An intelligent cart

Abstract

The application relates to the field of power-assisted carrying technology, and particularly relates to an intelligent trolley, which comprises a trolley frame, a push rod, a handle arranged on the push rod, an electric control box fixed on a rear frame of the trolley frame, a central control circuit board integrated in the electric control box, a sensing module electrically connected with the central control circuit board through a line buried in the push rod and a bottom frame of the trolley frame, a three-axis accelerometer arranged on the bottom frame of the trolley frame, and an intelligent control system connected with the central control circuit board, wherein the intelligent control system comprises a function conversion module configured to acquire user input information or an actual running state of the trolley and correspondingly make the trolley be in or be converted to a corresponding function state, and a state control module configured to collect corresponding control condition information according to a current function state to control a running state of the trolley. The trolley can provide multiple function states to cope with different scenes and user demands.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of assisted carrying technology, and in particular to an intelligent trolley. BACKGROUND

[0002] When going camping in the wild, a trolley is one of the most common carrying tools. A traditional trolley is usually pushed by human power to carry goods, so it is very laborious to push when the load is heavy or the road terrain is complex (for example, the road is rugged, steep or has many obstacles). At present, in order to reduce the burden of human power, some intelligent trolleys with automatic assistance have been proposed on the market. However, these intelligent trolleys usually have poor operation flexibility and are difficult for beginners to quickly master.

[0003] For example, the existing trolleys usually adopt a pressure speed regulation mode, that is, the active assistance mode of the trolley is adjusted according to the pressure applied by the user on the handle. For example, see the application with the application publication number CN110901713A, which discloses an electric trolley and a driving control system and method thereof. In order to accurately realize the assistance of the trolley, this kind of pressure speed regulation mode needs to continuously monitor the hand pressure of the user. In turn, this also requires the user to hold or pull the handle with a preset posture for a long time during the trolley running, otherwise the trolley will not accurately identify the current control intention of the user. The learning period of this control method is relatively long, because the user may need to test the hand grip or pulling force several times to master the speed regulation mode of the trolley. At the same time, the user is also prone to fatigue during a long time of pushing the trolley because of long-term maintenance of the preset posture.

[0004] For another example, see the invention patent application with the application number CN2015106213519, which discloses an intelligent electric power trolley. The intelligent electric power trolley measures the rotation information of the connecting rod through the angle detection device arranged on the rotating shaft, and judges whether the force received by the connecting rod is a pushing force or a pulling force based on the electric signal output by the angle detection device, and finally the trolley selects the forward or backward movement of the power trolley according to the corresponding electric signal. However, this relatively single pull rod adjustment mode has poor flexibility when facing complex terrain (such as uphill road section). SUMMARY

[0005] The purpose of the present application is to provide an intelligent trolley, which partially solves or alleviates the above-mentioned deficiencies in the prior art, and can improve the running stability and safety of the intelligent trolley while providing flexible assistance of the intelligent trolley.

[0006] In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions:

[0007] The first aspect of the present application provides an intelligent trolley, comprising:

[0008] The trolley further comprises an electric control box fixed on the rear frame of the trolley frame, wherein a central control circuit board is integrated in the electric control box, and the electric trolley further comprises a plurality of sensing modules electrically connected to the central control circuit board through a line embedded in the push rod and the bottom frame of the trolley frame.

[0009] The sensing modules comprise:

[0010] A pressure sensor, a three-axis accelerometer, and an infrared sensor arranged on the handle, and a three-axis accelerometer arranged on the bottom frame of the trolley frame.

[0011] An intelligent control system connected to the central control circuit board, wherein the intelligent control system comprises:

[0012] A function conversion module configured to obtain user input information of the trolley and / or an actual running state of the trolley, and to make the trolley be in or convert to a corresponding function state according to the user input information and / or the actual running state.

[0013] A state control module configured to collect corresponding control condition information according to the current function state, and to control the running state of the trolley according to the corresponding control condition.

[0014] In some embodiments, the state control module comprises:

[0015] A first condition acquisition unit configured to determine an adjustment interval of the trolley according to a first control condition when the trolley is in a first function state, wherein the first control condition comprises:

[0016] A first rotation signal obtained by at least one three-axis accelerometer, and the first rotation signal comprises:

[0017] A value of an included angle between the push rod and a horizontal plane on which the trolley frame is located or a change value of the included angle when the push rod rotates in a preset first rotation plane.

[0018] A first state control unit configured to input the first control condition into a first vehicle speed adjustment model corresponding to the adjustment interval, and the first vehicle speed adjustment model comprises:

[0019] V = λ1V a + λ2V b (1-1);

[0020] Wherein, V is a first target vehicle speed, V aV is a first adjusted vehicle speed b λ1 is a first adjusted coefficient, and λ2 is a second adjusted coefficient.

[0021] In some embodiments, the functional state comprises:

[0022] (i) a first functional state, and when the stroller is in the first functional state, the collected first control condition comprises one or more of: a first rotation signal of the push rod, a first pressure signal applied by the user on the push rod, a shaking signal of the stroller obtained by at least one three-axis accelerometer arranged on the chassis;

[0023] and / or (ii) a second functional state, and when the stroller is in the second functional state, the collected second control condition comprises one or more of: the first rotation signal of the push rod, a second rotation signal of the push rod obtained by at least one three-axis accelerometer arranged on the push rod;

[0024] and / or (iii) a third functional state, and when the stroller is in the third functional state, the collected third control condition comprises one or more of: a reverse signal, a steering signal;

[0025] and / or (iv) a fourth functional state, and when the stroller is in the fourth functional state, the collected fourth control condition comprises one or more of: the first rotation signal of the stroller, a second pressure signal applied by the user on the push rod obtained by a pressure sensor arranged on the handle, the shaking signal of the stroller.

[0026] In some embodiments, the user input information comprises: a switching signal representing switching the functional state; and / or the actual running state comprises one or more of: acceleration, deceleration, constant speed, flat road driving, uphill driving, downhill driving, shaking state, steering state.

[0027] In some embodiments, the state control module comprises:

[0028] a second condition acquisition unit configured to determine an adjusted interval of the stroller according to a second control condition when the stroller is in a second functional state, wherein the second control condition comprises:

[0029] a second rotation signal, and the second rotation signal comprises a value or a change value of an included angle between the push rod and a preset position of the push rod when the push rod rotates on a preset second rotation plane, the second rotation plane being perpendicular or approximately perpendicular to the first rotation plane;

[0030] a second state control unit configured to input the second control condition into a second vehicle speed adjustment model corresponding to the adjustment interval, and the second vehicle speed adjustment model is:

[0031]

[0032] wherein V a is a first adjusted vehicle speed, V b is a second adjusted vehicle speed, λ1 is a first adjustment coefficient, λ2 is a second adjustment coefficient, V R is a right wheel speed of the cart, V L is a left wheel speed of the cart, m is a first steering coefficient, n is a second steering coefficient, π is a circular constant, β is a second included angle, and R is a wheelbase between the right and left motors of the cart.

[0033] In some embodiments, when the first rotation signal is in an acceleration adjustment interval and / or a deceleration adjustment interval of the push rod, the first vehicle speed adjustment model is:

[0034] V = λ1(v0 + v Δ0 (α - θ)) + λ2V b (1 - 2).

[0035] wherein v0 is an initial speed of the cart, v Δ0 is a preset first speed change amount, α is a preset parking angle, and θ is a magnitude of the first included angle.

[0036] In some embodiments, the first control condition further includes a first pressure signal, and the first pressure signal includes data or change data of a first pressure or a first tension applied by the user on the push rod.

[0037] Correspondingly, the first state control unit is further configured to:

[0038] determine whether the data of the pressure or tension belongs to a preset first pressure threshold range, if yes,

[0039] input the first pressure signal into the first vehicle speed adjustment model, and the first vehicle speed adjustment model is:

[0040]

[0041] wherein v Δ1 is a preset second speed change amount, P is a pressure or tension, and p is a proportional coefficient.

[0042] In some embodiments, the state control module includes:

[0043] a third condition acquisition unit configured to acquire a third control condition when the trolley is in the third functional state,

[0044] determining an adjustment state of the trolley according to a third control condition, wherein the third control condition comprises:

[0045] a reverse signal, and the reverse signal comprises: a reverse direction, and / or a reverse angle;

[0046] and / or a steering signal, and the steering signal comprises: a steering angle, and / or a steering direction;

[0047] a third state control unit configured to input the reverse angle or the steering angle into a third speed adjustment model corresponding to the adjustment state, and the third speed adjustment model is:

[0048]

[0049] wherein V' is a second target speed, λ3 is a third adjustment coefficient, π is a circular constant, is the reverse angle or the steering angle, and R is a wheelbase between the motors on the left and right sides of the trolley.

[0050] In some embodiments, the state control module comprises:

[0051] a fourth condition acquisition unit configured to acquire a fourth control condition when the trolley is in the fourth functional state,

[0052] determining an adjustment state of the trolley according to the fourth control condition, wherein the fourth control condition comprises: a second pressure signal, and the second pressure signal comprises: a second pressure or a second pulling force data size applied by the user on the handle of the trolley, and a second pressure or a second pulling force direction applied by the user on the handle of the trolley;

[0053] a fourth state control unit configured to input the second pressure signal into a fourth speed adjustment model corresponding to the adjustment state, and the fourth speed adjustment model is:

[0054]

[0055] wherein V' is a second target speed, λ3 is a third adjustment coefficient, π is a circular constant, φ is a set steering angle, and R is a wheelbase between the motors on the left and right sides of the trolley.

[0056] In some embodiments, the state control module comprises:

[0057] The fourth condition acquisition unit is further configured to determine an adjustment state of the cart according to the fourth control condition when the cart is in the fourth functional state, wherein the fourth control condition comprises a jitter signal, and the jitter signal comprises an included angle data between the vehicle frame and the horizontal plane in the length direction and / or an included angle data between the vehicle frame and the horizontal plane in the width direction.

[0058] The fourth state control unit is further configured to determine whether the current vehicle speed of the cart needs to be corrected according to the jitter signal, and if so, input the jitter signal into a preset fourth vehicle speed adjustment model, wherein the fourth vehicle speed adjustment model comprises:

[0059] V'' = λ1V a + λ2V b (4);

[0060] wherein V'' is a third target vehicle speed after correction, V a ' is a first adjustment vehicle speed at a previous moment of entering the jitter state.

[0061] Beneficial technical effects:

[0062] In order to meet the material carrying demand in complex outdoor terrain, the present application provides an intelligent control method which can switch the functional state in different environments (such as different user input signals or actual driving environment of the cart). Moreover, for the main functional state (such as the first functional state, the second functional state, etc.), a control route is provided, which mainly adjusts the push rod and secondarily adjusts the pressure. On the one hand, the control route uses the push rod to slowly adjust the speed (i.e. the speed change is linear or approximately linear), and on the other hand, the control route uses the pressure to quickly adjust the speed. The coordination of the two different speed adjustment modes can not only adaptively adjust the speed according to the real-time road conditions and user walking speed, but also can ensure that the cart is in a relatively safe and stable driving state.

[0063] In addition, the slow mode of the push rod is easier to control for beginners, and the way of rotating the push rod is easier to master (compared to the pressure, the user's perception of angle adjustment is more intuitive and clear), and the control accuracy is also more. At the same time, the way of controlling the speed by rotating the push rod is more flexible than the traditional pressure speed regulation, for example, the user only needs to keep the hand placed on the handle of the push rod, and there is no special requirement for the hand control posture (in other words, this reduces the user's control burden to a certain extent).

[0064] Further, the intelligent switching of the functional state can meet the use needs of different users

[0065] operation habits, and on the other hand, it can also improve the accuracy and stability of intelligent decision-making in the corresponding scene.

[0066] Further, the function state in the present application can be switched automatically by the user, and the user can also customize the function to further provide flexibility of function combination. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0068] Figure 1a A flowchart of an exemplary intelligent control method of the present application;

[0069] Figure 1b A structural diagram of an exemplary intelligent cart module of the present application;

[0070] Figure 1c A diagram of forward and backward rotation of a push rod in an exemplary embodiment of the present application;

[0071] Figure 1d A diagram of left and right rotation of a push rod in an exemplary embodiment of the present application;

[0072] Figure 1e A module diagram of an intelligent control system in an exemplary embodiment of the present application;

[0073] Figure 1f A structural diagram of an electric cart for camping in an exemplary embodiment of the present application;

[0074] Figure 2 A wiring diagram of various electronic devices in an electric cart for camping in an exemplary embodiment of the present application;

[0075] Figure 3 A diagram reflecting a mounting groove in a handle;

[0076] Figure 4a A diagram of a wiring hole provided on a connecting piece;

[0077] Figure 4b A diagram of a wiring hole provided on an outer tube of a telescopic push rod;

[0078] Figure 5 A diagram reflecting a gap between an inner tube and an outer tube in a telescopic rod;

[0079] Figure 6a Fig. 2 is a view reflecting the cooperation between the four inclined support rods and the center connecting piece in the chassis;

[0080] Figure 6b Fig. 3 is a view reflecting the wiring in the chassis;

[0081] Figure 7 Fig. 4 is a view reflecting the notch on the inclined support rod.

[0082] Fig. 1 is a view reflecting the frame; Fig. 2 is a view reflecting the electric control box; Fig. 3 is a view reflecting the push rod; Fig. 4 is a view reflecting the handle; Fig. 5 is a view reflecting the connecting piece; Fig. 6 is a view reflecting the support connecting rod; Fig. 7 is a view reflecting the center connecting piece; Fig. 8 is a view reflecting the rear wheel; Fig. 9 is a view reflecting the chassis; Fig. 10 is a view reflecting the inclined support rod; Fig. 11 is a view reflecting the first axis. DETAILED DESCRIPTION

[0083] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0084] Herein, the suffix such as "module", "part" or "unit" used to represent an element is only for the convenience of description of the present application, and has no specific meaning by itself. Therefore, "module", "part" or "unit" can be mixedly used.

[0085] Herein, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description of the present application and simplification of the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0086] Herein, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected" and the like indicate that there can be a variety of specific ways for establishing the connection, and the connection can be established directly or indirectly through other elements.

[0087] Herein, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected"

[0088] etc. should be understood as having a broad meaning in this context, for example, "connected" can be fixed connected, or detachably connected, or integrally connected; can be mechanically connected, can be directly connected, or indirectly connected through an intermediate medium, can be internal connection of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0089] As used herein, "and / or" includes any and all combinations of one or more of the associated listed items.

[0090] As used herein, "a number of" means two or more, that is, it includes two, three, four, five, etc.

[0091] It should be noted that in this text, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the sentence "includes a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0092] As used in the present specification, the term "about", typically means + / - 5% of the stated value,

[0093] More typically + / - 4% of the stated value, more typically + / - 3% of the stated value, more typically + / - 2% of the stated value, even more typically + / - 1% of the stated value, even more typically + / - 0.5% of the stated value.

[0094] In the present specification, certain embodiments can be disclosed in a format that is a range. It is to be understood that such a "range" format is merely used for convenience and brevity and should be interpreted in a flexible manner to include not only the numerical values explicitly recited as the limits of the range, but also to include all the individual numerical values or sub-ranges within that range as if each numerical value and sub-range is explicitly recited. For example, a range of "1 to 10" should be interpreted to include the explicitly recited limits of 1 and 10, as well as the individual numerical values 2, 3, 4, 5, 6, 7, 8, 9 and 10, as well as the sub-ranges 1-10, 2-9, 3-8, 4-7, 5-6, 1-6, 1-5, 1-4, 1-3, 1-2, 2-10, 3-10, 4-10, 5-10, 2-5, 2-4, 3-5, and 3-4. A range of "1 to 10" should be interpreted to include the explicitly recited limits of 1 and 10, as well as the individual numerical values 2, 3, 4, 5, 6, 7, 8, 9 and 10, as well as the sub-ranges 1-10, 2-9, 3-8, 4-7, 5-6, 1-6, 1-5, 1-4, 1-3, 1-2, 2-10, 3-10, 4-10, 5-10, 2-5, 2-4, 3-5, and 3-4, regardless of the breadth of the range.

[0095] Example one

[0096] As Figures 1a-1fAs shown, the present application provides an intelligent control method for a cart, the cart comprising: a main body part (e.g. a frame) for carrying objects, and a push rod rotatable relative to the main body part along at least one rotation plane, and the method comprising:

[0097] S100 acquiring user input information of the cart and / or actual running state of the cart, and causing the cart to be in or to be converted to a corresponding functional state according to the user input information and / or the actual running state.

[0098] In some embodiments, the user input information comprises: a switching signal representing switching the functional state; and / or, the actual running state comprises one or more of: acceleration, deceleration, constant speed, flat road driving, uphill driving, downhill driving, shaking state, turning state.

[0099] In some embodiments, the user input information further comprises: a control signal input by a user, such as a rotation signal, a turning signal, a pressure signal, an opening signal, etc.

[0100] For example, in some embodiments, when it is detected that a user inputs an opening signal (such as turning on by a start button, or rotating the push rod, etc.), or when it is detected that the cart is converted from a parking state to a moving state, the cart can automatically switch to a default set functional state. Alternatively, it can also automatically switch to a functional state associated with the user input information / actual running state.

[0101] S101 collecting corresponding control condition information according to the current functional state, and controlling the running state of the cart according to the corresponding control condition.

[0102] In some embodiments, the functional state comprises one or more of:

[0103] (i) a first functional state, and when the cart is in the first functional state, the collected first control condition comprises one or more of: a first rotation signal of the push rod, a first pressure signal applied by a user on the push rod (e.g. the first pressure signal comprises data or variation data of a first pressure or a first pulling force applied by the user on the push rod), a shaking signal of the cart.

[0104] For example, in some embodiments, a first pressure collecting module (such as a pressure sensor) is used to indirectly collect the first pressure signal. Specifically, the push rod comprises an inner tube and an outer tube sleeved outside the inner tube; wherein the pressure data collecting module is arranged outside the inner tube, and when the push rod receives the pushing and pulling action of the user, the first pressure collecting module is arranged on the inner wall of the outer tube

[0105] under the extrusion of the inner wall of the inner tube, the first pressure collecting module senses the change of pressure data.

[0106] Alternatively, in some other embodiments, the first pressure collecting module is arranged on the inner side of the outer tube, and when the push rod receives the pushing and pulling action of the user, the first pressure collecting module senses the change of pressure data under the extrusion of the inner wall of the inner tube.

[0107] Alternatively, in some other embodiments, the first pressure collecting module can also be arranged on the handle of the push rod,

[0108] so as to directly collect the data of the pressure or tension applied by the user on the handle of the push rod, or the change data of the pressure or tension (i.e. the first pressure signal).

[0109] For example, in some embodiments, as shown in Figure 1f and Figure 2 the stroller further comprises a support link 14, one end of the support link 14 is connected with the mounting seat of the wheel, and the other end of the support link 14 is connected with the second end of the push rod 11 through the connecting piece 13. In this case, the pressure sensor can be arranged on the inner side of the connecting piece 13 (specifically, can be arranged on the region of the connecting piece 13 which is in contact with the push rod 11), and when the push rod 11 rotates under the pushing and pulling action of the user, the pressure sensor can indirectly sense the pressure information applied by the user on the handle.

[0110] Alternatively, in some other embodiments, the pressure sensor can also be arranged on the region of the support link 14 corresponding to the connecting piece 13.

[0111] In the embodiments of the present application, the pressure sensor is preferably arranged on the second end of the push rod or the region close to the second end of the push rod. This indirect force measurement method can to some extent reduce or avoid the interference of other factors (for example, for different users, there may be differences in the operation and use habits such as the hand posture for holding the handle, the size of the hand force, etc. For example, the user may accidentally touch the pressure sensing region when holding the handle), thereby improving the accuracy of intelligent decision-making.

[0112] (ii) the second functional state, and when the stroller is in the second functional state, the collected second control condition comprises one or more of the following: the first rotation signal of the push rod, the second rotation signal of the push rod.

[0113] and / or (iii) the third functional state, and when the stroller is in the third functional state, the third control condition set comprises one or more of the following: the reverse signal, the steering signal.

[0114] (iv) a fourth functional state, and when the stroller is in the fourth functional state, the collected fourth control condition comprises one or more of: a first rotation signal of the stroller, a second pressure signal applied by the user on the push rod, a shaking signal of the stroller.

[0115] In some embodiments, the second pressure signal is collected by a second pressure collection module (such as a pressure sensor). Specifically, a pressure sensor is arranged on the handle of the push rod to collect data (including numerical value and direction of force) of the pressure or pulling force applied by the user on the handle.

[0116] The functional combination relationship in the preferred functional state of the present application is described below:

[0117] 1. First functional state

[0118] In some embodiments, when the stroller is in the first functional state, S101 comprises the following steps:

[0119] S11 determines the adjustment interval (or speed adjustment interval) of the stroller according to the first control condition,

[0120] Wherein, the first control condition comprises a first rotation signal, and the first rotation signal comprises the numerical value of the included angle between the push rod and the horizontal plane on which the main body part is located or the change value of the included angle (such as the angle of the push rod rotating in the front-back direction) when the push rod rotates in a preset first rotation plane.

[0121] S12 inputs the first control condition into a first speed adjustment model corresponding to the speed adjustment interval, and the first speed adjustment model comprises:

[0122] V = λ1V a + λ2V b (1-1);

[0123] Wherein, V is the first target speed, V a is the first adjustment speed, V b is the second adjustment speed, λ1 is the first adjustment coefficient, and λ2 is the second adjustment coefficient.

[0124] In some embodiments, each parameter (such as adjustment speed, adjustment coefficient) in the speed adjustment model of the present application can be set by the user.

[0125] Alternatively, in some embodiments, each parameter (such as adjustment speed, coefficient, etc.) in the speed adjustment model of the present application can also be intelligently switched according to the current actual running state or user input information.

[0126] For example, in some embodiments, when the first rotation signal and the first pressure signal of the cart are synchronously detected, λ1 and λ2 are set to 1.

[0127] For another example, in some embodiments, when it is detected that the cart switches to the second functional state, λ1 may be set to 1 and λ2 may be set to 0.

[0128] In some embodiments, as Figure 1c As shown, the push rod 11 can rotate along the rotation direction T1 (ie, the front-to-back direction) on the first rotation plane P1 which is perpendicular or approximately perpendicular to the horizontal plane P2. At this time, the first angle θ will change accordingly with the rotation of the push rod.

[0129] Of course, in other embodiments, the rotation direction or rotation plane of the push rod can be flexibly set according to the specific structure or design requirements of the cart.

[0130] For example, in some embodiments, an acceleration sensor is provided on the push rod for detecting the rotational acceleration of the push rod in at least one rotational direction, and then used to calculate the rotational angle of the push rod.

[0131] For another example, in some embodiments, a posture sensor is provided on the push rod to directly obtain posture data of the push rod to determine the current rotation angle of the push rod.

[0132] In some embodiments, the first control condition further includes: a user sensing signal, wherein the user sensing signal is used to determine the control state of the cart by the user, and the control state includes: a normal state and / or an out-of-control state.

[0133] For example, in some embodiments, the user-sensing signal is an infrared sensor signal. Specifically, a handle is provided at the first end of the push rod, and an infrared sensor is provided at the handle of the push rod. The infrared sensor uses the infrared sensor signal to determine whether the user's hand is on the handle. If the user's hand is on the handle, the push cart is considered to be in a normal state; otherwise, the push cart is considered to be out of control. Furthermore, when the push cart's speed is non-zero and the control state is out of control, an alarm signal can be issued to the user.

[0134] In some embodiments, the speed adjustment interval of the push rod includes one or more of the following: a parking interval, an acceleration interval, a deceleration interval, and a constant speed interval.

[0135] In some embodiments, when the cart is in the parking zone, the cart is in a parked state and is difficult to push or pull under the action of external forces.

[0136] In some embodiments, when the included angle between the push rod and the horizontal plane belongs to a first preset angle (e.g. 90 degrees), the push rod is in a reset state / initial position (i.e. the trolley is in a parking interval); wherein a first parking interval, an acceleration interval, a constant speed interval, and a second parking interval are sequentially arranged along a first rotation direction of the push rod on the horizontal plane (i.e. in a direction gradually approaching the horizontal plane P2).

[0137] In some embodiments, when the first included angle is about 0°-about 20°, the trolley is in a parking interval: the push rod slides to achieve braking and parking. When the first included angle is about 20°-about 75°, the trolley is in a free interval (the user is in a normal pulling process). In the free interval, the speed of the push rod adjustment of the trolley increases as the angle decreases, and when reaching the constant speed interval in the free interval, the speed of the push rod adjustment is constant. When the first included angle is about 50°-about 75°, the trolley is in an acceleration interval, and the speed of the push rod adjustment of the trolley increases as the angle decreases. When the first included angle is about 20°-about 50°, the trolley is in a constant speed interval, and the speed of the push rod adjustment is constant. When the first included angle rotates to about 75°-about 90°, the trolley is in a parking interval, and the push rod is reset / the distance between the trolley and the user is too close to achieve braking and parking.

[0138] For example, in some embodiments, when the first rotation signal is in the acceleration adjustment interval and / or the deceleration adjustment interval, the first trolley speed adjustment model is:

[0139] V = λ1(v0 + v Δ0 (α - θ)) + λ2V b (1 - 2);

[0140] Wherein v0 is the initial speed of the trolley, v Δ0 is a preset first speed change, α is a preset parking angle, and θ is the size of the first included angle.

[0141] For example, in some embodiments, the minimum speed when the trolley starts is the minimum speed when starting:

[0142] 0.3 m / s. The predetermined maximum travel speed is 1.5 m / s. The first speed change is about 0.3-0.8 m / s.

[0143] In some embodiments, the first control condition further comprises a first pressure signal, and the first pressure signal comprises data or change data of a first pressure or a first pulling force applied by the user on the push rod; accordingly, the S101 further comprises the steps of:

[0144] determining whether the data of the first pressure or the first pulling force belongs to a preset first pressure threshold range,

[0145] If yes, the first pressure signal is input into the first speed adjustment model, and the first speed adjustment model is:

[0146]

[0147] wherein v Δ1 is a preset second speed change amount, P is the pressure or tension, and p is a proportional coefficient.

[0148] For example, in some embodiments, a pressure sensor is arranged at the handle of the push rod or in the middle of the push rod,

[0149] for obtaining the first pressure / tension value.

[0150] For example, in some embodiments, the first pressure threshold range is [600, +∞), and the unit is g.

[0151] For example, in some embodiments, the second speed change amount is about 0.2-0.7 m / s.

[0152] In some embodiments, when the stroller is running on flat road, the first function state is preferred to be used to adjust and control the stroller.

[0153] In this embodiment, when the stroller (such as a camping stroller, a beach stroller, etc.) is in the first function state, the push rod is given priority to be used as the main speed adjustment mode, and the pressure is used as the auxiliary speed adjustment mode.

[0154] On the one hand, the push rod speed adjustment mode conforms to the user's habit of using the traditional camping stroller, i.e., the push rod is pulled down, and the stroller accelerates (for the user, the learning difficulty is also low). On the other hand, the push rod speed adjustment mode is set to a linear change mode with relatively slow speed change (such as the speed change under the push rod speed adjustment mode is linear), and the pressure speed adjustment mode is set to a curve change mode with relatively fast speed change (such as under the pressure speed adjustment mode, the greater the pressure, the faster the speed change trend). The combination of different operation modes and speed change characteristics can not only adjust the speed in a relatively low speed range to facilitate the user to stably, safely and simply control the stroller, but also flexibly control the speed to match the user's walking speed in real time.

[0155] In another aspect, from the user's perspective, the whole speed adjustment process is more in line with the user's habits, that is, when the user normally pulls the trolley, the initial assistance is provided according to the angle of the push rod, and when the trolley cannot be pulled, the speed is supplemented through the pressure sensor (i.e., the pressure speed regulation), without the user deliberately adjusting the speed of the trolley, the trolley can actively adjust its own speed to adapt to the user's walking speed. Compared with the traditional handle speed regulation method or the push rod speed regulation method in the prior art, the present application improves the operation sensitivity and reduces the operation learning difficulty of the user.

[0156] In some embodiments, when the rotation range of the push rod is in the same adjustment interval (e.g., the first included angle of the push rod is in the acceleration interval), the minimum push force that can be used to rotate the push rod is the first push force f1. When the rotation range of the push rod is rotated from one adjustment interval to another adjustment interval (e.g., from the acceleration interval to the deceleration interval), the minimum push force that can be used to rotate the push rod from one adjustment interval to another adjustment interval is the second push force f2.

[0157] Preferably, in some embodiments, the size of the second push force f2 is greater than the size of the first push force f1,

[0158] to limit the flexibility of the rotation of the push rod to some extent, and avoid over-adjustment.

[0159] In some embodiments, the first push force f1 in each adjustment interval can be set to the same or different value. Alternatively, the second push force f2 used for switching between different adjustment intervals can be set to the same or different value.

[0160] For example, in some embodiments, f2 = 3 kg.

[0161] In some embodiments, when the push rod of the trolley is in the parking interval, the minimum push force that can be used to pull / push the push rod to rotate is the fourth push force f4.

[0162] In some embodiments, when the push rod of the trolley is in the parking interval, the pressure adjustment mode can be temporarily closed, that is, only when the push rod enters the acceleration, deceleration, and constant speed adjustment interval, the pressure speed regulation mode is enabled.

[0163] Preferably, in some embodiments, the fourth push force f4 is greater than the first push force f1.

[0164] It is worth noting that in the embodiments of the present application, the push rod adjustment is matched with the pull force adjustment,

[0165] The size of the second push force f2 can also be increased to some extent.

[0166] For example, in some embodiments, when the push rod is turned from the initial position, it will pass through the first parking interval, the acceleration adjustment interval, the deceleration adjustment interval, the constant speed adjustment interval, and the second parking interval in sequence. In the actual driving process, if the push rod is currently in the acceleration adjustment interval, but the user wants to appropriately decelerate the stroller. At this time, the user can turn the push rod to the deceleration adjustment interval to reduce the acceleration. However, since the second pushing force f2 is set to be greater than the first pushing force f1, when the user actually adjusts, the adjustment may not be in place due to reasons such as laboriousness (for example, the adjustment time is too long, or the user's hand is too large and the adjustment is too much). In order to avoid these problems, the user can also directly input the first pressure signal (for example, apply a third pushing force f3 to the push rod) to assist in achieving the deceleration adjustment of the stroller through pressure adjustment.

[0167] Therefore, in the embodiment, pressure adjustment is used as an auxiliary adjustment means, which also helps to increase the difference between the second pushing force f2 and the first pushing force f1 to a certain extent, without reducing the flexibility of the adjustment method because the second pushing force is greater than the first pushing force.

[0168] In some embodiments, the size of the third pushing force f3 applied by the user is less than the first pushing force f1.

[0169] In some embodiments, when the push rod is in the turning process, the turning angle (such as the first included angle) is preferably used to complete the speed adjustment of the stroller. When the push rod is in a relatively static state, the pressure factor (such as the first pressure) is added to assist in the speed adjustment of the stroller.

[0170] In some embodiments, the pushing force can be various external forces (such as the force when the user drags the push rod with his arm) applied to the push rod by the user, such as pressure or pulling force.

[0171] 2, second functional state

[0172] In some embodiments, when the stroller is in the second functional state, S101 includes the following steps:

[0173] S13 determines the adjustment interval of the stroller according to a second control condition, wherein the second control condition includes a second turning signal, and the second turning signal includes the value or change value of the included angle between the push rod and the preset position of the push rod (for example, the initial position of the push rod or the position of the push rod at the last adjustment) when the push rod is turned in a preset second turning plane, and the second turning plane is perpendicular or approximately perpendicular to the first turning plane; as shown in the figure, the push rod of the stroller in the embodiment can also be turned left and right (i.e., the turning direction X1) to control the running direction of the stroller. Figure 1d As shown in the figure, the push rod of the stroller in the embodiment can also be turned left and right (i.e., the turning direction X1) to control the running direction of the stroller.

[0174] S14 inputs the second control condition into a second vehicle speed adjustment model corresponding to the adjustment interval, and the second vehicle speed adjustment model is:

[0175]

[0176] wherein V a is the first adjusted vehicle speed, V b is the second adjusted vehicle speed, λ1 is the first adjustment coefficient, λ2 is the second adjustment coefficient, V R is the right wheel speed of the stroller, V L is the left wheel speed of the stroller, m is the first steering coefficient, n is the second steering coefficient, π is the circular constant, β is the second included angle, and R is the wheelbase between the right and left motors of the stroller.

[0177] It can be understood that the values of m and n can be the default values of the system or set by the user. For example, in some embodiments, when m is set to 1, n can be set to -1.

[0178] Preferably, when the stroller is steering on a flat road section, the second functional state will be switched to.

[0179] Preferably, in some embodiments, when the stroller is on a flat road section, the steering assist of the stroller is realized by adopting the pressure speed regulation + push rod steering function.

[0180] 3. Third functional state

[0181] In some embodiments, when the stroller is in the third functional state, the S101 comprises:

[0182] S15 determines the adjustment state of the stroller according to a third control condition, wherein the third control condition comprises:

[0183] a reverse signal, and the reverse signal comprises: a reverse direction, and / or a reverse angle;

[0184] and / or a steering signal (for example, the steering signal can be used to control the stroller to realize the differential steering function at the spot), and the steering signal comprises: a steering angle, and / or a steering direction;

[0185] S16 inputs the steering angle into a third vehicle speed adjustment model corresponding to the adjustment state,

[0186] and the third vehicle speed adjustment model is:

[0187]

[0188] wherein V' is the second target vehicle speed, λ3 is the third adjustment coefficient, and π is the circular constant. The wheel distance between the left and right motors of the stroller.

[0189] For example, in some embodiments, a button is added on the handle of the push rod as a differential steering condition for standing still, to avoid conflict with the parking function.

[0190] In some embodiments, a button can be used to switch functions. For example, short press of the button for acceleration / gear shifting, and long press for entering reverse mode.

[0191] Preferably, the third function state is suitable for stroller control when the stroller is in the parking state.

[0192] 4. Fourth function state

[0193] In some embodiments, when the stroller is in the fourth function state, S101 includes the steps of:

[0194] S18 determines the adjustment state of the stroller according to the fourth control condition, wherein the fourth control condition includes a second pressure signal, and the second pressure signal includes the magnitude of the second pressure or second pulling force applied by the user on the handle of the stroller, and the direction of the second pressure or second pulling force applied by the user on the handle of the stroller.

[0195] S19 inputs the second pressure signal into a fourth speed adjustment model corresponding to the adjustment state, and the fourth speed adjustment model is:

[0196]

[0197] Wherein V' is the second target speed, λ3 is the third adjustment coefficient, π is the circular constant, φ is the set rotation angle, and R is the wheel distance between the left and right motors of the stroller.

[0198] For example, in some embodiments, when the second pressure or pulling force is greater than a set threshold, the pressure speed control mode is started, i.e. the stroller speed is controlled according to the fourth speed adjustment model.

[0199] For example, in some embodiments, the set rotation angle can be a default value, or it can also be selected according to the detected second pressure or pulling force value according to a preset rule.

[0200] For example, in some embodiments, the rotation direction of the stroller can be determined according to the direction of the force.

[0201] In some embodiments, when the stroller is in the fourth function state, S101 includes the steps of:

[0202] determine an adjustment state of the stroller according to the fourth control condition, wherein the fourth control condition comprises a shaking signal (applicable to an anti-shaking function of the stroller), and the shaking signal comprises:

[0203] first shaking data, which is an angle data between the main body and a horizontal plane in a length direction, and / or second shaking data, which is an angle data between the main body and a horizontal plane in a width direction;

[0204] determine whether the current speed of the stroller needs to be corrected according to the shaking signal; if yes,

[0205] input the shaking signal into a preset fourth speed adjustment model, wherein the fourth speed adjustment model comprises:

[0206] V″=λ1V a ′+λ2V b (4);

[0207] wherein V″ is the corrected third target speed, V a ′ is the first adjustment speed at a previous time point when the shaking state is entered.

[0208] For example, in some embodiments, the step of determining whether the current speed of the stroller needs to be corrected according to the shaking signal comprises:

[0209] calculating a first standard deviation and a second standard deviation of the first shaking data and the second shaking data respectively by using a sliding variance algorithm.

[0210] determining whether the current speed of the stroller needs to be corrected (i.e., determining whether the stroller is in a shaking state) by using the first standard deviation and the second standard deviation.

[0211] Specifically, in some embodiments, an average value of the first standard deviation and the second standard deviation can be calculated, and when the average value belongs to a preset shaking threshold range, it is determined that the stroller is in a shaking state, and the current speed is corrected.

[0212] For example, in some embodiments, the detection data of the acceleration sensor can also be preprocessed.

[0213] For example, the preprocessing can be performed by using a sliding mean filtering method, i.e., by taking the mean value of the data within a period of time, so that the angle data changes more smoothly and the severe shaking data is eliminated. Alternatively, the preprocessing can be performed by using a Kalman filtering method, i.e., by using a prediction ratio, so that the angle data changes more smoothly and the severe shaking data is eliminated.

[0214] In some embodiments, a brushless DC motor is preferably used for speed regulation. In this case, the number of pulses generated by the ABC three rotations of the brushless DC motor is 15 (number of pole pairs) * 3 = 45. The exemplary use method is as follows: use six times frequency to process the pulses, so that the number of pulses obtained is changed from 45 / r to 90 / r. The MT method is used to obtain and process the number of pulses in a fixed time period and the time corresponding to the generation of the pulses to preliminarily obtain the motor speed. The sliding mean filter algorithm and Kalman filter algorithm are used to filter the motor speed, so that the change is more smooth and smooth.

[0215] Preferably, in some embodiments, the fourth functional state is suitable for the trolley being on complex road surfaces such as uneven road sections, uphill road sections, downhill road sections, etc.

[0216] For example, in some embodiments, when the trolley monitors that it is in a shaking state, it will automatically switch to the fourth functional state (or remain in the fourth functional state).

[0217] It can be understood that in addition to the preferred functional combination state described above, each function in the present application (including but not limited to the speed regulation function of the push rod, the steering function of the push rod, the pressure differential steering function, the anti-shaking function, etc.) can be operated alone in response to user operation, or can be used in other forms in combination under user operation.

[0218] For example, in some embodiments, the method further comprises the steps of:

[0219] S102 obtaining a first function adding signal input by a user, the first function adding signal comprising:

[0220] At least one function information (such as the name of the function, or the type of signal to be collected such as the first pressure signal, etc.) that needs to be added, and the corresponding functional state (for example, the current functional state, or any other preset functional state);

[0221] S103 adding the at least one function information to the corresponding functional state according to the first function adding signal.

[0222] For example, in some embodiments, the method further comprises the steps of:

[0223] S104 obtaining a second function removing signal input by a user, the second function removing signal comprising:

[0224] At least one function information that needs to be removed, and the corresponding functional state;

[0225] S105 removing the at least one function information from the corresponding functional state according to the second function removing signal.

[0226] Further, in some embodiments, different signals (such as rotation signals, pressure signals, jitter signals, etc.) are marked with corresponding priorities respectively. S102 further includes the step of:

[0227] When the priority I of at least one function information to be added matches the priority II of the existing function information in the function state (for example, the priorities are the same), S103 is performed, otherwise, a corresponding prompt signal is sent to the user. At this time, the user can modify the input first function addition signal according to the prompt signal, or stop adding the function.

[0228] In the embodiments of the present application, the user can customize the available function / unavailable function in the function state according to his own use requirements, so as to further improve the flexible decision-making ability of the stroller, and thus improve the adaptability of the stroller to different application scenarios (such as mountain, beach, flat terrain, etc.) or different users.

[0229] At the same time, for different function states, limited signal type combinations are selected for intelligent decision-making, which can improve the accuracy and safety of the decision-making, and also can reduce the outdoor power consumption to a certain extent.

[0230] Any coefficient in any speed regulation model in the embodiments of the present application can be pre-set by the stroller intelligent control system, or can be changed by the user.

[0231] Further, in some embodiments, a first parking interval, an acceleration interval, a constant speed interval and a second parking interval are sequentially arranged in the first rotation direction of the push rod on the horizontal plane. When the included angle between the push rod and the horizontal plane belongs to the first preset angle, the push rod is located in the corresponding parking interval (i.e. the reset state).

[0232] In some embodiments, the method further includes the step of:

[0233] According to the rotation angle input by the user / the current speed of the stroller, the target motion trajectory of the stroller is determined, and the target motion trajectory includes: a steering direction (i.e. a rotation angle);

[0234] A fifth control condition associated with the steering safety of the stroller is obtained, and the fifth control condition includes: obtaining target obstacle information of at least one side in the steering direction, and the target obstacle information includes: coordinates of a first target obstacle located on one side of the steering direction;

[0235] whether the distance between the first target obstacle and the second target obstacle is greater than a preset safe turning distance, if yes, continue to turn, if no, output a first warning signal to the user to remind the user to automatically turn (such as increase or decrease the turning angle).

[0236] For example, in some embodiments, when the speed difference of the left and right sides of the cart is determined, the turning angle of the cart is also determined, such as turning left by 30°. At this time, the coordinates of the obstacle on the first distance (for example, 2m) in the left 30° direction are obtained, and when it is detected that the front road section is narrow (that is, the distance between the two obstacles is too close to block the route), the user can be reminded to continue to adjust the turning direction of the cart.

[0237] The control method of the present application is mainly applied to the carrying scene of the outdoor camping car in the outdoor environment. Among them,

[0238] The outdoor environment can be a beach, a mountainous terrain, and especially for an adventure camping activity, the tourists may pass through a bumpy road between walking to the target camping site. At this time, it is very tiring for the tourists to manually push the camping cart. Moreover, due to the reasons such as the obstruction of the line of sight (such as the obstruction of the obstacles in the outdoor environment, the obstruction of the line of sight due to the accumulation of a large amount of goods in the cart), it is also difficult for the user to observe the road conditions and judge the pushing condition of the cart (for example, whether it needs to turn or whether it needs to increase or decrease the pushing force) in the first time.

[0239] Specifically, in some embodiments, the push rod is integrated with a button, an infrared sensor (preferably an anti-sun HJ-IR2 module), an accelerometer, and a pressure sensor, and the like. Among them, the button is used to control the reverse function of the cart, which can enable the cart to realize normal carrying through the reverse function when it cannot turn in a narrow area; the infrared sensor is used to sense whether the user's palm is on the handle to ensure safety during the driving of the cart and avoid the phenomenon of hitting or sliding after the user's palm is separated from the handle. The accelerometer is used to sense the angle change of the push rod, such as up and down movement or left and right swing of the push rod. By obtaining such angle information, the walking condition of the user is judged to ensure that the cart can respond more stably and more quickly to the walking condition of the user. The function of the pressure sensor is mainly used to sense the pulling force applied by the user to the handle of the cart during the walking process. By detecting the change of the pulling force value in real time, the change of the force of the user dragging the cart can be obtained more directly and timely, and the speed of the cart can be accurately controlled based on the pulling force value.

[0240] Specifically, in some embodiments, as Figure 1bAs shown, the chassis module of the main body part mainly includes two components, namely the hub motor and the accelerometer. The hub motor is responsible for carrying and speed adjustment of the trolley, and the number of pulses is counted through the Hall sensor and fed back to the central control module to ensure accurate detection of the trolley speed. The accelerometer can sense the angle change of the trolley chassis and judge the road bumping condition through the varying intensity, and judge the road slope information through the angle size to provide reference data for the adjustment of the trolley driving speed. Through the optimization of the chassis module, the stability and driving efficiency of the trolley can be improved, so that it can better adapt to different road conditions. This will make the trolley perform more stably and reliably in actual use, and provide users with better use experience.

[0241] In some embodiments, the motor is controlled by FOC (full name: Field Oriented Control, also known as vector control) to realize the power adjustment of the trolley.

[0242] Control. In FOC, the motor is regarded as a vector composed of a basic magnetic field and a space magnetic field, and the speed, direction and torque of the motor are controlled by controlling the relative angle and size of the two vectors. In the embodiment of the application, the FOC control mode is matched with the speed regulation mode, so that the trolley speed regulation has the advantages of high efficiency, smooth operation and high accuracy.

[0243] In some embodiments, the driver circuit design in the trolley mainly includes power supply circuit, FOC drive circuit, main controller (preferably STM32F103C8T6 controller), sensor and other parts. The sensor obtains state information and feeds back the information to the main controller for processing, and the processing becomes a driving speed signal which is sent to the FOC drive board to drive the brushless DC motor. The power supply supplies power to the whole, and the brushless motor feeds back its Hall signal to the drive circuit to determine the position of the rotor.

[0244] In some embodiments, in order to ensure that the intelligent control system of the trolley can effectively run, and to save the running cost of the intelligent control system as much as possible, the battery with the following parameters is preferably used. Width:

[0245] 135*85*68, capacity: 4.4Ah, charging voltage: 42V, discharge current: 15A peak 40A, charging temperature: -20-60℃, single battery: 18650, battery interface: input dc (42V), output RT60

[0246] (30-40V), battery packaging: bare battery. At present, after the 36v4.4Ah battery is used for 1.75 kilometers (about 50 minutes), the voltage decreases from 42.1V to 40V, and there is still enough power to continue to complete at least 500m work.

[0247] In some embodiments, the push rod comprises two adjustment parameters of angle and length, by which different users or terrains can be adapted.

[0248] The intelligent control method provided by the embodiments of the present application integrates multiple function modes of assistance, gentle descent on downhill, emergency braking, steering assistance, etc., and can provide intelligent assistance for users in complex field terrains (e.g., mountain roads with low road flatness, narrow uphill road sections, etc.), and can comprehensively adjust or correct the vehicle speed by combining the operation signals actively sent by the user (such as the acceleration and deceleration signals transmitted through the control handle) and the environmental information actively acquired by the stroller (such as the shaking characteristics during the stroller travel), so as to accurately receive the user control signals while ensuring the safe and stable operation of the stroller.

[0249] Embodiment Two

[0250] As shown in Figure 1e The present application also provides an intelligent control system for a stroller, the stroller comprising a main body portion for carrying objects, and a push rod rotatable relative to the main body portion along at least one rotation plane, and correspondingly, the system comprises:

[0251] The function conversion module 101 is configured to acquire user input information of the stroller and / or actual running state of the stroller, and to convert the stroller into a corresponding function state according to the user input information and / or the actual running state

[0252] The function conversion module 101 is configured to acquire user input information of the stroller and / or actual running state of the stroller, and to convert the stroller into a corresponding function state according to the user input information and / or the actual running state

[0253] The state control module 102 is configured to collect corresponding control condition information according to the current function state, and to control the running state of the stroller according to the corresponding control condition;

[0254] The state control module 102 is configured to collect corresponding control condition information according to the current function state, and to control the running state of the stroller according to the corresponding control condition;

[0255] The state control module 102 comprises:

[0256] The first condition acquisition unit 102a is configured to determine a speed regulation interval of the stroller according to a first control condition when the stroller is in a first function state, wherein the first control condition comprises:

[0257] The first condition acquisition unit 102a is configured to determine a speed regulation interval of the stroller according to a first control condition when the stroller is in a first function state, wherein the first control condition comprises:

[0258] The first rotation signal comprises: when the push rod rotates in a preset first rotation plane, the value of the included angle between the push rod and the horizontal plane on which the main body portion is located or the change value of the included angle;

[0259] The first state control unit 102b is configured to input the first control condition into a first vehicle speed adjustment model corresponding to the speed regulation interval, and the first vehicle speed adjustment model comprises:

[0260] V = λ1V a + λ2V b (1-1);

[0261] wherein V is a first target vehicle speed, V a is a first adjusted vehicle speed, V b is a second adjusted vehicle speed, λ1 is a first adjustment coefficient, and λ2 is a second adjustment coefficient.

[0262] In some embodiments, the state control module comprises:

[0263] The second condition acquisition unit 102c is configured to, when the cart is in a second functional state,

[0264] determine a regulation interval of the cart according to a second control condition, wherein the second control condition comprises:

[0265] a second rotation signal, and the second rotation signal comprises a value or a change value of an included angle between the push rod and a preset position of the push rod when the push rod rotates in a preset second rotation plane, the second rotation plane being perpendicular or approximately perpendicular to the first rotation plane;

[0266] The second state control unit 102d is configured to input the second control condition into a second vehicle speed adjustment model corresponding to the regulation interval, and the second vehicle speed adjustment model is:

[0267]

[0268] wherein V a is a first adjusted vehicle speed, V b is a second adjusted vehicle speed, λ1 is a first adjustment coefficient, and λ2 is a second adjustment coefficient, V R is a right side wheel speed of the cart, V L is a left side wheel speed of the cart, m is a first steering coefficient, n is a second steering coefficient, π is a circular constant, β is a second included angle, and R is a wheelbase between the left and right motors of the cart.

[0269] In some embodiments, when the first rotation signal is in an acceleration regulation interval and / or a deceleration regulation

[0270] interval, the first vehicle speed adjustment model is:

[0271] V = λ1(v0+v Δ0 (α-θ))+ λ2Vb (1-2);

[0272] wherein, v0 is an initial speed of the stroller, v Δ0 is a preset first speed change amount, a is a preset parking angle, and θ is a size of the first angle.

[0273] In some embodiments, the first control condition further comprises a first pressure signal, and the first pressure signal comprises data or change data of a first pressure or a first pulling force applied by the user on the push rod; the first state control unit is further configured to determine whether the data of the first pressure or the first pulling force belongs to a preset first pressure threshold range, and if so, input the first pressure signal into the first vehicle speed adjustment model, and the first vehicle speed adjustment model is:

[0274]

[0275] wherein, v Δ1 is a preset second speed change amount, P is a first pressure or a first pulling force,

[0276] p is a proportional coefficient.

[0277] In some embodiments, the state control module comprises:

[0278] a third condition acquisition unit configured to, when the stroller is in the third functional state,

[0279] determine an adjustment state of the stroller according to a third control condition, wherein the third control condition comprises:

[0280] a reverse signal, and the reverse signal comprises a reverse direction and / or a reverse angle;

[0281] and / or a steering signal, and the steering signal comprises a turning angle and / or a turning direction;

[0282] a third state control unit configured to input the turning angle into a third vehicle speed adjustment model corresponding to the adjustment state, and the third vehicle speed adjustment model is:

[0283]

[0284] wherein, V' is a second target vehicle speed, λ3 is a third adjustment coefficient, π is a circular constant, is a reverse angle or a turning angle, and R is a wheelbase between the left and right motors of the stroller.

[0285] In some embodiments, the state control module comprises:

[0286] a fourth condition acquisition unit configured to determine an adjustment state of the stroller according to a fourth control condition when the stroller is in the fourth functional state,

[0287] determine an adjustment state of the stroller according to the fourth control condition, wherein the fourth control condition comprises a second pressure signal, and the second pressure signal comprises a second pressure or a second pulling force data size applied by a user on a handle of the stroller and a second pressure or a second pulling force direction applied by the user on the handle of the stroller;

[0288] a fourth state control unit configured to input the second pressure signal into a third speed adjustment model corresponding to the adjustment state, and the third speed adjustment model is:

[0289]

[0290] wherein V' is a second target speed, λ3 is a third adjustment coefficient, π is a circular constant, is a rotation angle, and R is a wheelbase between the motors on the left and right sides of the stroller.

[0291] For example, in some embodiments, when the direction of the force is to the left, the stroller moves to the left; and when the direction of the force is to the right, the stroller moves to the right.

[0292] In some embodiments, the state control module comprises:

[0293] the fourth condition acquisition unit is further configured to determine an adjustment state of the stroller according to the fourth control condition when the stroller is in the fourth functional state, wherein the fourth control condition comprises a shaking signal, and the shaking signal comprises an angle data between the vehicle frame in the length direction and the horizontal plane and / or an angle data between the vehicle frame in the width direction and the horizontal plane;

[0294] the fourth state control unit is further configured to determine whether the current speed of the stroller needs to be corrected according to the shaking signal; if yes, input the shaking signal into a preset fourth speed adjustment model, wherein the fourth speed adjustment model comprises:

[0295] V'' = λ1V a + λ2V b (4) ;

[0296] wherein V'' is a third target speed after correction, V a ' is a first adjusted speed at a previous moment when the stroller enters the shaking state.

[0297] The control system in the embodiments of the present application can implement the method or steps in any of the above embodiments,

[0298] The details are not described here.

[0299] Embodiment three

[0300] The application also provides a kind of reference Figure 1f And Figure 2 For the electric cart of an exemplary embodiment of the application, in particular, the electric cart includes: frame 1, telescopic push rod 11, handle 12 arranged on telescopic push rod 11, electric control box 2 fixed on the front frame of frame 1, the central control circuit board is integrated in the electric control box 2.

[0301] Further, the electric cart further includes a sensing module electrically connected with the central control circuit board by being embedded in telescopic push rod 11 and frame 1. Specifically, the sensing module includes: push rod sensing part and chassis sensing part, wherein the push rod sensing part includes: pressure sensor arranged on handle 12, angle sensor (such as three-axis accelerometer) and infrared sensor; the chassis sensing part includes angle sensor (such as three-axis accelerometer) arranged in the electric control box and integrated on the central control circuit board.

[0302] By setting two three-axis accelerometers to collect the angle of telescopic push rod 11 and chassis relative to the earth respectively (for example, in some embodiments, three-axis accelerometer can be used to collect the first and second angles of the push rod), so that the main control circuit board can identify the specific posture of the push rod and chassis according to the angle, and then intelligent control according to the posture is possible.

[0303] By setting infrared sensor on handle 12 to sense whether the user's hand is on handle 12, so that it can be known according to the detection result of infrared sensor whether the user is currently pushing the cart. Specifically, an installation groove 123 is arranged in the handle 12, and a corresponding third wiring hole 124 is arranged on one side of the installation groove 123 (as shown in Figure 3 So that the line connected to the infrared sensor can enter telescopic push rod 11 through the third wiring hole 124, and then pass through connecting piece 13, support connecting rod 14, inclined support rod 171 in chassis, inclined support rod in rear frame, and finally electrically connected with the central control circuit board.

[0304] Generally, pressure sensors, accelerometers and infrared sensors are used in wireless communication mode, but in this embodiment, the three sensors are arranged in the handle, and if wireless communication mode is used to electrically connect with the central control board, not only the battery module needs to be designed separately for the three, but also there are problems of instability and time delay. If the battery module is arranged separately, the weight and volume of the handle are increased, and the handle structure needs to be redesigned, therefore, in order to not make substantial changes to the handle structure, while ensuring the stability of communication and avoiding the problem of time delay, the three are electrically connected with the central control board in wired connection mode in this embodiment, and the wiring mode is designed.

[0305] In some embodiments, the angle sensor is various sensors that can be used to directly or indirectly collect the angle data of the cart (such as the first included angle, the second included angle, the jitter signal, etc.), such as IMU (such as a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object), a gyroscope, an accelerometer, a potentiometer, etc.

[0306] In some embodiments, the handle 12 is also provided with a reverse control button, which is electrically connected with the central control circuit board through the line buried in the telescopic push rod 11 and the frame.

[0307] In some embodiments, the telescopic push rod 11 includes an inner tube 111 and an outer tube 112 sleeved outside the inner tube 111, and the inner wall of the outer tube 112 sleeved outside the inner tube 111 and the outer wall of the inner tube 111 have a gap L, thereby providing a wiring space for the lines of the electronic devices in the handle 12. Specifically, the gap L is in the range of 3-5 mm; preferably 4.2 mm, see Figure 5 .

[0308] See Figure 4a and Figure 4b , in order to facilitate wiring, first wiring holes 1120 and second wiring holes 131 are respectively arranged on the outer tube 112 of the telescopic rod and the connecting piece 13; when the connecting piece and the telescopic rod are installed together, the wiring holes on the connecting piece correspond to the wiring holes on the outer tube, so that the lines can be successively passed out of the outer tube, the connecting piece and then into the wiring channel arranged in a support link 14 connected with the connecting piece. Specifically, the support link 14 is a hollow tube.

[0309] In some embodiments, see Figure 6a and Figure 6bThe bottom frame of the frame 1 comprises a set of X assemblies, each of which comprises four diagonal support rods 171 and a central connector 15 for hingedly connecting the four diagonal support rods 171. Specifically, the central connector 15 comprises a connector body 150 having a first axis O1, through-holes 151 passing through the connector body 150 are arranged at positions where the connector body 150 is hingedly connected to the four diagonal support rods 171, respectively, a second axis of each of the through-holes 151 is perpendicular to the first axis O1, and a fourth wire channel 1501 is formed in the connector body 150 in a diagonal direction, so that a wire channel passing out of one of the diagonal support rods 171 enters one end of the fourth wire channel 1501 in the connector body 150, then passes out of the other end of the fourth wire channel 1501, and enters the diagonally connected diagonal support rod 171, see Figure 6b By arranging the through-holes 151 and the fourth wire channel 1501, the folding of the X assembly during stowing of the stroller can be prevented from affecting the wire, thereby prolonging the service life to a certain extent.

[0310] In order to enable the wire to pass through the central connector 15 without affecting folding, a notch 1710 is arranged at the end of the diagonal support rod 171, see Figure 7 , so as to further ensure that the wire passes through and is not damaged during folding.

[0311] In this embodiment, the wire is arranged on the bottom frame rather than on either of the side frames, because the diagonal support rods of the bottom frame are designed to be hollow, which can provide a wire channel for the wire, and meanwhile, the same wire channel can be arranged on the central connector without affecting the connection between the central connector and the diagonal support rods. If the wire is arranged on the side frame, corresponding wire channels need to be arranged on the connector of the side frame. However, the connector of the side frame is small in structure and cannot have corresponding wire channels arranged thereon, or the overall structure of the connector needs to be greatly changed, which increases the cost and affects the folding of the side frame.

[0312] In some embodiments, the electric stroller further comprises two hub motors electrically connected to the central control circuit board, and the hub motors are arranged in the hubs of the two rear wheels 16 of the electric stroller.

[0313] In some embodiments, the two front wheels are bearing universal wheels and are provided with physical brakes, which are both prior art and will not be described in detail here.

[0314] In some embodiments, the above-mentioned three-axis accelerometer is an ADXL accelerometer. In other embodiments, a potentiometer can be used to replace the three-axis accelerometer.

[0315] In some embodiments, the central control circuit board comprises a single-chip microcomputer and peripheral circuits thereof. Specifically,

[0316] The single-chip microcomputer adopts an STM32F103C8T6 chip.

[0317] In some embodiments, the telescopic push rod 11 is fixed on the connecting piece 13, the two sides of the connecting piece 13 are fixedly connected with the connecting ends of the two support connecting rods 14 respectively, and the other ends of the two support connecting rods 14 are hingedly connected to the mounting seats of the two front wheels, so that the rope push rod 11 rotates by a certain angle with the line between the two front wheels as the rotation shaft.

[0318] Embodiment four

[0319] The fourth aspect of the present application also provides an intelligent cart with intelligent decision-making capability, the cart comprising:

[0320] The cart frame 1, the push rod 11 and the handle 12 arranged on the push rod 11, characterized in that further comprising:

[0321] The electric control box 2 fixed on the rear frame of the cart frame 1, the central control circuit board is integrated in the electric control box 2, the electric cart further comprises a sensing module electrically connected with the central control circuit board through the line buried in the push rod 11 and the bottom frame of the cart frame 1, the sensing module comprises:

[0322] The pressure sensor, the three-axis accelerometer and the infrared sensor arranged on the handle 12, and the three-axis accelerometer arranged on the bottom frame of the cart frame 1;

[0323] And the intelligent control system connected with the central control circuit board, and the intelligent control system comprises:

[0324] The function conversion module is configured to acquire the user input information of the cart and / or the actual running state of the cart, and make the cart be in or convert to the corresponding function state according to the user input information and / or the actual running state;

[0325] The state control module is configured to acquire the corresponding control condition information according to the current function state, and control the running state of the cart according to the corresponding control condition.

[0326] In some embodiments, the three-axis accelerometer can also be replaced by other types of angle sensors.

[0327] In some embodiments, the user input information can be detected by the sensing module.

[0328] In some embodiments, the first rotation signal can be obtained by at least one three-axis accelerometer arranged on the push rod.

[0329] In some embodiments, the second pressure signal can be obtained by the pressure sensor arranged on the handle.

[0330] In some embodiments, the dithering signal can be obtained by a three-axis accelerometer disposed on the chassis.

[0331] It can be understood that the intelligent cart in the embodiment can include the same or similar functional modules or structures as in any of the above embodiments.

[0332] It should be noted that in this document, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices that include a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0333] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by software and necessary general hardware platform, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for making a computer terminal (which can be a mobile phone, computer, server, or network device, etc.) execute the methods described in various embodiments of the present application.

[0334] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative, not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope of protection of the claims, which are all within the protection of the present application.

Claims

1. A smart cart, characterized in that: The cart comprises: The intelligent pushcart comprises a vehicle frame (1), a push rod (11), and a handle (12) arranged on the push rod, characterized in that it further comprises: an electric control box (2) fixed on the rear frame of the vehicle frame (1), wherein a central control circuit board is integrated in the electric control box (2), and the intelligent pushcart further comprises a sensor module electrically connected to the central control circuit board via a circuit embedded in the push rod (11) and the chassis of the vehicle frame (1), wherein the sensor module comprises: A pressure sensor, an angle sensor, and an infrared sensor are provided on the handle (12); and an angle sensor is provided on the bottom frame of the vehicle frame (1); And an intelligent control system connected to the central control circuit board, and the intelligent control system includes: a function conversion module configured to obtain user input information of the cart and / or the actual operating state of the cart, and enable the cart to be in or convert to a corresponding functional state according to the user input information and / or the actual operating state; A state control module is configured to collect corresponding control condition information according to the current functional state and control the operating state of the cart according to the corresponding control condition; wherein the state control module includes: a first condition acquisition unit configured to determine an adjustment range of the pushrod according to a first control condition when the pushrod is in a first functional state, wherein the first control condition includes: a first rotation signal acquired by at least one angle sensor provided on the pushrod, wherein the first rotation signal includes: a value of an angle between the pushrod and a horizontal plane on which the frame is located, or a value of a change in the angle, when the pushrod rotates within a preset first rotation plane; and a first pressure signal, wherein the first pressure signal includes: data or data of a change in a first pressure or a first tension applied by a user to the pushrod; The first state control unit is configured to input the first control condition into a first vehicle speed adjustment model corresponding to the adjustment interval; wherein the first state control unit is further configured to determine whether the pressure or tension data falls within a preset first pressure threshold range, and if so, input the first pressure signal into the first vehicle speed adjustment model, and the first vehicle speed adjustment model is: （1）； Among them, V is the first target vehicle speed, is the first adjustment coefficient, is the second adjustment coefficient, is the initial velocity of the cart, is the preset first speed change, is the preset parking angle. is the size of the first angle, which is the angle between the push rod and the horizontal plane, is the preset second speed change, is the size of the pressure or tension, is the proportional coefficient.

2. The smart cart according to claim 1, wherein: The functional status includes: (i) a first functional state, and when the cart is in the first functional state, the collected first control condition further includes a vibration signal of the cart obtained by at least one angle sensor provided on the chassis; and / or, (ii) a second functional state, and when the push rod is in the second functional state, the collected second control conditions include one or more of the following: a first rotation signal of the push rod, a second rotation signal of the push rod obtained by at least one angle sensor provided on the push rod; and / or, (iii) a third functional state, and when the cart is in the third functional state, the collected third control conditions include one or more of the following: a reverse signal, a turn signal; and / or, (iv) a fourth functional state, and when the cart is in the fourth functional state, the collected fourth control conditions include one or more of the following: a first rotation signal of the cart, a second pressure signal applied by the user to the push rod obtained by a pressure sensor provided on the handle, and a vibration signal of the cart.

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

4. The smart cart according to claim 2, wherein: The state control module includes: a second condition acquisition unit configured to determine an adjustment range of the push rod according to a second control condition when the push rod is in a second functional state, wherein the second control condition includes a second rotation signal, and the second rotation signal includes a value or a change value of an angle between the push rod and a preset position of the push rod when the push rod rotates on a preset second rotation plane, and the second rotation plane is perpendicular or approximately perpendicular to the first rotation plane; The second state control unit is configured to input the second control condition into a second vehicle speed adjustment model corresponding to the adjustment interval, and the second vehicle speed adjustment model is: （2）； in, To adjust the vehicle speed first, For the second speed adjustment, is the first adjustment coefficient, is the second adjustment coefficient, is the right wheel speed of the cart, is the left wheel speed of the cart, m is the first steering coefficient, n is the second steering coefficient, is pi, is the second angle, and R is the wheelbase between the motors on the left and right sides of the cart; wherein the second angle is the angle between the push rod in the second rotation plane and the preset position of the push rod.

5. The smart cart according to claim 2, wherein: The state control module includes: a third condition acquisition unit configured to determine an adjustment state of the cart according to a third control condition when the cart is in the third functional state, wherein the third control condition includes: A reversing signal, wherein the reversing signal includes: a reversing direction and / or a reversing angle; and / or a turn signal, wherein the turn signal includes: a turning angle, and / or the turning direction; The third state control unit is configured to input the reverse angle or the turning angle into a third vehicle speed adjustment model corresponding to the adjustment state, and the third vehicle speed adjustment model is: （3）； in, is the second target speed, is the third adjustment coefficient, is pi, For reverse angle or turning angle, The wheelbase between the motors on the left and right sides of the cart.

6. The smart cart according to claim 2, wherein: The state control module includes: The fourth condition acquisition unit is further configured to determine an adjustment state of the cart according to the fourth control condition when the cart is in the fourth functional state, wherein the fourth control condition includes a shaking signal, and the shaking signal includes angle data between the frame in the length direction and the horizontal plane, and / or angle data between the frame in the width direction and the horizontal plane; The fourth state control unit is further configured to determine whether the current speed of the cart needs to be corrected based on the jitter signal; if so, input the jitter signal into a preset fourth speed adjustment model, wherein the fourth speed adjustment model includes: （4）； in, is the corrected third target speed, is the first adjusted vehicle speed at the moment before entering the shaking state, Adjust the vehicle speed for the second time.

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