear wheel 4, and can play a certain protective role. The front wheel shaft 7 is rotatably connected to the front wheel 6 through the shaft body 71, so that when the front wheel 6 is moving, the shaft body 71 will not rotate with the rotation of the front wheel 6. Among them, the mounting hole can be circular, elliptical, or a strip with semicircular arc shapes at both ends.

[0084] Figure 4 A schematic diagram showing a mounting hole according to an embodiment of the present invention is shown. Figure 4 As shown, taking a strip with semicircular arc shapes at both ends as an example, the strip can extend in a direction perpendicular to the ground (vertical direction), and the diameter of the semicircular arc can be slightly larger than the outer diameter of the shaft body 71, so that the shaft body 71 can move up and down in the mounting hole. The above is only an example of a mounting hole, as long as the shaft body 71 can move in a substantially vertical direction in the mounting hole, the present invention does not limit the shape and opening direction of the mounting hole.

[0085] like Figure 3 As shown, in this example, the self-driving switch may include a contact 8 and a switch triggering portion 73. The switch triggering portion 73 is used to trigger the contact 8. When the switch triggering portion 73 contacts the contact 8, the contact 8 is triggered, and the self-driving switch is closed. When the switch triggering portion 73 is separated from the contact 8, the self-driving switch is disconnected. The switch triggering portion 73 may be the end portion of the shaft body 71 of the front wheel axle 7 extending on the side of the bottom shell 5. The front wheel axle 7 may also include a connecting portion 72 connecting the shaft body 71 and the switch triggering portion 73. The connecting portion 72 and the switch triggering portion 73 may be located on different sides of the bottom shell 5 from the front wheel 6. For example, the connecting portion 72 and the switch triggering portion 73 may be located on the outside of the bottom shell, which is easy to repair in the event of a failure of the switch triggering portion 73.

[0086] In order to prevent the switch trigger part 73 from moving during operation, causing the switch trigger part 73 and the contact 8 to be misaligned and disconnected, the bottom shell 5 can also include a recess 51 for accommodating the contact 8, and the switch trigger part 73 can move in the recess 51.

[0087] The position and extension direction of the recess 51 may refer to the position of the switch trigger 73, the extension direction of the mounting hole, etc. For example, if the mounting hole extends in a direction perpendicular to the ground (vertical direction), then the recess 51 may also be arranged to extend in the vertical direction. Figure 3 As shown, the connecting portion 72 extends downward and the switch trigger portion 73 is located below the shaft body 71, then the recess 51 can be set on the lower side of the bottom shell; if the connecting portion 72 extends upward and the switch trigger portion 73 is located above the shaft body 71, then the recess 51 can be set on the upper side of the bottom shell.

[0088] Figure 2 and Figure 3 The front wheel 6 is shown in contact with the ground. When the front wheel 6 contacts the ground, due to the deadweight of the bottom shell 5, the shaft body 71 contacts the upper side of the mounting hole, and the switch trigger part 73 contacts (connects) the contact 8. At this time, the mechanical switch is closed, and the self-driving mechanism can drive the walking mechanism to walk normally, for example, it can walk according to the set speed.

[0089] When the hand-pushed wheeled vehicle travels on a slope, due to the weight of the bottom shell 5, the shaft body 71 is still in contact with the upper side of the mounting hole, and the switch trigger part 73 is in contact with the contact 8, which does not affect the normal travel of the self-driving mechanism driving the walking mechanism.

[0090] Figure 5 A schematic structural diagram of a hand-pushed wheeled vehicle according to an embodiment of the present invention is shown. Figure 6 Show Figure 5 A partial enlarged view of M in the figure.

[0091] Figure 5 and Figure 6 The front wheel 6 is shown as being above the ground. For example, the front wheel 6 is lifted up by the user applying pressure to the left and downward by the grip 1. When the front wheel 6 is above the ground, due to the weight of the front wheel 6 and the shaft body 71, the shaft body 71 moves to the lower side of the mounting hole, and the switch triggering part 73 is disconnected from the contact 8 (i.e., the switch triggering part 73 is separated from the contact 8). At this time, the mechanical switch is disconnected, the self-driving mechanism can stop driving the walking mechanism to walk normally, and the user can apply a force of turning left or right by the grip 1 to achieve turning on the spot.

[0092] When the hand-pushed wheeled vehicle is moving forward and the front wheel is high off the ground due to the depression of the ground, the shaft body 71 moves to the lower side of the mounting hole due to the deadweight of the front wheel 6 and the shaft body 71, and the switch trigger part 73 is disconnected from the contact 8. At this time, the mechanical switch is disconnected, and the self-driving mechanism can stop driving the walking mechanism to walk normally. In this way, the safety of the hand-pushed wheeled vehicle during walking can be ensured to avoid accidents and damage to the hand-pushed wheeled vehicle.

[0093] In a possible implementation, the contact point may be a sliding resistor. In an example, the sliding resistor may extend in a substantially vertical direction within the recess 51 .

[0094] Figure 7a and Figure 7b Schematic diagrams of circuit structures according to an embodiment of the present invention are shown respectively. Figure 7a and Figure 7b As shown, the sliding rheostat 9 is connected to a power source and a self-driving mechanism 10 respectively.

[0095] like Figure 7a As shown, when the front wheel 6 is high off the ground, the shaft body 71 moves to the lower side of the mounting hole, and the switch trigger part 73 moves (downward). At this time, a large part of the upper part of the sliding rheostat 9 is connected to the circuit, and the resistance value of the sliding rheostat 9 increases. At this time, the self-driving switch reduces the rotation speed of the self-driving mechanism 10, and further, the self-driving mechanism 10 reduces the walking speed of the walking mechanism.

[0096] like Figure 7b As shown, when the front wheel 6 contacts the ground, the shaft body 71 moves to the upper side of the mounting hole, and the switch triggering part 73 moves (upward). At this time, a small part of the upper part of the sliding rheostat 9 is connected to the circuit, and the resistance value of the sliding rheostat 9 decreases. At this time, the self-driving mechanism 10 normally drives the walking mechanism to walk at the set speed (in other words, the self-driving mechanism restores the walking speed of the walking mechanism).

[0097] By setting a sliding rheostat, the walking speed of the walking structure can be flexibly adjusted according to different states of the front wheel. There is no need to repeatedly operate the self-driving switch, the operating procedure is simple, and misoperation is reduced.

[0098] Example 1.2

[0099] In another possible implementation, the contact 8 may be located at the top of the mounting hole, and a switch trigger portion may be provided on the upper side of the shaft body 71. In other words, the switch trigger portion may be directly provided on the shaft body 71. Figure 8a FIG. 4 shows a schematic diagram of the structure of the contacts and the mounting holes according to an embodiment of the present invention. Figure 8aAs shown, the contact 8 is arranged at the top of the mounting hole.

[0100] At this time, when the front wheel 6 is high off the ground, due to the self-weight of the front wheel 6 and the shaft body 71, the shaft body 71 moves to the lower side of the mounting hole, and the switch trigger part disconnects from the contact 8; when the front wheel 6 contacts the ground, due to the self-weight of the bottom shell 5, the shaft body 71 moves to the upper side of the mounting hole, and the switch trigger part is connected to the contact 8.

[0101] In this example, the contact 8 may also be a sliding rheostat, and the sliding rheostat may extend from the top to the bottom of the mounting hole; Figure 8b FIG. 4 shows a schematic diagram of the structure of a sliding resistor and a mounting hole according to an embodiment of the present invention. Figure 8b As shown, the sliding resistor 9 extends from the top to the bottom in the mounting hole.

[0102] Thus, see Figure 7a as well as Figure 8b When the front wheel 6 is high off the ground, due to the deadweight of the front wheel 6 and the shaft body 71, the shaft body 71 moves to the lower side of the mounting hole, the resistance value of the sliding rheostat increases, and the self-driving mechanism reduces the walking speed of the walking mechanism; see Figure 7b as well as Figure 8b When the front wheel 6 contacts the ground, due to the deadweight of the bottom shell 5, the shaft body 71 moves to the upper side of the mounting hole, the resistance of the sliding rheostat decreases, and the self-driving mechanism restores the walking speed of the walking mechanism.

[0103] By setting the self-actuated switch in the mounting hole on the bottom shell, there is no need to set structures such as the recess 51, the connecting part 72 and the switch trigger part 73 outside the bottom shell, which simplifies the structure of the self-actuated switch and makes it more beautiful.

[0104] First self-driving control device: Example 2

[0105] The first self-drive control device may include an identification sensor; the identification sensor may include a first sensor and a second sensor, the first sensor is used to detect the angle between the front wheel 6 and the ground, and the second sensor is used to detect the pressure between the front wheel and the ground; the first self-drive control device determines whether the front wheel is high off the ground based on the angle and pressure.

[0106] The angle between the front wheel 6 and the ground may refer to the angle between the line connecting the centers of the front wheel 6 and the rear wheel 4 and the horizontal plane in the vertically upward direction. The pressure between the front wheel 6 and the ground may be determined in a variety of ways, for example, a sensor may be directly provided on the front wheel 6 to detect the pressure between the front wheel 6 and the ground, or a sensor may be provided between the front wheel axle 71 and the front wheel 6 to detect the pressure between the front wheel axle 71 and the front wheel 6, and the pressure between the front wheel 6 and the ground may be determined based on the detected pressure.

[0107] In one possible implementation, the first sensor may be an angle sensor, which may be disposed on the front wheel axle or on the bottom shell. When the front wheel 6 is high above the ground or the push-wheeled vehicle is walking on a slope, the first sensor may detect the angle of the front wheel 6 relative to the horizontal plane. Alternatively, the first sensor may be two height sensors, which are respectively installed on the front wheel 6 and the rear wheel 4 to detect the height of the front wheel 6 and the height of the rear wheel 4. The first self-drive control device may determine the angle of the front wheel 6 relative to the horizontal plane based on the height of the front wheel 6 and the height of the rear wheel 4 and the distance between the front wheel 6 and the rear wheel 4.

[0108] In a possible implementation, the second sensor may be a pressure sensor, such as a capacitive pressure sensor, a piezoresistive pressure sensor, or a ceramic pressure sensor. The second sensor may be disposed at one or more of the following locations: for example, on the front wheel 6, between the front wheel axle 71 and the front wheel 6, or between the bottom shell 5 and the front wheel axle 71. Taking the arrangement between the front wheel axle 71 and the front wheel 6 as an example, the second pressure sensor may be disposed on the front wheel axle 71. During the rotation of the front wheel 6, if the vehicle is traveling on flat ground, the pressures detected on the upper and lower sides of the front wheel axle 71 should be the same; if the push-wheel vehicle is traveling on a slope or the front wheel 6 is high off the ground, the pressures detected on the upper and lower sides of the front wheel axle 71 should be different. The pressure between the front wheel 6 and the ground may be determined based on the difference in the pressures detected on the upper and lower sides.

[0109] In a possible implementation, the first self-driving control device may further include a control component;

[0110] When the control component determines that the front wheel is high off the ground based on the angle and pressure detected by the identification sensor, the control component sends a first control signal to the self-driving mechanism, and the self-driving mechanism reduces the walking speed of the walking mechanism or stops driving the walking mechanism based on the first control signal.

[0111] When the control component determines that the front wheel is in contact with the ground based on the angle and pressure detected by the identification sensor, the control component sends a second control signal to the self-driving mechanism, and the self-driving mechanism restores the walking speed of the walking mechanism based on the second control signal.

[0112] For example, the angle sensor may send the detected angle to the control component, and the pressure sensor may send the detected pressure to the control component. The control component may determine whether the front wheel 6 is raised according to the angle. When the control component determines that the front wheel 6 is raised according to the angle and the pressure is less than a preset threshold, the control component determines that the front wheel 6 is high off the ground; when the control component determines that the front wheel 6 is raised according to the angle and determines that the pressure is greater than the preset threshold, the control component determines that the front wheel 6 is in contact with the ground.

[0113] The front wheel 6 may be lifted up because the user has lifted up the front wheel 6, or because the push-wheeled vehicle is walking on a slope. The control component may determine whether the front wheel 6 is lifted up based on the angle between the front wheel and the ground detected by the angle sensor. For example, when the angle is greater than 0°, the control component may determine that the front wheel 6 is lifted up, and when the angle is equal to 0°, the control component may determine that the front wheel 6 is not lifted up.

[0114] When the angle is less than 0°, the control component can determine whether the ground is concave, uneven, etc. In this case, the control component can send a first control signal to the self-driving mechanism, and the self-driving mechanism reduces the walking speed of the walking mechanism or stops driving the walking mechanism according to the first control signal.

[0115] It should be noted that the above-mentioned 0° is only an example, and it may also be an angle less than 0°. For example, if the radius of the front wheel 6 is smaller than the radius of the rear wheel 4, then even when walking on flat ground, the angle formed by the line connecting the centers of the front wheel 6 and the rear wheel 4 and the horizontal plane in the vertical upward direction is also an angle less than 0°. Therefore, the numerical value of the above-mentioned angle is only an example and does not limit the present invention in any way.

[0116] The preset threshold value may be preset according to the angle between the front wheel 6 and the ground, because when the push wheeled vehicle is walking on a slope, the angle of the slope is different, and the pressure between the front wheel 6 and the slope will also be different. If only one preset threshold value is set, the judgment result of the control component may be inaccurate. As an example, the first self-driving control device may include a storage module, and the storage module may store the corresponding relationship between different angles and preset threshold values.

[0117] When the control component determines that the front wheel 6 is lifted, the control component can find the preset threshold of the corresponding pressure according to the angle between the front wheel 6 and the ground. Then, the relationship between the detected pressure between the front wheel 6 and the ground and the preset threshold is determined. If the pressure is less than the preset threshold, the control component can determine that the front wheel 6 is high off the ground. If the pressure is greater than the preset threshold, the control component can determine that the front wheel 6 is in contact with the ground.

[0118] In one example, there may be a linear relationship between the angle and the preset threshold. After determining the front wheel lift based on the received angle, the control component may determine the preset threshold (pressure) corresponding to the received angle based on the linear relationship.

[0119] In another example, an angle within a range may correspond to a preset threshold, and the storage module may store the correspondence between the angles in different ranges and the preset thresholds. After the control component determines the front wheel lift according to the received angle, it may search for the preset threshold corresponding to the received angle according to the above correspondence. In a possible implementation, Figure 2 , Figure 5 As shown, a second self-driving control device 2 may be installed in the grip portion 1. When the second self-driving control device 2 is turned on, the first self-driving control device works normally.

[0120] The second self-driving control device 2 may include a push-type switch, a speed regulating module, and the like. Fig. 9 A schematic diagram showing the circuit connection relationship between the first self-drive control device and the second self-drive control device 2 according to an embodiment of the present invention is shown.

[0121] Take the case where both are self-driven switches, such as Fig. 9 As shown, when both self-driving switches are closed, the self-driving mechanism can work normally, and when any one of the self-driving switches is disconnected, the self-driving mechanism stops working.

[0122] When the first self-driving control device includes an identification sensor and a control component, the first self-driving control device can control the self-driving mechanism only when the second self-driving control device 2 is turned on.

[0123] In this way, when the first self-driving control device fails or other emergency situations occur, the user can still control the hand-pushed wheeled vehicle to stop to avoid accidents.

[0124] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A hand-pushed wheeled vehicle, characterized in that: include: A walking mechanism, the walking mechanism comprising front wheels and rear wheels; A self-driving mechanism, the self-driving mechanism is used to drive the walking mechanism; a first self-driving control device, wherein the first self-driving control device controls the self-driving mechanism according to whether the front wheel is high off the ground, so that the self-driving mechanism reduces the walking speed of the walking mechanism or stops driving the walking mechanism when the front wheel is high off the ground; The first self-driving control device includes an identification sensor and a control component; the identification sensor includes a first sensor and a second sensor, the first sensor is used to detect the angle between the front wheel and the ground, and the second sensor is used to detect the pressure between the front wheel and the ground; The control component determines whether the front wheel is high off the ground based on the angle between the front wheel and the ground detected by the first sensor and the pressure between the front wheel and the ground detected by the second sensor; The control component determines whether the pressure is less than a preset threshold value, the preset threshold value is configured as more than one, and the hand-pushed wheeled vehicle has a corresponding relationship between angles at different angles or angles in different intervals and the preset threshold value.

2. The hand-pushed wheeled vehicle according to claim 1, characterized in that: The first self-drive control device includes a self-drive switch. When the front wheel is high off the ground, the self-drive switch reduces the rotation speed of the self-drive mechanism or disconnects the self-drive mechanism from the traveling mechanism, and the self-drive mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism.

3. The hand-pushed wheeled vehicle according to claim 2, characterized in that: The self-driving switch is a mechanical switch, and when the front wheel is high off the ground, the mechanical switch is at least partially disconnected.

4. The hand-pushed wheeled vehicle according to claim 3, characterized in that: The push wheeled vehicle further comprises: a bottom shell and a front wheel axle, wherein the bottom shell comprises a mounting hole for supporting the front wheel axle; The front wheel is installed on one side of the bottom shell through the front wheel shaft, and the front wheel shaft includes a shaft body rotatably connected to the front wheel, and the shaft body can move in the installation hole; When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, and the mechanical switch at least partially disconnects. When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, and the mechanical switch is closed.

5. The hand-pushed wheeled vehicle according to claim 4, characterized in that: The mechanical switch includes a contact, and the bottom shell also includes a recessed portion for accommodating the contact. The front wheel shaft further comprises a switch triggering portion for triggering the contact and a connecting portion connecting the shaft body and the switch triggering portion. When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch triggering part disconnects from the contact point, and the self-driving mechanism stops driving the walking mechanism; When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger portion is connected to the contact point, and the self-driving mechanism starts to drive the walking mechanism.

6. The hand-pushed wheeled vehicle according to claim 5, characterized in that: The contact is located at the top of the recess.

7. The hand-pushed wheeled vehicle according to claim 5, characterized in that: The contact is a sliding rheostat, When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat increases, and the self-driving mechanism reduces the walking speed of the walking mechanism; When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat decreases, and the self-driving mechanism restores the walking speed of the walking mechanism.

8. The hand-pushed wheeled vehicle according to claim 7, characterized in that: The sliding resistor extends in a substantially vertical direction within the recess.

9. The hand-pushed wheeled vehicle according to any one of claims 5 to 8, characterized in that: The connecting portion and the switch triggering portion are located on different sides of the bottom shell from the front wheel.

10. The hand-pushed wheeled vehicle according to claim 4, characterized in that: The mechanical switch includes contacts; The push wheeled vehicle further comprises: a bottom shell, the bottom shell comprising a mounting hole for supporting the front wheel axle, the contact point being located at the top of the mounting hole; The front wheel shaft comprises a shaft body rotatably connected to the front wheel, the shaft body can move in the mounting hole, and a switch trigger part is arranged on the upper side of the shaft body; When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch triggering part disconnects from the contact point, and the self-driving mechanism stops driving the walking mechanism; When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger portion is connected to the contact point, and the self-driving mechanism starts to drive the walking mechanism.

11. The hand-pushed wheeled vehicle according to claim 10, characterized in that: The contact is a sliding rheostat, and the sliding rheostat extends from the top to the bottom of the mounting hole; When the shaft body moves to the lower side of the mounting hole, the resistance value of the sliding rheostat increases, and the self-driving mechanism reduces the walking speed of the walking mechanism; When the shaft body moves to the upper side of the mounting hole, the resistance value of the sliding rheostat decreases, and the self-driving mechanism restores the walking speed of the walking mechanism.

12. The push wheeled vehicle according to claim 1, characterized in that: When the control component determines that the front wheel is high off the ground according to the angle and pressure detected by the identification sensor, the control component sends a first control signal to the self-driving mechanism, and the self-driving mechanism reduces the walking speed of the walking mechanism or stops driving the walking mechanism according to the first control signal; When the control component determines that the front wheel is in contact with the ground based on the angle and pressure detected by the identification sensor, the control component sends a second control signal to the self-driving mechanism, and the self-driving mechanism restores the walking speed of the walking mechanism based on the second control signal.

13. The hand-pushed wheeled vehicle according to claim 12, characterized in that: The push wheeled vehicle further comprises: a bottom shell, the front wheel is mounted on one side of the bottom shell via a front wheel axle, and the front wheel is rotatably connected to the front wheel axle; The first sensor is an angle sensor, and the first sensor is installed on the bottom shell or the front wheel axle; The second sensor is a pressure sensor, and the second sensor is installed at one or more of the following positions: on the front wheel, between the front wheel axle and the front wheel, or between the bottom shell and the front wheel axle.

14. The push wheeled vehicle according to claim 13, characterized in that: The pressure sensor is a capacitive pressure sensor.

15. The push wheeled vehicle according to claim 13, characterized in that: The angle sensor transmits the detected angle to the control component, and the pressure sensor transmits the detected pressure to the control component.

16. The push wheeled vehicle according to claim 15, characterized in that: When the control component determines that the front wheel is lifted according to the angle and determines that the pressure is less than a preset threshold, the control component determines that the front wheel is high off the ground.

17. The push wheeled vehicle according to claim 15, characterized in that: When the control component determines that the front wheel is lifted according to the angle and determines that the pressure is greater than a preset threshold, the control component determines that the front wheel is in contact with the ground.

18. A hand-pushed wheeled vehicle according to claim 16 or 17, characterized in that: There is a corresponding relationship between the preset threshold and the angle.

19. A hand-pushed wheeled vehicle according to any one of claims 1 to 18, characterized in that: The hand-pushed wheeled vehicle also includes: The operating rod comprises a gripping portion, a second self-driving control device is installed on the gripping portion, and when the second self-driving control device is turned on, the first self-driving control device works normally.

20. The push wheeled vehicle according to claim 1, characterized in that: The self-driving mechanism is used at least to drive the rear wheels.

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