Intelligent Assist Portable Bicycle

Abstract

The present invention provides an intelligent assisted portable vehicle, which relates to the technical field of transportation. The solution includes a frame, an axle position adjustment device and a sensing device. The frame includes a chassis and a backrest. The axle position adjustment device is fixedly arranged at the bottom of the chassis. An installation bracket is fixedly arranged on the backrest, and the sensing device is arranged on the installation bracket. The invention connects the intelligent assisted portable vehicle with a waist connecting belt of an operator's waist, and is suitable for use in a variety of application scenarios. An axle position adjustment device is fixedly arranged at the bottom of the chassis, and the relative position of the axle can be adjusted through an electric push rod, which can reduce the pressure on the operator's waist and is convenient to use. The speed and steering of the intelligent assisted portable vehicle are controlled through a manual controller, and multi-directional data collection is carried out through the sensing device, realizing the interaction between the intelligent assisted portable vehicle and the operator, so as to control the intelligent assisted portable vehicle to move following the operator.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation, and particularly to an intelligent assisted portable vehicle. Background Art

[0002] A trolley is a handling vehicle that is pushed or pulled by human power, and it is the ancestor of all vehicles. Although the material handling technology of trolleys has been continuously developed, trolleys are still used as indispensable handling tools to this day. Trolleys are widely used in production and life because they are inexpensive, easy to maintain, convenient to operate, light in weight, can work in places where motor vehicles are inconvenient to use, and are very convenient for handling lighter items over short distances.

[0003] Traditional trolleys, whether or not they have an electric assist function, have two major problems:

[0004] 1. It requires at least one hand to be occupied, and both hands must be used to control when the load is large, which is not convenient to control.

[0005] 2. It can only cope with relatively flat roads and cannot be used in a variety of different environments. Especially on muddy and bumpy roads and mountain roads, it is difficult to operate. For people with relatively small strength, the effectiveness of the trolley is limited.

[0006] The information disclosed in this background art section is only intended to deepen the understanding of the overall background art of the present invention, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art already known to those skilled in the art. Summary of the Invention

[0007] The purpose of the present invention is to provide an intelligent assisted portable vehicle to alleviate the problems of inconvenient control and inability to be used in a variety of different environments existing in the prior art.

[0008] To achieve the above purpose, the present invention adopts the following technical solutions:

[0009] The intelligent assisted portable vehicle provided by the present invention includes a frame, an axle position adjustment device and a sensing device. The frame includes a chassis and a backrest. The axle position adjustment device is fixedly arranged at the bottom of the chassis. The chassis and the backrest are rotatably connected, and an adjustment mechanism for adjusting the inclination of the backrest is arranged at the connection between the chassis and the backrest. A placement rack is fixedly arranged at the bottom of the chassis, a control box is fixedly arranged inside the placement rack, a mounting bracket is fixedly arranged on the backrest, the sensing device is arranged on the mounting bracket, and a quick connector is arranged on the sensing device.

[0010] On the basis of the above solution, further, the axle position adjusting device includes an electric push rod and a carriage. Two sets of the relatively arranged electric push rods, and the carriages corresponding to the electric push rods one by one are fixedly arranged at the bottom of the chassis. Guide grooves are formed on the carriages. The output shafts of the electric push rods are all hinged with spring shock absorbers, and one ends of the spring shock absorbers are respectively slidably connected with the corresponding guide grooves. Two wheel brackets are hinged at the bottom of the chassis. Wheels are arranged at the ends of the wheel brackets, and the other ends of the spring shock absorbers are respectively hinged with the ends of the corresponding wheel brackets.

[0011] It should be added that the stroke path of the output shaft of the electric push rod matches the length range of the guide groove. A hub motor is fixedly arranged in the wheel, and the rotating shaft of the hub motor is fixedly connected with the end of the wheel bracket. A limit switch is arranged on the electric push rod. After the output shaft of the electric push rod extends and retracts to the vertex, it will automatically stop. A self-locking device with a power-off self-locking function within the stroke range is arranged on the electric push rod. The chassis is a steel frame, and the electric push rod is fixedly connected with the chassis by bolts.

[0012] On the basis of the above solution, further, the intelligent assisted portable vehicle further includes a load-bearing vest for use in cooperation with it. The load-bearing vest includes a vest main body and a waist connecting belt. The vest main body includes a front plate and a back plate, and the top of the front plate and the back plate are connected by two shoulder connecting belts. A chest connecting belt is fixedly arranged on the back of the back plate. A first magic tape is fixedly arranged on the front of the front plate. Second magic tapes are fixedly arranged at both ends of the chest connecting belt. A first cover plate is fixedly arranged on the front of the front plate and opposite to the first magic tape. A third magic tape is fixedly arranged on the back of the first cover plate, and the second magic tapes respectively match the first magic tape and the third magic tape; A fourth magic tape and a second cover plate are fixedly arranged on the front of the back plate. A fifth magic tape is fixedly arranged on the back of the second cover plate. A force guiding plate is fixedly arranged on the waist connecting belt. A sixth magic tape is fixedly arranged on the force guiding plate, and the fifth magic tape respectively matches the fourth magic tape and the sixth magic tape.

[0013] It should be added that a tension adjusting mechanism is arranged on the shoulder connecting belt, and the tension adjusting mechanism is preferably a Japanese character buckle. The second magic tape and the fifth magic tape are both double-sided magic tapes. A buckle is arranged at the end of the waist connecting belt. A quick-release joint is fixedly arranged at the center of the back of the waist connecting belt, and the quick-release joint matches the quick connector. The fabric of the waist connecting belt is a breathable mesh material, and a hard board is arranged in the inner core of the waist connecting belt. The number of the second cover plates is two.

[0014] On the basis of the above solution, further, the intelligent power-assisted portable vehicle further includes a manual controller for use in conjunction therewith. The manual controller includes a handle body. An installation groove is formed in the handle body. A trigger is rotatably provided on the handle body at the opening of the installation groove through a rotating shaft. A fixed seat is provided in the installation groove. A sensor base is fixedly provided on the fixed seat. A Hall sensor cap is sleeved on the sensor base, and the Hall sensor cap is in contact with the inner wall of the trigger. Compression grooves are formed in both the sensor base and the Hall sensor cap, and a pressing spring is provided in the compression groove. A sensor is fixedly provided on the sensor base. A magnet is fixedly provided on the Hall sensor cap at a position opposite to the sensor. A processor is fixedly provided in the installation groove. A damping rotating shaft is fixedly provided in the handle body. A steering sensor is provided at one end of the damping rotating shaft in the installation groove. The sensor and the steering sensor are both electrically connected to the processor. A quick-release support plate is fixedly provided at the other end of the damping rotating shaft. A quick-release clamp is fixedly provided on the quick-release support plate. An aviation socket is fixedly provided on the side wall of the handle body. The aviation socket is electrically connected to the processor.

[0015] It should be added that an arc-shaped sliding groove is formed in the inner wall of the handle body. A limit slider is fixedly provided at the end of the trigger, and the limit slider is slidably connected to the arc-shaped sliding groove. A slide rail is provided on the sensor base. A sliding groove is formed in the Hall sensor cap at a position opposite to the slide rail, and the slide rail is slidably connected to the sliding groove. A damping rotating shaft installation hole, a rotation limit card slot and a quick-release clamp installation hole are formed in the quick-release support plate. A limit block is fixedly provided on the handle body at a position opposite to the rotation limit card slot, and the limit block is slidably connected to the rotation limit card slot. The rotation limit card slot is an arc-shaped slot, and the radian of the rotation limit card slot is 90°. The damping rotating shaft and the quick-release support plate are fixedly connected through the damping rotating shaft installation hole and bolts. The quick-release clamp and the quick-release support plate are fixedly connected through the quick-release clamp installation hole and bolts. A self-locking stop button is provided on the side wall of the handle body at a position opposite to the rotating shaft. A three-position rotary switch is provided on the side wall of the handle body, and the three-position rotary switch is electrically connected to the sensor. The sensor is a Hall sensor, model: 49E. The processor model is: ATMEGA32U4. The steering sensor model is: GT-A. The quick-release clamp is a Picatinny rail quick-release clamp. The aviation socket is a six-core aviation socket.

[0016] On the basis of the above solution, further, the sensing device includes a fixing frame, on which a number of lateral sensors are arranged. A sleeve is arranged inside the fixing frame. One end of the sleeve is connected to the fixing frame in a universal manner. The other end of the sleeve is located between a number of the lateral sensors and is in contact with the input ends of a number of the lateral sensors. A main shaft is arranged inside the sleeve. One end of the main shaft is fixedly provided with a main shaft sensor. The quick connector is installed at the end of the main shaft sensor through the quick connector. A slider and a buffer spring are also arranged inside the sleeve. The number of the buffer springs is two and they are respectively located on both sides of the slider. An end cover is arranged at one end of the sleeve. The main shaft slidably penetrates through the middle of the end cover, and the other end passes through the inside of one of the buffer springs and is fixedly connected to the slider. A connecting seat is fixedly arranged at the other end of the sleeve. A universal bearing is fixedly arranged inside the fixing frame. The fixing frame and the sleeve are connected to the connecting seat in a universal manner through the universal bearing. A support base and a sensor mounting bracket are arranged on the fixing frame. The support base is fixedly arranged at one end of the fixing frame. The sensor mounting bracket is detachably arranged at the other end of the fixing frame. The lateral sensors are mounted on the fixing frame through the sensor mounting bracket. The main shaft sensor is a tension and compression bidirectional sensor, and the lateral sensors are single-direction pressure sensors. A connecting plug is also arranged on the fixing frame. The connecting plug is electrically connected to the lateral sensors. The number of the lateral sensors is at least four and they are evenly distributed centered on the sleeve. The slider is preferably a linear bearing. A protective cap is sleeved outside the input end of the lateral sensor.

[0017] On the basis of any of the above solutions, further, a power module, a power management module, a control module, a communication module, a motor drive module and a force signal processing module are provided inside the control box;

[0018] The output end of the manual controller is electrically connected to the input end of the control module through the communication module. The output ends of the lateral sensors and the main shaft sensor are electrically connected to the input end of the control module through the force signal processing module. The output end of the control module is respectively electrically connected to the electric push rod, the power management module and the motor drive module. The output end of the motor drive module is electrically connected to the hub motor;

[0019] The input end of the power management module is electrically connected to the power module. The output end of the power management module is respectively electrically connected to the electric push rod and the hub motor.

[0020] Intelligent assist personal vehicle control method,

[0021] The operator wears a load-bearing vest and connects it to the quick connector on the sensing device through the quick release connector on the waist connecting belt;

[0022] When the operator pulls the intelligent assistive personal vehicle to accelerate until the speed becomes stable, during the acceleration, the input end of the main shaft sensor is subjected to a pulling force. The main shaft sensor transmits a signal to the force signal processing module, and the force signal processing module processes the signal and then transmits data to the control module. The control module controls the hub motor to accelerate through the motor drive module. After the operator stops accelerating, the input end of the main shaft sensor is no longer subjected to a pulling force, and the main shaft sensor no longer transmits a signal to the force signal processing module. At this time, the operator and the intelligent assistive personal vehicle have the same speed.

[0023] When the operator pulls the intelligent assistive personal vehicle to decelerate until the speed becomes stable, during the deceleration, the input end of the main shaft sensor is subjected to a pressure. The main shaft sensor transmits a signal to the force signal processing module, and the force signal processing module processes the signal and then transmits data to the control module. The control module controls the hub motor to decelerate through the motor drive module. After the operator stops accelerating, the input end of the main shaft sensor is no longer subjected to a pressure, and the main shaft sensor no longer transmits a signal to the force signal processing module. At this time, the operator and the intelligent assistive personal vehicle have the same speed.

[0024] During the use of the intelligent assistive personal vehicle, when the load on the backrest increases, the lateral sensors at the top are subjected to a pressure, and the lateral sensors at the bottom are subjected to a pulling force. The lateral sensors at the top and bottom transmit signals to the force signal processing module, and the force signal processing module processes the signals and then transmits data to the control module. The control module controls the output shaft of the electric push rod to extend, moving the axle position of the intelligent assistive personal vehicle directly below the center of gravity of the intelligent assistive personal vehicle to reduce the pressure on the operator's back.

[0025] During the use of the intelligent assistive personal vehicle, when the load on the backrest decreases, the lateral sensors at the top are subjected to a pulling force, and the lateral sensors at the bottom are subjected to a pressure. The lateral sensors at the top and bottom transmit signals to the force signal processing module, and the force signal processing module processes the signals and then transmits data to the control module. The control module controls the output shaft of the electric push rod to shorten, moving the axle position of the intelligent assistive personal vehicle directly below the center of gravity of the intelligent assistive personal vehicle to reduce the pulling force on the operator's back.

[0026] When the operator pulls the intelligent assistive personal vehicle to turn left, the lateral sensors on the left are subjected to a pressure, and the lateral sensors on the right are subjected to a pulling force. The lateral sensors on the left and right transmit signals to the force signal processing module, and the force signal processing module processes the signals and then transmits data to the control module. The control module controls the hub motor on the left to decelerate and the hub motor on the right to accelerate through the motor drive module, and the intelligent assistive personal vehicle turns left following the person.

[0027] When the operator pulls the intelligent assisted portable vehicle to turn right, the lateral sensors on the left side are under tension, and the lateral sensors on the right side are under pressure. The lateral sensors on the left and right sides transmit signals to the force signal processing module, and the force signal processing module processes the signals and then transmits the data to the control module. The control module controls the hub motor on the left side to accelerate and the hub motor on the right side to decelerate through the motor drive module, and the intelligent assisted portable vehicle turns right following the person;

[0028] When the operator presses the trigger on the manual controller, the relative position between the magnet and the sensor changes. After the relative position changes, it is recorded by the sensor and the signal is transmitted to the processor in the form of an analog voltage. The processor transmits the signal to the control module through the communication module, and the control module controls the hub motor to accelerate through the motor drive module;

[0029] When the operator releases the trigger on the manual controller, the relative position between the magnet and the sensor changes. The change in the relative position will be recorded by the sensor and the signal is transmitted to the processor in the form of an analog voltage. The processor transmits the signal to the control module through the communication module, and the control module controls the hub motor to decelerate through the motor drive module;

[0030] When the operator turns the handle body to the left, the steering sensor records the angle value of the rotation of the handle body and the quick release support plate, and transmits the signal to the processor in the form of an analog voltage. The processor transmits the signal to the control module through the communication module, and the control module controls the hub motor on the left side to decelerate and the hub motor on the right side to accelerate through the motor drive module, and the intelligent assisted portable vehicle turns left;

[0031] When the operator turns the handle body to the right, the steering sensor records the angle value of the rotation of the handle body and the quick release support plate, and transmits the signal to the processor in the form of an analog voltage. The processor transmits the signal to the control module through the communication module, and the control module controls the hub motor on the left side to accelerate and the hub motor on the right side to decelerate through the motor drive module, and the intelligent assisted portable vehicle turns right.

[0032] The beneficial effects of the present invention are as follows:

[0033] The intelligent assisted portable vehicle provided by the present invention can obtain the following effects:

[0034] 1. When this device is in use, connect the intelligent assisted portable vehicle to the waist connecting belt around the operator's waist, which liberates both hands and is suitable for use in a variety of application scenarios. At the same time, the vest body shares the acting force, making the operator's operation easier and meeting various usage requirements;

[0035] 2. The chassis bottom is fixedly provided with an axle position adjustment device. The relative position of the axle can be adjusted through an electric push rod, so that the axle is kept directly below the center of gravity of the intelligent assisted walking vehicle. Through this setting, the pressure on the operator's waist can be reduced, which is convenient for use. Moreover, the output shaft of the electric push rod is also hinged with a shock absorption spring device, which can improve the driving comfort;

[0036] 3. The speed and steering of the intelligent assisted walking vehicle are controlled by a manual controller. The operation is simple and can be operated with one hand. Moreover, the manual controller has strong anti-interference ability during use. After the trigger is released, it can automatically reset under the action of the pressing spring, and has good safety, which can meet the needs of various people.

[0037] 4. By arranging a number of lateral sensors on the fixing frame of the sensing device and arranging sleeves between the lateral sensors, the movement of the sleeves is used to trigger the lateral sensors, which is convenient for the force signal processing module to collect data in multiple directions of up, down, left and right, and adjust the output state in real time. At the same time, through the buffer spring and the main shaft sensor arranged in the sleeve, while collecting the front and rear direction signals, buffering can be carried out during emergency stops or rapid walking, reducing the impact of the impact force generated by inertia on the human body, and effectively avoiding the injury of the operator;

[0038] 5. Through the sensing device to collect data in multiple directions, the interaction between the intelligent assisted walking vehicle and the operator is realized. The data is processed through the intelligent algorithm module in the force signal processing module, and the control is carried out by using the signal output of the control module, so as to control the intelligent assisted walking vehicle to follow the movement state of the operator, realize the vehicle moving with the person, reduce the operation difficulty of the intelligent assisted walking vehicle, and make it more convenient to use. Description of the Drawings

[0039] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 It is a front elevation structure diagram of the intelligent assisted walking vehicle provided by the embodiment of the present invention;

[0041] Figure 2 It is a plan structure diagram of the intelligent assisted walking vehicle provided by the embodiment of the present invention;

[0042] Figure 3 It is a front elevation structure diagram of the axle position adjustment device of the intelligent assisted walking vehicle provided by the embodiment of the present invention;

[0043] Figure 4 Left - view cross - sectional view of the axle position adjustment device of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0044] Figure 5 Schematic diagram of the vertical structure of the load - bearing vest of the intelligent assist portable vehicle provided by the embodiment of the present invention Figure 1 ;

[0045] Figure 6 Schematic diagram of the vertical structure of the load - bearing vest of the intelligent assist portable vehicle provided by the embodiment of the present invention Figure 2 ;

[0046] Figure 7 Schematic diagram of the unfolded structure of the load - bearing vest of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0047] Figure 8 Cross - sectional view of the load - bearing vest of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0048] Figure 9 Schematic diagram of the vertical structure of the manual controller of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0049] Figure 10 Front - view cross - sectional view of the manual controller of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0050] Figure 11 Schematic diagram of the quick - release tray structure of the manual controller of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0051] Figure 12 Schematic diagram of the connection structure between the sensor base and the Hall sensor cap of the manual controller of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0052] Figure 13 Schematic diagram of the vertical structure of the sensing device of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0053] Figure 14 Schematic diagram of the planar structure of the sensing device of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0054] Figure 15 Front - view cross - sectional view of the sensing device of the intelligent assist portable vehicle provided by the embodiment of the present invention;

[0055] Figure 16 For Figure 15 Enlarged view of the structure at position A;

[0056] Figure 17 Main flow block diagram of the intelligent assist portable vehicle provided by the embodiment of the present invention.

[0057] Reference numerals:

[0058] 1. Frame; 2. Axle position adjustment device; 3. Load-bearing vest; 4. Manual controller; 5. Sensing device; 6. Chassis; 7. Backrest; 8. Placing rack; 9. Control box; 10. Adjusting mechanism; 11. Reinforcing plate; 12. Mounting bracket; 13. Quick connector; 14. Electric push rod; 15. Slide carriage; 16. Guide groove; 17. Spring shock absorber; 18. Wheel bracket; 19. Wheel; 20. Hub motor; 21. Vest main body; 2101. Front plate; 2102. Back plate; 22. Shoulder connecting strap; 2201. Tension adjusting mechanism; 23. Chest connecting strap; 24. First magic tape; 25. Second magic tape; 26. First cover plate; 27. Third magic tape; 28. Fourth magic tape; 29. Second cover plate; 30. Waist connecting strap; 31. Fifth magic tape; 32. Force guiding plate; 33. Sixth magic tape; 34. Buckle; 35. Quick-release joint; 36. Handle main body; 37. Mounting groove; 38. Rotating shaft; 39. Trigger; 40. Arc-shaped chute; 41. Limit slider; 42. Fixed seat; 43. Sensor base; 44. Hall sensor cap; 45. Compression groove; 46. Pressing spring; 47. Chute; 48. Slide rail; 49. Sensor; 50. Magnet; 51. Processor; 52. Aviation socket; 53. Damping rotating shaft; 54. Steering sensor; 55. Quick-release tray; 56. Quick-release clip; 57. Damping rotating shaft mounting hole; 58. Rotation limit card slot; 59. Limit block; 60. Quick-release clip mounting hole; 61. Self-locking stop button; 62. Three-gear knob switch; 63. Bracket base; 64. Fixed frame; 65. Connecting seat; 66. Universal bearing; 67. Lateral sensor; 68. Buffer spring; 69. Main shaft; 70. Main shaft sensor; 71. Sleeve; 72. Connecting plug; 73. End cover; 74. Slide block; 75. Sensor mounting bracket; 76. Protective cap. Detailed implementation manners

[0059] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] In the description of the present invention, it should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0061] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] Embodiment 1

[0063] As Figures 1 - 17 shown, it is a schematic structural diagram of the intelligent assisted portable vehicle provided by the embodiment of the present invention. The intelligent assisted portable vehicle and the control method of the intelligent assisted portable vehicle of the invention will be described in conjunction with the accompanying drawings. The specific structure and steps are as follows.

[0064] The intelligent assisted portable vehicle provided by the embodiment of the present invention, as Figures 1 - 2 shown, includes a frame 1, an axle position adjustment device 2, and a sensing device 5. The frame 1 includes a chassis 6 and a backrest 7. The axle position adjustment device 2 is fixedly arranged at the bottom of the chassis 6. The chassis 6 and the backrest 7 are rotatably connected, and an adjustment mechanism 10 for adjusting the inclination of the backrest 7 is arranged at the connection of the chassis 6 and the backrest 7. The adjustment mechanism 10 is an existing product and will not be elaborated in the present invention. A plurality of reinforcing plates 11 are fixedly arranged on the backrest 7 to improve the strength of the backrest 7. A placement rack 8 is fixedly arranged at the bottom of the chassis 6, a control box 9 is fixedly arranged inside the placement rack 8, a mounting bracket 12 is fixedly arranged on the backrest 7, the sensing device 5 is arranged on the mounting bracket 12, and a quick connector 13 is arranged on the sensing device 5.

[0065] An optional solution of this embodiment is, as Figures 3 - 4 shown, the axle position adjustment device 2 includes an electric push rod 14 and a sliding frame 15. Two groups of oppositely arranged electric push rods 14, and the sliding frames 15 corresponding to the electric push rods 14 one by one are all fixedly arranged at the bottom of the chassis 6. Guide grooves 16 are formed on the sliding frames 15. The output shafts of the electric push rods 14 are all hinged with spring shock absorbers 17, and one ends of the spring shock absorbers 17 are respectively slidably connected with the corresponding guide grooves 16. Two wheel brackets 18 are hinged at the bottom of the chassis 6. Wheels 19 are arranged at the ends of the wheel brackets 18, and the other ends of the spring shock absorbers 17 are respectively hinged with the ends of the corresponding wheel brackets 18.

[0066] It should be added that the stroke path of the output shaft of the electric push rod 14 matches the length range of the guide groove 16. A hub motor 20 is fixedly arranged inside the wheel 19, and the rotating shaft of the hub motor 20 is fixedly connected to the end of the wheel bracket 18. A limit switch is arranged on the electric push rod 14, and the output shaft of the electric push rod 14 will automatically stop after extending and retracting to the apex. A self-locking device with power-off self-locking function within the stroke range is arranged on the electric push rod 14. The chassis 6 is a steel frame, and the electric push rod 14 is fixedly connected to the chassis 6 by bolts.

[0067] An alternative solution of this embodiment is as Figures 5 - 8 shown, the intelligent assistive walking vehicle further includes a load-bearing vest 3 used in cooperation with it. The load-bearing vest 3 includes a vest main body 21 and a waist connecting belt 30. The vest main body 21 includes a front plate 2101 and a back plate 2102, and the tops of the front plate 2101 and the back plate 2102 are connected by two shoulder connecting belts 22. A chest connecting belt 23 is fixedly arranged on the back of the back plate 2102. A first magic tape 24 is fixedly arranged on the front of the front plate 2101. Second magic tapes 25 are fixedly arranged at both ends of the chest connecting belt 23. A first cover plate 26 is fixedly arranged on the front of the front plate 2101 and opposite to the first magic tape 24. A third magic tape 27 is fixedly arranged on the back of the first cover plate 26, and the second magic tapes 25 respectively match the first magic tape 24 and the third magic tape 27; A fourth magic tape 28 and a second cover plate 29 are fixedly arranged on the front of the back plate 2102. A fifth magic tape 31 is fixedly arranged on the back of the second cover plate 29. A force guiding plate 32 is fixedly arranged on the waist connecting belt 30. A sixth magic tape 33 is fixedly arranged on the force guiding plate 32, and the fifth magic tape 31 respectively matches the fourth magic tape 28 and the sixth magic tape 33.

[0068] It should be added that a tension adjustment mechanism 2201 is arranged on the shoulder connecting belt 22, and the tension adjustment mechanism 2201 is preferably a Japanese character buckle. The second magic tapes 25 and the fifth magic tapes 31 are both double-sided magic tapes. A buckle 34 is arranged at the end of the waist connecting belt 30. A quick-release joint 35 is fixedly arranged at the center of the back of the waist connecting belt 30, and the quick-release joint 35 matches the quick connector 13. The fabric of the waist connecting belt 30 is a breathable mesh material, and a rigid board is arranged inside the waist connecting belt 30. The number of the second cover plates 29 is two.

[0069] An alternative solution of this embodiment is as Figures 9 - 12As shown, the intelligent power-assisted folding bike further includes a manual controller 4 for use in conjunction with it. The manual controller 4 includes a handle main body 36. An installation groove 37 is formed inside the handle main body 36. A trigger 39 is rotatably arranged on the handle main body 36 at the opening of the installation groove 37 through a rotating shaft 38. A fixed seat 42 is arranged inside the installation groove 37. A sensor base 43 is fixedly arranged on the fixed seat 42. A Hall sensor cap 44 is sleeved on the sensor base 43, and the Hall sensor cap 44 is in contact with the inner wall of the trigger 39. Compression grooves 45 are formed on both the sensor base 43 and the Hall sensor cap 44, and a compression spring 46 is arranged inside the compression groove 45. A sensor 49 is fixedly arranged on the sensor base 43. A magnet 50 is fixedly arranged on the Hall sensor cap 44 opposite to the sensor 49. A processor 51 is fixedly arranged inside the installation groove 37. A damping rotating shaft 53 is fixedly arranged inside the handle main body 36. A steering sensor 54 is arranged at one end of the damping rotating shaft 53 inside the installation groove 37. Both the sensor 49 and the steering sensor 54 are electrically connected to the processor 51. The other end of the damping rotating shaft 53 is fixedly provided with a quick-release support plate 55. A quick-release clamp 56 is fixedly arranged on the quick-release support plate 55. An aviation socket 52 is fixedly arranged on the side wall of the handle main body 36. The aviation socket 52 is electrically connected to the processor 51.

[0070] It should be added that an arc-shaped sliding groove 40 is formed on the inner wall of the handle main body 36. A limit sliding block 41 is fixedly arranged at the end of the trigger 39, and the limit sliding block 41 is slidably connected to the arc-shaped sliding groove 40. A sliding rail 48 is arranged on the sensor base 43. A sliding groove 47 is formed inside the Hall sensor cap 44 opposite to the sliding rail 48, and the sliding rail 48 is slidably connected to the sliding groove 47. A damping rotating shaft installation hole 57, a rotation limit card slot 58 and a quick-release clamp installation hole 60 are formed on the quick-release support plate 55. A limit block 59 is fixedly arranged on the handle main body 36 opposite to the rotation limit card slot 58, and the limit block 59 is slidably connected to the rotation limit card slot 58. The rotation limit card slot 58 is an arc-shaped slot, and the radian of the rotation limit card slot 58 is 90°. The damping rotating shaft 53 and the quick-release support plate 55 are fixedly connected through the damping rotating shaft installation hole 57 and bolts. The quick-release clamp 56 and the quick-release support plate 55 are fixedly connected through the quick-release clamp installation hole 60 and bolts. A self-locking stop button 61 is arranged on the side wall of the handle main body 36 opposite to the rotating shaft 38. A three-position knob switch 62 is arranged on the side wall of the handle main body 36, and the three-position knob switch 62 is electrically connected to the sensor 49. The sensor 49 is a Hall sensor, model: 49E. The processor 51 model is: ATMEGA32U4. The steering sensor 54 model is: GT-A. The quick-release clamp 56 is a Picatinny rail quick-release clamp. The aviation socket 52 is a six-core aviation socket.

[0071] An alternative solution of this embodiment is, as Figures 13 - 16As shown, the sensing device 5 includes a fixing bracket 64. A number of lateral sensors 67 are arranged on the fixing bracket 64. A sleeve 71 is arranged inside the fixing bracket 64. One end of the sleeve 71 is connected to the fixing bracket 64 in a universal joint manner. The other end of the sleeve 71 is located between a number of lateral sensors 67 and is in contact with the input ends of the number of lateral sensors 67. A main shaft 69 is arranged inside the sleeve 71. One end of the main shaft 69 is fixedly provided with a main shaft sensor 70. The shown quick connector 13 is installed at the end of the shown main shaft sensor 70 through the quick connector. A slider 74 and a buffer spring 68 are also arranged inside the sleeve 71. The number of buffer springs 68 is two and they are respectively located on both sides of the slider 74. An end cover 73 is arranged at one end of the sleeve 71. The main shaft 69 slidably penetrates through the middle of the end cover 73, and the other end passes through the inside of one of the buffer springs 68 and is fixedly connected to the slider 74. A connecting seat 65 is fixedly arranged at the other end of the sleeve 71. A universal bearing 66 is fixedly arranged inside the fixing bracket 64. The fixing bracket 64 and the sleeve 71 are connected to the connecting seat 65 in a universal joint manner through the universal bearing 66. A bracket base 63 and a sensor mounting bracket 75 are arranged on the fixing bracket 64. The bracket base 63 is fixedly arranged at one end of the fixing bracket 64. The sensor mounting bracket 75 is detachably arranged at the other end of the fixing bracket 64. The lateral sensors 67 are installed on the fixing bracket 64 through the sensor mounting bracket 75. The main shaft sensor 70 is a tension and compression bidirectional sensor, model: DYZ-101-70. The lateral sensors 67 are single-item pressure sensors, model: DYZ-101-69. A connecting plug 72 is also arranged on the fixing bracket 64. The connecting plug 72 is electrically connected to the lateral sensors 67. The number of lateral sensors 67 is at least four and they are evenly distributed around the sleeve 71. The slider 74 is preferably a linear bearing. A protective cap 76 is sleeved outside the input ends of the lateral sensors 67.

[0072] An optional solution of this embodiment is, as Figure 17 shown, a power module, a power management module, a control module, a communication module, a motor drive module and a force signal processing module are arranged inside the control box 9. The control module is an embedded chip, model: STM32F407. The communication module is a communication chip, model: MAX232 RS232. The motor drive module is a customized product of Shenzhen Jinbaoguan Technology Co., Ltd. The force signal processing module model is: AD7124. The power module is a 36V, 1Kw lithium battery;

[0073] The output end of the manual controller 4 is electrically connected to the input end of the control module through the communication module. The output ends of the lateral sensors 67 and the main shaft sensor 70 are electrically connected to the input end of the control module through the force signal processing module. The output end of the control module is respectively electrically connected to the electric push rod 14, the power management module and the motor drive module. The output end of the motor drive module is electrically connected to the hub motor 20;

[0074] The input end of the power management module is electrically connected to the power module, and the output ends of the power management module are respectively electrically connected to the electric push rod 14 and the hub motor 20. The power management module limits the voltage and current output from the power module to the electric push rod 14, the hub motor 20 and each output port, ensuring that each electrical appliance can work properly.

[0075] The intelligent assistive personal vehicle provided by the embodiment of the present invention can achieve the following effects: When in use, the intelligent assistive personal vehicle is connected to the waist connecting belt 30 around the operator's waist, liberating both hands, suitable for use in a variety of application scenarios. At the same time, the vest main body 21 shares the acting force, making the operation of the operator easier and meeting various usage requirements; By fixedly arranging the axle position adjustment device 2 at the bottom of the chassis 6, the electric push rod 14 can adjust the relative position of the axle, keeping the axle directly below the center of gravity of the intelligent assistive personal vehicle. Through this setting, the pressure on the operator's waist can be reduced, facilitating use. Moreover, a shock-absorbing spring device 17 is hinged to the output shaft of the electric push rod 14, which can improve the driving comfort; The speed and steering of the intelligent assistive personal vehicle are controlled by the manual controller 4. The operation is simple and can be operated with one hand. In addition, the manual controller 4 has strong anti-interference ability during use. After the trigger 39 is released, it can automatically reset under the action of the pressing spring 46, with good safety, meeting the needs of various people; By arranging a number of lateral sensors 67 on the fixing frame 64 of the sensing device 5 and setting a sleeve 71 between the lateral sensors 67, the lateral sensors 67 are triggered by the movement of the sleeve 71, facilitating the force signal processing module to collect data in multiple directions of up, down, left, and right, and adjusting the output state in real time. At the same time, through the buffer spring 68 and the main shaft sensor 70 arranged in the sleeve, when collecting the front and rear direction signals, buffering can be carried out during sudden stops or rapid movements, reducing the impact force generated by inertia on the human body and effectively avoiding the operator from being injured.

[0076] Embodiment 2

[0077] The intelligent assistive personal vehicle control method provided by the embodiment of the present invention

[0078] The operator wears the load-bearing vest 3 and connects it to the quick connector 13 on the sensing device 5 through the quick-release connector 35 on the waist connecting belt 30;

[0079] When the operator pulls the intelligent assistive personal vehicle to accelerate until the speed becomes stable, during the acceleration process, the input end of the main shaft sensor 70 is subjected to a tensile force. The main shaft sensor 70 transmits a signal to the force signal processing module. The force signal processing module processes the signal and then transmits the data to the control module. The control module controls the hub motor 20 to accelerate through the motor drive module. After the operator stops accelerating, the input end of the main shaft sensor 70 is no longer subjected to a tensile force, and the main shaft sensor 70 no longer transmits a signal to the force signal processing module. At this time, the operator and the intelligent assistive personal vehicle have the same speed;

[0080] When the operator pulls the intelligent assistive personal vehicle to decelerate until the speed becomes stable, during the deceleration process, the input end of the main shaft sensor 70 is subjected to a pressure. The main shaft sensor 70 transmits a signal to the force signal processing module. The force signal processing module processes the signal and then transmits the data to the control module. The control module controls the hub motor 20 to decelerate through the motor drive module. After the operator stops accelerating, the input end of the main shaft sensor 70 is no longer subjected to a pressure, and the main shaft sensor 70 no longer transmits a signal to the force signal processing module. At this time, the operator and the intelligent assistive personal vehicle have the same speed;

[0081] During the use of the intelligent assistive personal vehicle, when the load on the backrest 7 increases, the lateral sensor 67 at the top is subjected to a pressure, and the lateral sensor 67 at the bottom is subjected to a tensile force. The lateral sensors 67 at the top and bottom transmit signals to the force signal processing module. The force signal processing module processes the signals and then transmits the data to the control module. The control module controls the output shaft of the electric push rod 14 to extend, adjusts the axle position of the intelligent assistive personal vehicle to directly below the center of gravity of the intelligent assistive personal vehicle, and reduces the pressure on the operator's back;

[0082] During the use of the intelligent assistive personal vehicle, when the load on the backrest 7 decreases, the lateral sensor 67 at the top is subjected to a tensile force, and the lateral sensor 67 at the bottom is subjected to a pressure. The lateral sensors 67 at the top and bottom transmit signals to the force signal processing module. The force signal processing module processes the signals and then transmits the data to the control module. The control module controls the output shaft of the electric push rod 14 to shorten, adjusts the axle position of the intelligent assistive personal vehicle to directly below the center of gravity of the intelligent assistive personal vehicle, and reduces the tensile force on the operator's back;

[0083] When the operator pulls the intelligent assistive personal vehicle to turn left, the lateral sensor 67 on the left is subjected to a pressure, and the lateral sensor 67 on the right is subjected to a tensile force. The lateral sensors 67 on the left and right transmit signals to the force signal processing module. The force signal processing module processes the signals and then transmits the data to the control module. The control module controls the hub motor 20 on the left to decelerate and the hub motor 20 on the right to accelerate through the motor drive module, and the intelligent assistive personal vehicle turns left following the person;

[0084] When the operator pulls the intelligent assist personal vehicle to turn right, the lateral sensor 67 on the left side is subjected to a tensile force, and the lateral sensor 67 on the right side is subjected to a compressive force. The lateral sensors 67 on the left and right sides transmit signals to the force signal processing module. The force signal processing module processes the signals and transmits the data to the control module. The control module controls the left hub motor 20 to accelerate and the right hub motor 20 to decelerate through the motor drive module, and the intelligent assist personal vehicle turns right with the person;

[0085] When the operator presses the trigger 39 on the manual controller 4, the relative position of the magnet 50 and the sensor 49 changes. After the change in the relative position, it is recorded by the sensor 49 and the signal is transmitted to the processor 51 in the form of an analog voltage. The processor 51 transmits the signal to the control module through the communication module. The control module controls the hub motor 20 to accelerate through the motor drive module;

[0086] When the operator releases the trigger 39 on the manual controller 4, the relative position of the magnet 50 and the sensor 49 changes. The change in the relative position will be recorded by the sensor 49 and the signal is transmitted to the processor 51 in the form of an analog voltage. The processor 51 transmits the signal to the control module through the communication module. The control module controls the hub motor 20 to decelerate through the motor drive module;

[0087] It should be added that the signal output of the sensor 49 can be controlled by the three - gear knob switch 62, and stop, forward, and backward options can be selected. When the stop option is selected, the sensor 49 cannot output a signal; when the forward option is selected, the sensor 49 outputs a signal, and the control module controls the hub motor 20 to rotate in the forward direction of the intelligent assist personal vehicle through the motor drive module; when the backward option is selected, the sensor 49 outputs a signal, and the control module controls the hub motor 20 to rotate in the backward direction of the intelligent assist personal vehicle through the motor drive module;

[0088] When the operator turns the handle body 36 to the left, the steering sensor 54 records the angle value of the rotation of the handle body 36 and the quick - release support plate 55, and transmits the signal to the processor 51 in the form of an analog voltage. The processor 51 transmits the signal to the control module through the communication module. The control module controls the left hub motor 20 to decelerate and the right hub motor 20 to accelerate through the motor drive module, and the intelligent assist personal vehicle turns left;

[0089] When the operator turns the handle body 36 to the right, the steering sensor 54 records the angle value of the rotation of the handle body 36 and the quick - release support plate 55, and transmits the signal to the processor 51 in the form of an analog voltage. The processor 51 transmits the signal to the control module through the communication module. The control module controls the left hub motor 20 to accelerate and the right hub motor 20 to decelerate through the motor drive module, and the intelligent assist personal vehicle turns right.

[0090] The intelligent assisted portable vehicle provided by the embodiment of the present invention can achieve the following effects:

[0091] Through the multi-directional data collection by the sensing device 5, the interaction between the intelligent assisted portable vehicle and the operator is realized. The data is processed by the intelligent algorithm module in the force signal processing module, and the control is carried out by using the signal output of the control module, so as to control the intelligent assisted portable vehicle to move following the operator, realizing that the vehicle moves with the person, reducing the operation difficulty of the intelligent assisted portable vehicle and making it more convenient to use.

[0092] Embodiment 3

[0093] The using method of the intelligent assisted portable vehicle provided by the embodiment of the present invention

[0094] The first step, preparation work, the specific steps are as follows:

[0095] Vest wearing:

[0096] Adjust the extending length of the rear guide plate 32 of the waist connecting belt 30 and the length of the shoulder connecting belt 22 according to the operator's figure, so that the quick-release joint 35 on the waist connecting belt 30 is level with the operator's waist. Fasten the buckle 34 of the waist connecting belt 30, and adjust the tightness of the chest connecting belt 23, so that the vest main body 21 tightly wraps the human body to avoid relative sliding.

[0097] Manual controller connection:

[0098] Use a cable to connect the manual controller 4 and the control box 9, and make sure that the knob of the manual controller 4 is at the "stop" option in the horizontal position.

[0099] Power on:

[0100] Check whether there are obstacles around the intelligent assisted portable vehicle, especially under the wheels 19, and check whether the "emergency stop" switch on the control box 9 is in the off state. After confirmation, press the power on button. After the indicator light flashes once, the intelligent assisted portable vehicle is fully started. At this time, check whether only the green indicator light is on. If the red light is on, it means that the connection of the manual controller 4 is loose. Check whether it is firm;

[0101] The operator connects the quick-release joint 35 on the waist connecting belt 30 of the load-bearing vest 3 with the quick joint 13 on the sensing device 5. Note: Only when hearing the "click" sound does it represent an effective and firm connection

[0102] The second step, member boarding, the specific steps are as follows:

[0103] After the operator is connected with the intelligent assisted portable vehicle, stand naturally. The boarding member boards from the side of the intelligent assisted portable vehicle. The boarding should first sit well and then lean back.

[0104] According to the force condition of the backrest, signal transmission is carried out to the force signal processing module through the lateral sensor 67, and the length of the telescopic rod of the electric push rod 14 is controlled through the control module to adjust the axle position of the intelligent assisted portable vehicle to directly below the center of gravity of the intelligent assisted portable vehicle, reducing the back pressure or pulling force on the operator.

[0105] Step 3: Operate the device. The specific steps are as follows:

[0106] Turn the knob of the manual controller 4 to the "forward" option facing upward, gently press the trigger 39 until the vehicle starts, and then the forward speed of the intelligent assisted portable vehicle can be controlled by adjusting the degree of pressing the trigger 39. Note: Although the device has acceleration and deceleration limits, it is still recommended that the operator try to avoid pressing or releasing the trigger 39 violently as much as possible when possible to avoid danger caused by too rapid changes in vehicle speed;

[0107] When a turn is needed, turn the handle body 36 in the corresponding direction to achieve a turn. The greater the degree of turning, the smaller the turning radius;

[0108] When reverse is needed, turn the knob of the manual controller 4 to the "reverse" option facing downward, and press the trigger 39 to make the intelligent assisted portable vehicle reverse. And for driving safety considerations, the speed of the intelligent assisted portable vehicle is fixed and it cannot turn when reversing;

[0109] Step 4: End the operation. The specific steps are as follows:

[0110] After the intelligent assisted portable vehicle is used up, it is necessary to turn the knob of the manual controller 4 to the "stop" option in the horizontal position. At this time, the device is locked and no longer receives instructions;

[0111] Note: When the device moves passively over a long distance (more than one meter), such as being towed, the "emergency stop" switch on the control box 9 needs to be pressed to prevent the back electromotive force generated by the hub motor 20 during passive movement from burning other electronic components of the vehicle.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent assistive personal vehicle, characterized in that: It includes a frame (1), an axle position adjustment device (2) and a sensing device (5). The frame (1) includes a chassis (6) and a backrest (7). The axle position adjustment device (2) is fixedly arranged at the bottom of the chassis (6). The chassis (6) and the backrest (7) are rotatably connected, and an adjustment mechanism (10) for adjusting the inclination of the backrest (7) is arranged at the connection of the chassis (6) and the backrest (7). A placement rack (8) is fixedly arranged at the bottom of the chassis (6), and a control box (9) is fixedly arranged in the placement rack (8). An installation bracket (12) is fixedly arranged on the backrest (7), the sensing device (5) is arranged on the installation bracket (12), and a quick connector (13) is arranged on the sensing device (5); The axle position adjustment device (2) includes an electric push rod (14) and a sliding frame (15). Two groups of the relatively arranged electric push rods (14), and the sliding frames (15) corresponding to the electric push rods (14) one by one are all fixedly arranged at the bottom of the chassis (6). Guide grooves (16) are formed on the sliding frames (15). Spring shock absorbers (17) are hinged to the output shafts of the electric push rods (14), and one ends of the spring shock absorbers (17) are respectively slidably connected to the corresponding guide grooves (16). Two wheel brackets (18) are hinged to the bottom of the chassis (6), wheels (19) are arranged at the ends of the wheel brackets (18), and the other ends of the spring shock absorbers (17) are respectively hinged to the ends of the corresponding wheel brackets (18); The stroke path of the output shaft of the electric push rod (14) matches the length range of the guide groove (16). A hub motor (20) is fixedly arranged in the wheel (19), and the rotating shaft of the hub motor (20) is fixedly connected to the end of the wheel bracket (18); The intelligent assisted portable vehicle further includes a load-bearing vest (3) used in cooperation with it. The load-bearing vest (3) includes a waist connecting belt (30); A quick-release joint (35) is fixedly arranged at the center of the back of the waist connecting belt (30), and the quick-release joint (35) matches the quick connector (13); The sensing device (5) includes a fixing frame (64). A plurality of lateral sensors (67) are arranged on the fixing frame (64). A sleeve (71) is arranged inside the fixing frame (64). One end of the sleeve (71) is universally connected to the fixing frame (64). The other end of the sleeve (71) is located among the plurality of lateral sensors (67) and is in contact with the input ends of the plurality of lateral sensors (67). A main shaft (69) is arranged in the sleeve (71). A main shaft sensor (70) is fixedly arranged at one end of the main shaft (69), and the quick connector (13) is installed at the end of the main shaft sensor (70).

2. The intelligent power-assisted portable vehicle according to claim 1, characterized in that, The weighted vest (3) further includes a vest body (21), the vest body (21) includes a front panel (2101) and a back panel (2102), and the tops of the front panel (2101) and the back panel (2102) are connected by two shoulder straps (22). A chest strap (23) is fixedly arranged on the back of the back panel (2102). A first hook-and-loop fastener (24) is fixedly arranged on the front of the front panel (2101). Second hook-and-loop fasteners (25) are fixedly arranged at both ends of the chest strap (23). A first cover plate (26) is fixedly arranged on the front of the front panel (2101) and opposite to the first hook-and-loop fastener (24). A third hook-and-loop fastener (27) is fixedly arranged on the back of the first cover plate (26), and the second hook-and-loop fasteners (25) are respectively matched with the first hook-and-loop fastener (24) and the third hook-and-loop fastener (27). A fourth hook-and-loop fastener (28) and a second cover plate (29) are fixedly arranged on the front of the back panel (2102). A fifth hook-and-loop fastener (31) is fixedly arranged on the back of the second cover plate (29). A force guiding plate (32) is fixedly arranged on the waist strap (30), and a sixth hook-and-loop fastener (33) is fixedly arranged on the force guiding plate (32), and the sixth hook-and-loop fastener (33) is respectively matched with the fourth hook-and-loop fastener (28) and the fifth hook-and-loop fastener (31).

3. The intelligent power-assisted portable vehicle according to claim 2, wherein An elastic adjustment mechanism (2201) is arranged on the shoulder strap (22), and the elastic adjustment mechanism (2201) is a Japanese character buckle. The second hook-and-loop fasteners (25) and the sixth hook-and-loop fasteners (33) are both double-sided hook-and-loop fasteners. A buckle (34) is arranged at the end of the waist strap (30).

4. The intelligent power-assisted portable vehicle according to claim 3, wherein The intelligent power-assisted portable vehicle further includes a manual controller (4) used in cooperation therewith. The manual controller (4) includes a handle body (36). An installation groove (37) is formed in the handle body (36). A trigger (39) is rotatably arranged on the handle body (36) at the opening of the installation groove (37) through a rotating shaft (38). A fixed seat (42) is arranged in the installation groove (37). A sensor base (43) is fixedly arranged on the fixed seat (42). A Hall sensor cap (44) is sleeved on the sensor base (43), and the Hall sensor cap (44) is in contact with the inner wall of the trigger (39). Compression grooves (45) are formed in both the sensor base (43) and the Hall sensor cap (44), and a compression spring (46) is arranged in the compression groove (45). A sensor (49) is fixedly arranged on the sensor base (43). A magnet (50) is fixedly arranged on the Hall sensor cap (44) opposite to the sensor (49). A processor (51) is fixedly arranged in the installation groove (37). A damping rotating shaft (53) is fixedly arranged in the handle body (36). A steering sensor (54) is arranged at one end of the damping rotating shaft (53) in the installation groove (37). Both the sensor (49) and the steering sensor (54) are electrically connected to the processor (51). A quick-release support plate (55) is fixedly arranged at the other end of the damping rotating shaft (53). A quick-release clip (56) is fixedly arranged on the quick-release support plate (55). An aviation socket (52) is fixedly arranged on the side wall of the handle body (36), and the aviation socket (52) is electrically connected to the processor (51).

5. The intelligent power-assisted portable vehicle according to claim 4, wherein An arc-shaped sliding groove (40) is formed in the inner wall of the handle body (36). A limiting sliding block (41) is fixedly arranged at the end of the trigger (39), and the limiting sliding block (41) is slidably connected to the arc-shaped sliding groove (40). A sliding rail (48) is arranged on the sensor base (43). A sliding groove (47) is formed in the Hall sensor cap (44) opposite to the sliding rail (48), and the sliding rail (48) is slidably connected to the sliding groove (47). A damping rotating shaft installation hole (57), a rotation limiting card slot (58) and a quick-release clip installation hole (60) are formed in the quick-release support plate (55). A limiting block (59) is fixedly arranged on the handle body (36) opposite to the rotation limiting card slot (58), and the limiting block (59) is slidably connected to the rotation limiting card slot (58). The rotation limiting card slot (58) is an arc-shaped slot, and the radian of the rotation limiting card slot (58) is 90°. The damping rotating shaft (53) and the quick-release support plate (55) are fixedly connected through the damping rotating shaft installation hole (57) and bolts. The quick-release clip (56) and the quick-release support plate (55) are fixedly connected through the quick-release clip installation hole (60) and bolts.

6. The intelligent power-assisted portable vehicle according to claim 5, characterized in that The control box (9) is provided with a power module, a power management module, a control module, a communication module, a motor drive module and a force signal processing module; The output end of the manual controller (4) is electrically connected to the input end of the control module through the communication module. The output ends of the lateral sensor (67) and the spindle sensor (70) are electrically connected to the input end of the control module through the force signal processing module. The output end of the control module is respectively electrically connected to the electric push rod (14), the power management module and the motor drive module. The output end of the motor drive module is electrically connected to the hub motor (20); The input end of the power management module is electrically connected to the power module. The output end of the power management module is respectively electrically connected to the electric push rod (14) and the hub motor (20).

7. The control method of the intelligent assist portable vehicle according to claim 6, characterized in that The operator wears a load-bearing vest (3) and connects it to the quick connector (13) on the sensing device (5) through the quick release connector (35) on the waist connecting belt (30); During the process that the operator pulls the intelligent assist portable vehicle to accelerate until the speed is stable, when accelerating, the input end of the spindle sensor (70) is subjected to a tensile force. The spindle sensor (70) transmits a signal to the force signal processing module. The force signal processing module processes the signal and then transmits data to the control module. The control module controls the hub motor (20) to accelerate through the motor drive module. After the operator stops accelerating, the input end of the spindle sensor (70) is no longer subjected to a tensile force, and the spindle sensor (70) no longer transmits a signal to the force signal processing module. At this time, the operator and the intelligent assist portable vehicle have the same speed; During the process that the operator pulls the intelligent assist portable vehicle to decelerate until the speed is stable, when decelerating, the input end of the spindle sensor (70) is subjected to a pressure. The spindle sensor (70) transmits a signal to the force signal processing module. The force signal processing module processes the signal and then transmits data to the control module. The control module controls the hub motor (20) to decelerate through the motor drive module. After the operator stops accelerating, the input end of the spindle sensor (70) is no longer subjected to a pressure, and the spindle sensor (70) no longer transmits a signal to the force signal processing module. At this time, the operator and the intelligent assist portable vehicle have the same speed; During the use of the intelligent assist portable vehicle, when the load on the backrest (7) increases, the lateral sensor (67) at the top is subjected to a pressure, and the lateral sensor (67) at the bottom is subjected to a tensile force. The lateral sensors (67) at the top and the bottom transmit signals to the force signal processing module. The force signal processing module processes the signals and then transmits data to the control module. The control module controls the output shaft of the electric push rod (14) to extend, so that the axle position of the intelligent assist portable vehicle is directly below the center of gravity of the intelligent assist portable vehicle, reducing the pressure on the operator's back; When the load on the backrest (7) decreases during the use of the intelligent assisted walking vehicle, the lateral sensor (67) at the top is subjected to a tensile force, and the lateral sensor (67) at the bottom is subjected to a compressive force. The lateral sensors (67) at the top and bottom transmit signals to the force signal processing module. The force signal processing module processes the signals and then transmits the data to the control module. The control module controls the output shaft of the electric push rod (14) to shorten, moving the axle position of the intelligent assisted walking vehicle directly below the center of gravity of the intelligent assisted walking vehicle, reducing the tensile force on the operator's back; When the operator pulls the intelligent assisted walking vehicle to turn left, the lateral sensor (67) on the left side is subjected to a compressive force, and the lateral sensor (67) on the right side is subjected to a tensile force. The lateral sensors (67) on the left and right sides transmit signals to the force signal processing module. The force signal processing module processes the signals and then transmits the data to the control module. The control module controls the left hub motor (20) to decelerate and the right hub motor (20) to accelerate through the motor drive module, and the intelligent assisted walking vehicle turns left following the person; When the operator pulls the intelligent assisted walking vehicle to turn right, the lateral sensor (67) on the left side is subjected to a tensile force, and the lateral sensor (67) on the right side is subjected to a compressive force. The lateral sensors (67) on the left and right sides transmit signals to the force signal processing module. The force signal processing module processes the signals and then transmits the data to the control module. The control module controls the left hub motor (20) to accelerate and the right hub motor (20) to decelerate through the motor drive module, and the intelligent assisted walking vehicle turns right following the person; When the operator presses the trigger (39) on the manual controller (4), the relative position of the magnet (50) and the sensor (49) changes. The change in the relative position is recorded by the sensor (49) and the signal is transmitted to the processor (51) in the form of an analog voltage. The processor (51) transmits the signal to the control module through the communication module, and the control module controls the hub motor (20) to accelerate through the motor drive module; When the operator releases the trigger (39) on the manual controller (4), the relative position of the magnet (50) and the sensor (49) changes. The change in the relative position is recorded by the sensor (49) and the signal is transmitted to the processor (51) in the form of an analog voltage. The processor (51) transmits the signal to the control module through the communication module, and the control module controls the hub motor (20) to decelerate through the motor drive module; When the operator turns the left handle body (36), the steering sensor (54) records the angle value of the rotation of the handle body (36) and the quick release support plate (55), and transmits the signal to the processor (51) in the form of an analog voltage. The processor (51) transmits the signal to the control module through the communication module, and the control module controls the left hub motor (20) to decelerate and the right hub motor (20) to accelerate through the motor drive module, and the intelligent assisted walking vehicle turns left; When the operator turns the handle main body (36) to the right, the steering sensor (54) records the angle values of the rotation of the handle main body (36) and the quick-release pallet (55), and transmits the signal to the processor (51) in the form of an analog voltage. The processor (51) transmits the signal to the control module through the communication module. The control module controls the left hub motor (20) to accelerate and the right hub motor (20) to decelerate through the motor drive module, enabling the intelligent assisted mobility scooter to turn right.

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