Wheel, stroller and wheel control method

Abstract

This application provides a wheel, a trolley, and a wheel control method. The wheel includes a wheel body and a motion control device. The motion control device includes a control module, a signal acquisition module, and a drive module. The signal acquisition module is used to acquire motion data of the wheel body and send the motion data to the control module. The control module is used to generate control commands based on the motion data of the wheel body and send the control commands to the drive module. The drive module is used to execute the control commands to control the motion state of the wheel body. This application can realize independent control of the motion state of each wheel. Therefore, for trolleys with steering or reversing functions in the trolley's cabin, the applicability and safety of the automatic braking function are improved, and the ease of use of the trolley is greatly enhanced.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a wheel, a trolley, and a wheel control method. Background Technology

[0002] Traditional handcarts are mostly manually braked or pushed. In scenarios with inclines, users may forget to manually brake, which can easily cause harm and poses a great safety hazard.

[0003] Currently, there are already some strollers with hands-free warnings and automatic brakes. They can automatically detect the slope and brake when a downhill slope is detected to ensure smooth movement of the stroller.

[0004] However, existing technologies with automatic braking functions are all designed for trolleys with only one side wheel assembly, which is not very applicable to trolleys with steerable or reversible trolley cabins. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a wheel, a trolley, and a wheel control method to solve the problem of poor applicability of the automatic braking function in the prior art.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0007] In a first aspect, this application provides a wheel, the wheel comprising: a wheel body and a motion control device disposed on the wheel body;

[0008] The motion control device includes a control module, a signal acquisition module, and a drive module. The control module is electrically connected to the signal acquisition module and the drive module, respectively. The drive module is also connected to the wheel body.

[0009] The signal acquisition module is used to acquire motion data of the wheel body and send the motion data to the control module;

[0010] The control module is used to generate control commands based on the motion data of the wheel body, and send the control commands to the drive module;

[0011] The drive module is used to execute the control commands to control the motion state of the wheel body.

[0012] Optionally, the motion control device further includes: a communication module; the communication module is electrically connected to the control module;

[0013] The communication module is used to acquire the motion signals of other wheels on the trolley where the wheel is located, and send the motion signals of the other wheels to the control module;

[0014] The control module is specifically used to: generate the control command based on the motion signal of the wheel body and the motion signal of the other wheels, and send the control command to the drive module.

[0015] Optionally, the control module is further configured to: send the motion signal of the wheel body to the other wheels via the communication module.

[0016] Optionally, the signal acquisition module includes: a signal sensor and a signal processing unit electrically connected to the signal sensor, wherein the signal processing unit is electrically connected to the control module;

[0017] The signal sensor is used to collect the original motion signal of the wheel body and send the original motion signal to the signal processing unit;

[0018] The signal processing unit is used to analyze and process the original motion signal to obtain the motion data, and then send the motion data to the control module.

[0019] Optionally, the drive module includes: a drive unit and a drive motor; the drive motor is connected to the wheel body, and the drive unit is electrically connected to the drive motor;

[0020] The drive unit is used to execute the control command to generate a control signal and send the control signal to the drive motor;

[0021] The drive motor is used to operate under the control signal to control the motion state of the wheel body.

[0022] Optionally, the motion control device further includes: a power supply module;

[0023] The power supply module includes: a charge / discharge management unit, a power management unit, and an energy storage unit;

[0024] The energy storage unit is electrically connected to the charge / discharge management unit via the power management unit, and the power management unit is electrically connected to both the charge / discharge management unit and the control module.

[0025] The charge / discharge management unit is used to control the charging and discharging of the energy storage unit;

[0026] The power management unit is used to monitor the operating status of the energy storage unit.

[0027] Secondly, this application provides a trolley, the trolley comprising: a trolley body and a plurality of wheels as described in the first aspect.

[0028] Optionally, the trolley body includes: a trolley handle; the trolley further includes: a trolley controller and a hand-off detection device disposed on the trolley handle;

[0029] The release detection device is electrically connected to the trolley controller, and the trolley controller is electrically connected to the control module on each wheel;

[0030] The hand release detection device is used to detect the grip signal of the trolley handle and send the grip signal to the trolley controller;

[0031] The trolley controller determines the release state of the trolley based on the grip signal, and sends wheel commands to the control modules of at least one of the wheels when the release state indicates release.

[0032] The control module that receives the wheel command is used to control the corresponding drive module to brake the corresponding wheel body according to the wheel command.

[0033] Thirdly, this application provides a wheel control method applied to a motion control device in the wheel described in the first aspect, the method comprising:

[0034] Collect and acquire motion data of the wheel body;

[0035] Control commands are generated based on the motion data of the wheel body;

[0036] The control command is executed to control the motion state of the wheel body.

[0037] Optionally, generating control commands based on the motion data of the wheel body includes:

[0038] Acquire motion signals of other wheels on the trolley where the wheel is located;

[0039] The control command is generated based on the motion signal of the wheel body and the motion signals of the other wheels.

[0040] Optionally, the acquisition of motion data of the wheel body includes:

[0041] Collect the original motion signals of the wheel body;

[0042] The original motion signal is analyzed and processed to obtain the motion data.

[0043] Optionally, the execution of control commands to control the motion state of the wheel body includes:

[0044] Execute the control command to generate a control signal;

[0045] The motion state of the wheel body is controlled according to the control signal.

[0046] The beneficial effects of this application are: by setting a motion control device on the wheels and collecting wheel motion data through a signal acquisition module, generating control commands based on the wheel motion data through a control module, and executing the control commands through a drive module, the motion state of the wheels can be controlled. Through the motion control device on the wheels, the motion state of each wheel can be controlled independently. Therefore, for a stroller whose cabin can be turned or reversed, the applicability and safety of the automatic braking function are improved, and the ease of use of the stroller is greatly enhanced. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This illustration shows a schematic diagram of the structure of a wheel according to an embodiment of this application;

[0049] Figure 2 This paper shows an architectural diagram of a motion control device according to an embodiment of the present application;

[0050] Figure 3 An architectural diagram of a communication module of a motion control device provided in an embodiment of this application is shown;

[0051] Figure 4 This paper illustrates the architecture of a signal acquisition module for a motion control device according to an embodiment of this application.

[0052] Figure 5 This paper illustrates the architecture of a drive module for a motion control device according to an embodiment of this application.

[0053] Figure 6 This paper shows an architectural diagram of another motion control device provided in an embodiment of this application;

[0054] Figure 7 A structural diagram of a trolley provided in an embodiment of this application is shown;

[0055] Figure 8 This illustration shows a schematic diagram of the connection between a trolley and wheels according to an embodiment of this application;

[0056] Figure 9(a) shows a schematic diagram of a cart going downhill according to an embodiment of this application;

[0057] Figure 9(b) shows a schematic diagram of another scenario of pushing a cart downhill provided by an embodiment of this application;

[0058] Figure 9(c) shows a schematic diagram of a cart going uphill according to an embodiment of this application;

[0059] Figure 9(d) shows a schematic diagram of another scenario of pushing a cart uphill provided by an embodiment of this application;

[0060] Figure 9(e) shows a schematic diagram of a wheel lateral or reversing configuration provided in an embodiment of this application;

[0061] Figure 10 A schematic flowchart of a wheel control method provided in an embodiment of this application is shown;

[0062] Figure 11 A flowchart illustrating a method for generating control instructions, as provided in an embodiment of this application, is shown.

[0063] Figure 12 This illustration shows a flowchart of obtaining motion data according to an embodiment of this application;

[0064] Figure 13 This illustration shows a flowchart of a method for controlling the state of a wheel body according to an embodiment of this application. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0066] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0067] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0068] To reduce the safety hazards caused by manual braking, handcarts with hands-free warning and automatic braking functions have been developed. However, current handcarts with automatic braking functions only have brakes on one side of the wheel assembly. For handcarts whose seats can be turned or reversed, since their front and rear directions can be changed, if the center of gravity or acceleration direction deviates from the brake wheel assembly on one side, the brakes may not be timely or the cart may tip over, posing a significant safety hazard. Designing automatic braking or electric assistance on both the front and rear wheel assemblies would increase the design complexity.

[0069] To address the aforementioned problems, this application proposes a wheel that can be applied to a cart. The wheel includes: a wheel body and a motion control device disposed on the wheel body, such as... Figure 1 The diagram shown is a structural schematic of a wheel according to this application. Figure 1 It is known that the wheel includes: a connecting structure, a fixed structure, a motion control device, and the wheel body. The connecting structure can be a physical interface for connecting with a traditional trolley, the fixed structure can be a structure relative to the wheel, and the motion control device can be installed on the fixed structure to realize the braking or assisting of the wheel body.

[0070] Next, combine Figure 2 The motion control device in the wheel of this application will be further described.

[0071] The motion control device includes a control module, a signal acquisition module, and a drive module. The control module is electrically connected to both the signal acquisition module and the drive module, and the drive module is also connected to the wheel body.

[0072] The signal acquisition module is used to collect motion data of the wheel body and send the motion data to the control module.

[0073] The control module generates control commands based on the motion data of the wheel body and sends the control commands to the drive module.

[0074] The drive module is used to execute control commands to control the movement of the wheel body.

[0075] Optionally, the motion control device can be paired with a wheel, meaning each wheel has its own motion control device, as shown in the reference. Figure 2The motion control device may include a control module, a signal acquisition module, and a drive module. The drive module is directly connected to the wheel body, and the control module is electrically connected to both the signal acquisition module and the drive module. The signal acquisition module may also be installed on the wheel body to collect wheel data.

[0076] Optionally, the signal acquisition module can be installed on the wheel body to collect wheel body motion data.

[0077] As one possible implementation, the signal acquisition module can also acquire environmental information around the wheels and feed that information back to the control module.

[0078] Optionally, the motion data of the wheel body may include the wheel's motion state, speed, and direction of motion.

[0079] For example, the motion state of the wheel body can be moving or stationary, the motion speed can include the acceleration, angular velocity, etc. of the wheel body, and the motion direction can include the tilt angle of the wheel body relative to the horizontal line, or the lateral angle of the wheel body relative to the fixed structure.

[0080] Optionally, the control module can receive motion data collected by the signal acquisition module, analyze the motion data, generate control commands based on the motion data, and send the control commands to the drive module.

[0081] As one possible implementation, the control module can also combine the environmental information collected by the signal acquisition module with the wheel motion data to make a comprehensive judgment in order to generate control commands.

[0082] Optionally, the control command may be an instruction to the drive module to brake or depress the wheel body.

[0083] Optionally, the drive module can execute control commands to assist or brake the wheel body in order to control the motion state of the wheel body.

[0084] It is worth noting that, because the wheels in this application have relatively independent motion control devices, each motion control device controls the motion state based on the real-time motion data of the wheels, without distinguishing between the front and rear wheel sets. Therefore, it can be achieved through... Figure 1 The wheel connection structure shown connects to the front or rear wheels of a traditional trolley, enabling control of the trolley's movement via the wheels.

[0085] In this embodiment, a motion control device is installed on the wheel, and the wheel motion data is collected by the signal acquisition module. The control module generates control commands based on the wheel motion data, and the drive module executes the control commands to control the motion state of the wheel. Through the motion control device on the wheel, each wheel can be controlled independently, so the trolley's cabin can be turned or reversed, greatly improving the trolley's ease of use.

[0086] The motion control device described above will be further explained below, such as... Figure 3 As shown, the motion control device also includes a communication module; the communication module is electrically connected to the control module.

[0087] The communication module is used to acquire the motion signals of other wheels on the trolley where the wheels are located, and to send the motion signals of the other wheels to the control module.

[0088] The control module is specifically used to generate control commands based on the motion signals of the wheel body and other wheels, and then send the control commands to the drive module.

[0089] Optionally, the motion signal can be the raw motion data of the wheel body that has not undergone signal processing and is acquired by the signal acquisition module.

[0090] Optionally, a trolley may include multiple wheels, and the wheels can exchange data through a communication module. Taking the communication module on a wheel as an example, the communication module can obtain the motion signals of other wheels on the trolley where the wheel is located.

[0091] Optionally, before the communication module acquires motion signals from other wheels, the wheels on the same trolley can establish a communication network through the communication module. Each wheel can have a unique number in the network that can be identified by other wheels, and can send and receive motion signals through the network.

[0092] As one possible implementation, the communication module can also establish a connection with the terminal device to display the wheel's motion data and motion status to the user, and send environmental information around the wheel and wheel alarm information to the terminal device.

[0093] Optionally, the control module can generate control commands based on the motion signals of the wheel where the control module is located and the motion signals of other wheels received by the control module through the communication module, and send the control commands to the drive module.

[0094] It is worth noting that in this embodiment, control commands can be generated based on the motion signal of one wheel and the motion state of the wheel can be controlled. Alternatively, the wheels can be networked together and control commands can be obtained by combining the motion signals of other wheels. The specific implementation method is not limited here.

[0095] The aforementioned control module is also used to: send motion signals of the wheel body to other wheels via the communication module.

[0096] Optionally, the wheels can establish a network through a communication module, and the motion signals of the wheel body can be sent to other wheels through the communication module.

[0097] In this embodiment, the movement state control of the trolley is achieved by establishing a network communication between multiple wheels, which improves the precision and safety of automatic wheel control.

[0098] Next, refer to Figure 4 The signal acquisition module in the motion control device of the wheel of this application is described.

[0099] The signal acquisition module includes a signal sensor and a signal processing unit electrically connected to the signal sensor. The signal processing unit is electrically connected to the control module.

[0100] The signal sensor is used to collect the raw motion signals of the wheel body and send the raw motion signals to the signal processing unit.

[0101] The signal processing unit is used to analyze and process the raw motion signal to obtain motion data, and then send the motion data to the control module.

[0102] Optionally, a signal sensor can be installed on the wheel body to collect motion signals from the wheel body.

[0103] Optionally, the raw motion signals of the wheel body collected by the signal sensor may include, for example, signals such as wheel rotation speed, tilt angle, acceleration, and angular velocity.

[0104] Optionally, the motion data can be specific values ​​such as wheel rotation speed, tilt angle, acceleration, and angular velocity obtained by the signal processing unit from parsing these raw motion signals.

[0105] The following is a further explanation of the aforementioned driver module.

[0106] like Figure 5 As shown, the drive module includes a drive unit and a drive motor; the drive motor is connected to the wheel body, and the drive unit is electrically connected to the drive motor.

[0107] The drive unit is used to execute control commands to generate control signals and send the control signals to the drive motor.

[0108] The drive motor is used to operate under the action of control signals to control the movement state of the wheel body.

[0109] Optionally, the drive motor can be connected to the wheel body to control the braking structure on the wheel body for assisting or braking.

[0110] like Figure 6 As shown, the motion control device also includes a power supply module 601.

[0111] The power supply module 601 includes: a charge / discharge management unit, a power management unit, and an energy storage unit.

[0112] The energy storage unit is electrically connected to the charge / discharge management unit via a power management unit, and the power management unit is electrically connected to both the charge / discharge management unit and the control module.

[0113] The charge / discharge management unit is used to control the charging and discharging of the energy storage unit.

[0114] The power management unit is used to monitor the operating status of the energy storage unit.

[0115] Optionally, the power supply module 601 can also be connected to the drive motor to supply power to the drive motor.

[0116] Optionally, the energy storage unit may be, for example, a battery.

[0117] Optionally, the battery management unit can monitor the operating status of the energy storage unit, such as monitoring the operating voltage, operating current, and ambient temperature of the energy storage unit, estimating the state of charge of the battery pack, maintaining the balance of individual cells, and ensuring the communication function between the battery and other modules, thereby preventing harmful accidents caused by the energy storage unit operating in extreme environments.

[0118] Optionally, the charge / discharge management unit can control the energy storage unit to charge or discharge.

[0119] Optionally, the charging and discharging management unit can charge the energy storage unit via wireless charging, contacts, contact plates, or charging ports. Assuming that a trolley includes multiple wheels as described in this application, the multiple wheels can have independent power supply modules, or the multiple wheels can share a charging module. The specific implementation method is not limited here.

[0120] In this embodiment, the independent motion state control of the wheels is achieved through a power supply module, a control module, a drive module, a communication module, and a signal acquisition module. This allows for the adaptation to scenarios where the trolley with a steerable or reversible cabin automatically brakes, thus improving the safety and reliability of automatic braking.

[0121] This application also provides a trolley, such as... Figure 7 As shown, the trolley includes a trolley body and a plurality of the aforementioned wheels. The trolley body includes: a trolley handle; the trolley also includes: a trolley controller and a hand-off detection device 701 disposed on the trolley handle;

[0122] The release detection device 701 is electrically connected to the trolley controller, and the trolley controller is electrically connected to the control module on each wheel.

[0123] The hand release detection device 701 is used to detect the grip signal of the trolley handle and send the grip signal to the trolley controller;

[0124] The trolley controller determines the trolley's release state based on the grip signal, and sends wheel commands to the control module of at least one wheel when the release state indicates release.

[0125] The control module that receives the wheel command is used to control the corresponding drive module to brake the corresponding wheel body according to the wheel command.

[0126] Optionally, wheel commands can represent the trolley's unhanded state. After receiving the wheel commands, the wheel control module can control the trolley's movement based on its unhanded state.

[0127] For example, assuming the wheel command instructs the trolley to be released from the hand, the wheel control module can brake or assist the wheel according to the current motion state of the wheel body. For example, if the wheel is in a released state when going downhill, the wheel motion control device can brake the wheel body.

[0128] Optionally, the off-hand detection device 701 may be a sensor installed on the trolley handle to detect the off-hand state of the trolley. For example, when the user grips the handle, the off-hand detection device 701 can detect the grip signal and send the grip signal to the trolley controller.

[0129] like Figure 8 As shown, the release detection device 701 can be electrically connected to the trolley controller, and the trolley controller can be electrically connected to the control module on each wheel.

[0130] In this embodiment, the wheels can be controlled in motion based on the trolley's unhanded state detected by the trolley's unhanded detection device 701, thereby braking the wheels when the trolley is in an unhanded state and improving the reliability of the trolley's automatic braking function.

[0131] Figures 9(a), 9(b), 9(c) and 9(d) are schematic diagrams illustrating the motion control of the wheels of a trolley with a reversible or steerable cabin in uphill or downhill scenarios, as provided in an embodiment of this application.

[0132] Referring to Figures 9(a), 9(b), 9(c) and 9(d), which are schematic diagrams of the trolley going uphill or downhill, when the trolley is going uphill or downhill, the trolley is detected to be in a detached state by the detached hand detection device 701 on the handle. At this time, the wheel can be confirmed by the motion control device to be in an uphill or downhill state and the wheel body is braked.

[0133] For example, taking the wheel near the handle of the cart as an example, in Figure 9(a), the wheel can be regarded as the rear wheel group. When the wheel is detected to be moving forward, that is, the wheel is going downhill, the control module can brake the wheel. In Figure 9(b), the wheel can be regarded as the front wheel group. When the wheel is detected to be moving forward, that is, the wheel is going downhill, the control module can brake the wheel.

[0134] Taking the wheel near the handle of the cart as an example, in Figure 9(c), the wheel can be regarded as the rear wheel group. When the wheel is detected to be moving backward, that is, the wheel is going downhill, the control module can brake the wheel. In Figure 9(d), the wheel can be regarded as the front wheel group. When the wheel is detected to be moving backward, that is, the wheel is going downhill, the control module can brake the wheel.

[0135] Figure 9(e) is a top view of a wheel lateral movement provided in this application. The wheel in this application can be a wheel with steering function, such as a swivel wheel. When the wheel is in a lateral movement state, the control module can also calculate the acceleration direction of the cart based on the acceleration and angular velocity of the wheel, thereby obtaining the acceleration movement direction and tilting direction of the cart. Based on the two control factors of braking and tilting, the control module can control the wheel to perform electric braking or assistance to avoid the danger caused by rapid braking when the center of gravity of the cart shifts.

[0136] Based on the same inventive concept, this application also provides a wheel control method corresponding to the above-mentioned wheel in the embodiments. Since the principle of solving the problem by the method in the embodiments of this application is similar to the motion control device of the wheel in the embodiments of this application, the implementation of the method can be referred to the implementation of the method, and the repeated parts will not be described again.

[0137] like Figure 10 The diagram illustrates a wheel control method according to an embodiment of this application. The executing entity of this method can be, for example, the motion control device within the wheel described above. The method includes:

[0138] S1001: Collect and acquire motion data of the wheel body.

[0139] Optionally, the wheel signal acquisition module can collect data on the wheel itself, such as the wheel's acceleration, angular velocity, tilt angle, and speed, to obtain the wheel's motion data.

[0140] S1002: Generate control commands based on the motion data of the wheel body.

[0141] Optionally, the wheel control module can generate control commands based on the motion data of the wheel body to assist or brake the wheel body.

[0142] S1003: Execute control commands to control the movement state of the wheel body.

[0143] Optionally, the wheel drive module can execute control commands issued by the control module to control the motion state of the wheel body.

[0144] The following is a further explanation of the generation of control commands based on the motion data of the wheel body in step S1002 above, such as... Figure 11 As shown, step S1002 above includes:

[0145] S1101: Acquire the motion signals of other wheels on the trolley where the wheel is located.

[0146] Optionally, the wheel can obtain motion signals from other wheels on the trolley it is on via a communication module.

[0147] Optionally, before acquiring motion signals from other wheels, each wheel can establish a network through a communication module and assign a unique identifier to each wheel within the network.

[0148] S1102: Generate control commands based on the motion signals of the wheel body and other wheels.

[0149] Optionally, the wheels can obtain the motion state of the trolley based on the motion signals of the wheel body and other wheels, and generate control commands based on the motion state of the trolley to assist or brake the trolley.

[0150] like Figure 12 As shown, in step S1001 above, acquiring the motion data of the wheel body includes:

[0151] S1201: Collects the original motion signal of the wheel body.

[0152] Optionally, the wheel can acquire the original motion signals of the wheel body through signal sensors on the wheel body. The original motion signals may include, for example, the wheel's rotational speed, tilt angle, acceleration, angular velocity, and other signals.

[0153] S1202: Analyze and process the original motion signal to obtain motion data.

[0154] Optionally, the wheel can be processed by a signal processing unit to analyze the raw motion signal collected by the signal sensor to obtain the wheel's motion data. For example, the wheel's motion data may include specific values ​​such as the wheel's rotational speed, tilt angle, acceleration, and angular velocity.

[0155] like Figure 13 As shown, in step S1003 above, executing control commands to control the motion state of the wheel body includes:

[0156] S1301: Execute control commands to generate control signals.

[0157] Optionally, the drive unit of the wheel can execute the control commands sent by the control module and generate control signals that can be recognized by the drive motor, and send the control signals to the drive motor.

[0158] S1302: Controls the motion state of the wheel body according to the control signal.

[0159] Optionally, the drive motor of the wheel can operate under the action of a control signal to assist or brake the wheel.

[0160] It is worth noting that in this embodiment of the application, the wheel can also receive motion signals from other wheels on the trolley and make a comprehensive judgment based on the trolley's unhandled state. For example, assuming the trolley is unhandled, the trolley controller sends wheel commands to the wheel control module, and the wheel control module can brake the trolley in time when it is unhandled to avoid the harm caused by the trolley not being braked in time when it is unhandled.

[0161] This application embodiment sets a motion control device on the wheels and collects wheel motion data through a signal acquisition module. The control module generates control commands based on the wheel motion data and executes the control commands through a drive module to control the motion state of the wheels. Through the motion control device on the wheels, each wheel can be controlled independently. Therefore, it has good applicability for trolleys that can turn or change direction in the trolley's cabin.

[0162] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0163] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0164] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A wheel, characterized in that, The wheel includes: a connecting structure, a wheel body, and a motion control device disposed on the wheel body. The connecting structure is a physical interface for connecting with the trolley. The wheel is connected to the front wheel or rear wheel of the trolley through the connecting structure. Each wheel is provided with a motion control device. The motion control device includes a control module, a signal acquisition module, and a drive module. The control module is electrically connected to the signal acquisition module and the drive module, respectively. The drive module is also connected to the wheel body. The signal acquisition module is used to acquire motion data of the wheel body and send the motion data to the control module; The control module is used to generate control commands based on the motion data of the wheel body, and send the control commands to the drive module; The drive module is used to execute the control commands to control the motion state of the wheel body; The motion control device further includes: a communication module; the communication module is electrically connected to the control module, wherein the wheels on the trolley establish a network through the communication modules of each wheel; The communication module is used to acquire motion signals of other wheels on the trolley where the wheel is located through the network, and to send the motion signals of the other wheels to the control module through the network; The control module is specifically used to: obtain the motion state of the trolley based on the motion signal of the wheel body and the motion signal of the other wheels, generate the control command based on the motion state of the trolley, and send the control command to the drive module; Specifically, when the wheel is in a lateral movement state, the control module is used to determine the acceleration direction and tilt direction of the trolley based on the acceleration and angular velocity of the wheel, and control the wheel to perform electric braking or assistance based on the acceleration direction and tilt direction of the trolley. The drive module is specifically used to execute control commands to generate control signals and to assist or brake the trolley according to the control signals.

2. The wheel according to claim 1, characterized in that, The control module is also used to: send the motion signal of the wheel body to the other wheels through the communication module.

3. The wheel according to claim 1, characterized in that, The signal acquisition module includes: a signal sensor and a signal processing unit electrically connected to the signal sensor, wherein the signal processing unit is electrically connected to the control module; The signal sensor is used to collect the original motion signal of the wheel body and send the original motion signal to the signal processing unit; The signal processing unit is used to analyze and process the original motion signal to obtain the motion data, and then send the motion data to the control module.

4. The wheel according to claim 1, characterized in that, The drive module includes a drive unit and a drive motor; the drive motor is connected to the wheel body, and the drive unit is electrically connected to the drive motor; The drive unit is used to execute the control command to generate a control signal and send the control signal to the drive motor; The drive motor is used to operate under the control signal to control the motion state of the wheel body.

5. The wheel according to any one of claims 1-4, characterized in that, The motion control device further includes: a power supply module; The power supply module includes: a charge / discharge management unit, a power management unit, and an energy storage unit; The energy storage unit is electrically connected to the charge / discharge management unit via the power management unit, and the power management unit is electrically connected to both the charge / discharge management unit and the control module. The charge / discharge management unit is used to control the charging and discharging of the energy storage unit; The power management unit is used to monitor the operating status of the energy storage unit.

6. A trolley, characterized in that, The trolley includes: a trolley body and a plurality of wheels as described in any one of claims 1-5.

7. The trolley according to claim 6, characterized in that, The trolley body includes: a trolley handle; the trolley also includes: a trolley controller and a hand-off detection device disposed on the trolley handle; The release detection device is electrically connected to the trolley controller, and the trolley controller is electrically connected to the control module on each wheel; The hand release detection device is used to detect the grip signal of the trolley handle and send the grip signal to the trolley controller; The trolley controller determines the release state of the trolley based on the grip signal, and sends wheel commands to the control modules of at least one of the wheels when the release state indicates release. The control module that receives the wheel command is used to control the corresponding drive module to brake the corresponding wheel body according to the wheel command.

8. A wheel control method, characterized in that, The motion control device applied to the wheel according to any one of claims 1-6, the method comprising: Collect and acquire motion data of the wheel body; Control commands are generated based on the motion data of the wheel body; The control command is executed to control the motion state of the wheel body.

9. The method according to claim 8, characterized in that, The step of generating control commands based on the motion data of the wheel body includes: Acquire motion signals of other wheels on the trolley where the wheel is located; The control command is generated based on the motion signal of the wheel body and the motion signals of the other wheels; The acquisition of motion data of the wheel body includes: Collect the original motion signals of the wheel body; The original motion signal is analyzed and processed to obtain the motion data; Executing the control command to control the motion state of the wheel body includes: Execute the control command to generate a control signal; The motion state of the wheel body is controlled according to the control signal.

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