Intelligent control method and system for cart

Abstract

The present invention relates to the field of power-assisted transportation technology, and specifically to an intelligent control method and system for a cart. The method includes: S100 obtaining user input information of the cart and / or the actual operating state of the cart, and making the cart be in or converted to a corresponding functional state according to the user input information and / or the actual operating state; S101 collecting corresponding control condition information according to the current functional state, and controlling the operating state of the cart according to the corresponding control conditions. On the one hand, the intelligent control method of the present invention makes intelligent decisions based on user input or actual operating state to provide corresponding functional combinations for different driving environments and user needs; at the same time, the present invention also provides a vehicle speed adjustment mode with push rod adjustment and pressure as the auxiliary, in order to ensure the flexible operability and operating stability of the cart.

Description

[0001] This application is based on application number 202310959791.X, filed on July 28, 2023,

[0002] A divisional application of the Chinese invention patent application entitled “An intelligent control method and system for a cart”. Technical Field

[0003] The present invention relates to the technical field of power-assisted transportation, and in particular to an intelligent control method and system for a cart. Background Art

[0004] When camping outdoors, a cart is one of the most common transport tools. Traditional carts are usually pushed by manpower to carry goods. Therefore, once the cargo is loaded with a large amount of goods, or the road terrain is more complicated (for example, when the road surface is rugged, steep, or there are many obstacles on the road), it will be very difficult to push. At present, in order to reduce the burden of manpower, some smart carts that can automatically assist have been proposed on the market. However, these smart carts usually have poor operational flexibility and are difficult for beginners to quickly control.

[0005] Existing carts usually adopt a pressure speed regulation mode, that is, the active power-assist mode of the cart is adjusted according to the pressure applied by the user on the handle. For example, see the application with application publication number CN110901713A, which discloses an electric cart and its drive control system and method. In order to accurately achieve cart power assistance, this type of pressure speed regulation mode requires continuous monitoring of the user's hand pressure. In turn, this also requires the user to hold or pull the handle in a preset posture for a long time while the cart is moving, otherwise the cart will not be able to accurately identify the current user's control intention. The learning cycle of this control method is relatively long, because the user may need to test the grip or pulling force of the hand many times to master the speed regulation mode of the cart. At the same time, when the user pushes the cart for a long time, it is easy to get tired due to maintaining the preset posture for a long time.

[0006] For another example, see the invention patent application with application number CN2015106213519, which discloses an intelligent electric power-assisted stroller. The intelligent electric power-assisted stroller measures the rotation information of the connecting rod through an angle detection device set on the rotating shaft, and judges whether the force on the connecting rod is a thrust or a pull based on the electrical signal output by the angle detection device. Finally, the stroller chooses to move forward or backward according to the corresponding electrical signal. However, this relatively single pull rod adjustment mode has poor adjustment flexibility when facing complex terrain (such as uphill sections). Summary of the invention

[0007] The object of the present invention is to provide an intelligent control method and system for a cart, which can partially solve or alleviate the above-mentioned deficiencies in the prior art and improve the adjustment sensitivity of the cart and the stability of the cart operation.

[0008] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions:

[0009] A first aspect of the present invention is to provide an intelligent control method for a cart, the cart comprising: a main body for carrying an object, and a push rod capable of rotating relative to the main body on at least one rotation plane. Accordingly, the method comprises:

[0010] S100 obtains user input information of the cart and / or the actual operating state of the cart, and makes the cart be in or converted to a corresponding functional state according to the user input information and / or the actual operating state;

[0011] S101 collects corresponding control condition information according to the current functional state, and controls the operating state of the cart according to the corresponding control condition;

[0012] Among them, S101 includes:

[0013] When the push rod is in the second functional state, a second control condition is obtained, and the second control condition includes: a second rotation signal, and the second rotation signal includes: when the push rod rotates in a preset second rotation plane, a value or a change value of a second angle between the push rod and a preset position of the push rod;

[0014] inputting the second control condition into a corresponding second vehicle speed adjustment model;

[0015]

[0016] Among them, V a is the first speed adjustment, V b is the second regulating vehicle speed, λ1 is the first regulating coefficient, λ2 is the second regulating coefficient, V R is the right wheel speed of the cart, V L is the left wheel speed of the cart, m is the first steering coefficient, n is the second steering coefficient, π is pi, β is the second angle, and R is the wheelbase between the motors on the left and right sides of the cart.

[0017] In some embodiments, an angle sensor is provided on the push rod to detect the rotation angle of the push rod.

[0018] In some embodiments, the steps include:

[0019] The control state of the cart by the user is determined according to the user sensing signal, wherein the user sensing signal is used to determine whether the user's hand is on the handle. If so, the control state is considered to be normal; if not, the control state is considered to be out of control.

[0020] In some embodiments, the method comprises the step of sending an alarm signal to a user when the cart is in an out-of-control state.

[0021] In some embodiments, when the cart is in the first functional state, S101 includes the steps of:

[0022] Determining the adjustment interval of the cart according to a first control condition, wherein the first control condition includes: a first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotation plane, the value of the angle between the push rod and the horizontal plane where the main body is located or the change value of the angle;

[0023] inputting the first control condition into a first vehicle speed regulation model corresponding to the regulation interval,

[0024] When the first rotation signal is in the acceleration adjustment interval and / or the deceleration adjustment interval of the push rod, the corresponding first vehicle speed adjustment model is:

[0025] V=λ1(v0+v Δ0 (α-θ))+λ2V b ;

[0026] Wherein, V is the first target vehicle speed, λ1 is the first adjustment coefficient, λ2 is the second adjustment coefficient, v0 is the initial speed of the cart, and v Δ0 is the preset first speed change, α is the preset parking angle, θ is the first angle, V b The second vehicle speed adjustment is performed, wherein the first angle is the angle between the push rod and the horizontal plane.

[0027] 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; accordingly, S101 further includes the steps of:

[0028] Determine whether the data or change data of the first pressure or the second tension belongs to a preset first pressure threshold range. If so, input the first pressure signal into the first vehicle speed regulation model, and the first vehicle speed regulation model at this time is:

[0029]

[0030] Wherein, V is the first target vehicle speed, λ1 is the first adjustment coefficient, λ2 is the second adjustment coefficient, v0 is the initial speed of the cart, and v Δ0 is the preset first speed change, α is the preset parking angle, θ is the size of the first angle, v Δ1 is the preset second speed change, P is the pressure or tension, and p is the proportional coefficient.

[0031] In some embodiments, the user input information includes: a switching signal indicating switching of the functional state.

[0032] In some embodiments, 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 turning state.

[0033] The present invention also provides an intelligent control system for a cart, the cart comprising: a main body for carrying an object, and a push rod capable of rotating relative to the main body on at least one rotation plane. Accordingly, the system comprises:

[0034] 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 converted to a corresponding functional state according to the user input information and / or the actual operating state;

[0035] 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;

[0036] Wherein, the state control module includes:

[0037] The second condition acquisition unit is configured to acquire a second control condition when the cart is in a second functional state, and the second control condition includes: a second rotation signal, and the second rotation signal includes: when the push rod rotates in a preset second rotation plane, the push rod and the push rod rotate in a preset second rotation plane.

[0038] a value or a change value of a second angle between the preset positions;

[0039] a second state control unit configured to input the second control condition into a corresponding second vehicle speed adjustment model;

[0040]

[0041] Among them, V a is the first speed adjustment, V b is the second regulating vehicle speed, λ1 is the first regulating coefficient, λ2 is the second regulating coefficient, VR is the right wheel speed of the cart, V L is the left wheel speed of the cart, m is the first steering coefficient, n is the second steering coefficient, π is pi, β is the second angle, and R is the wheelbase between the motors on the left and right sides of the cart.

[0042] In some embodiments, an angle sensor is provided on the push rod to detect the rotation angle of the push rod.

[0043] Beneficial technical effects:

[0044] In order to cope with the demand for transporting materials in complex outdoor terrain, the present invention provides an intelligent control method that can switch functional states under different environments (such as different user input signals, or the actual driving environment of the cart). In addition, for the main functional states (such as the first functional state, the second functional state, etc.), a control route is provided in which push rod adjustment is the main and pressure adjustment is the auxiliary. Among them, on the one hand, the control route uses a push rod for slow speed regulation (that is, the speed changes in a straight line or an approximate straight line), and on the other hand, pressure is used for rapid speed regulation. The coordination of these two different speed regulation modes can not only adapt the speed according to the real-time road conditions and the user's walking speed, but also ensure that the cart is in a relatively safe and stable driving state.

[0045] In addition, the slow mode of the push rod is easier for beginners to control, and the method of turning the push rod is easier to use (compared with the pressure, the user's perception of angle adjustment is more intuitive and clear), and the control accuracy is also higher. At the same time, the method of turning the push rod to control the speed is more flexible than the traditional pressure speed control. For example, the user only needs to keep his hand 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).

[0046] Furthermore, the intelligent switching of functional states can meet the usage needs of different users.

[0047] On the other hand, operating habits can also improve the accuracy and stability of intelligent decision-making in corresponding scenarios.

[0048] Furthermore, the functional states in the present invention can be automatically switched by the user, while also providing user-defined functions to further provide flexibility in function combinations. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without paying creative labor.

[0050] Figure 1a This is a flow chart of an exemplary intelligent control method of the present application;

[0051] Figure 1b This is a schematic diagram of the structure of a smart cart module in an exemplary embodiment of the present application;

[0052] Figure 1c It is a schematic diagram of the forward and backward rotation of the push rod in an exemplary embodiment of the present application;

[0053] Figure 1d This is a schematic diagram of the left-right rotation of the push rod in an exemplary embodiment of the present application;

[0054] Figure 1e This is a module diagram of an intelligent control system in an exemplary embodiment of the present application;

[0055] Figure 1f It is a schematic structural diagram of an electric cart for camping according to an exemplary embodiment of the present invention;

[0056] Figure 2 A schematic diagram of the wiring of various electronic components in an electric cart for camping according to an exemplary embodiment of the present invention;

[0057] Figure 3 A schematic diagram reflecting the mounting slot in the handle;

[0058] Figure 4a This is a schematic diagram of setting a wiring hole on a connector;

[0059] Figure 4b A schematic diagram of providing a wiring hole on the outer tube of the telescopic push rod;

[0060] Figure 5 A schematic diagram showing the gap between the inner tube and the outer tube in the telescopic rod;

[0061] Figure 6a A schematic diagram showing the coordination between the four oblique support rods and the central connecting piece in the chassis;

[0062] Figure 6b To reflect the schematic diagram of the line routing in the chassis;

[0063] Figure 7 A schematic diagram showing the notch on the diagonal support rod.

[0064] Figure numerals: 1 frame, 2 electronic control box, 11 push rod, 111 inner tube, 112 outer tube, 1120 first wiring hole, 12 handle, 121 handle body, 123 mounting groove, 124 third wiring hole, 13 connecting member, 131 second wiring hole, 14 supporting connecting rod, 15 center connecting member, 150 connecting member body, 151 through hole, 1501 fourth wiring hole, 16 rear wheel, 17 bottom frame, 171 oblique support rod, 1710 notch, O1 first axis line. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0066] Herein, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings by themselves. Therefore, "module", "component" or "unit" can be used mixedly.

[0067] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0068] In this document, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] Herein "and / or" includes any and all combinations of one or more of the associated listed items.

[0070] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0071] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0072] As used in this specification, the term "about" typically means + / - 5% of the stated value, 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, and even more typically + / - 0.5% of the stated value.

[0073] In this specification, some embodiments may be disclosed in a format of being in a certain range. It should be understood that such description of "being in a certain range" is only for convenience and brevity, and should not be interpreted as a rigid limitation on the disclosed range. Therefore, the description of the range should be considered to have specifically disclosed all possible sub-ranges and independent numerical values ​​within this range. For example, the range 1 The description of 6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as individual numbers within this range, such as 1, 2, 3, 4, 5, and 6. The above rules apply regardless of the breadth of the range.

[0074] Embodiment 1

[0075] like Figure 1a-1f As shown, the present invention provides an intelligent control method for a cart, the cart comprising: a main body part (e.g., a frame) for carrying an object, and a push rod rotatable relative to the main body part along at least one rotation plane. Accordingly, the method comprises:

[0076] S100 obtains user input information of the cart and / or the actual operating state of the cart, and makes the cart be in or convert to a corresponding functional state according to the user input information and / or the actual operating state.

[0077] In some embodiments, 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.

[0078] In some embodiments, the user input information also includes: a control signal input by the user, such as a rotation signal, a steering signal, a pressure signal, an opening signal, and the like.

[0079] For example, in some embodiments, when a user inputs a start signal (such as turning on the device by pressing a power button or rotating a push rod, etc.), or when the push cart is detected to be switched from a parking state to a moving state, the push cart may automatically switch to a default functional state. Alternatively, the push cart may automatically switch to a functional state associated with the user input information / actual operating state.

[0080] S101 collects corresponding control condition information according to the current functional state, and controls the operating state of the cart according to the corresponding control conditions.

[0081] In some embodiments, the functional status includes one or more of the following:

[0082] (i) a first functional state, and when the push rod is in the first functional state, the first control condition collected includes one or more of the following: a first rotation signal of the push rod, a first pressure signal applied by the user to the push rod (for example, the first pressure signal includes: data or change data of the first pressure or first tension applied by the user to the push rod), and a shaking signal of the push rod.

[0083] For example, in some embodiments, a first pressure acquisition module (such as a pressure sensor) is used to indirectly acquire the first pressure signal. Specifically, the push rod includes an inner tube and an outer tube sleeved outside the inner tube; wherein the pressure data acquisition module is arranged on the outer side of the inner tube, and when the push rod receives a push or pull action from a user, the first pressure acquisition module is formed on the inner wall of the outer tube.

[0084] Under the extrusion effect, the changes in the sensing pressure data;

[0085] Alternatively, in other embodiments, the first pressure collection module is disposed on the inner side of the outer tube, and when the push rod receives a push or pull action from a user, the first pressure collection module senses changes in pressure data under the squeezing action of the outer wall of the inner tube.

[0086] Alternatively, in some other embodiments, the first pressure collection module may also be disposed on the handle of the push rod.

[0087] The data of the pressure or tension applied by the user on the handle of the push rod, or the data of the change of the pressure or tension (ie, the first pressure signal) can be directly collected.

[0088] For example, in some embodiments, Figure 1f and Figure 2 As shown, the push cart further includes: a supporting link 14, one end of which is connected to the mounting seat of the wheel, and the other end of which is connected to the second end of the push rod 11 through a connecting member 13. The pressure sensor can be arranged inside the connecting member 13 (specifically, it can be arranged in the area inside the connecting member 13 that contacts the push rod 11). When the push rod 11 rotates under the push and pull action of the user, the pressure sensor can indirectly sense the pressure information applied by the user on the handle.

[0089] Alternatively, in other embodiments, the pressure sensor may also be disposed on the support link 14 in an area corresponding to the connecting member 13 .

[0090] In the embodiment of the present invention, the pressure sensor is preferably arranged at the second end of the push rod or in an area near the second end of the push rod. This indirect force measurement method can reduce or avoid interference from other factors to a certain extent (for example, for different users, their operating habits such as hand posture and hand strength when controlling the handle may be different. For another example, the user accidentally touches the pressure sensing area when grasping the handle), thereby improving the accuracy of intelligent decision-making.

[0091] (ii) a second functional state, and when the cart 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, and a second rotation signal of the push rod.

[0092] and / or, (iii) a third functional state, and when the cart is in the third functional state, the third control condition of the set includes one or more of the following: a reversing signal, a turning signal.

[0093] (iv) a fourth functional state, and when the cart is in the fourth functional state, the collected fourth control condition includes 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, and a shaking signal of the cart.

[0094] In some embodiments, a second pressure acquisition module (such as a pressure sensor) is used to acquire the second pressure signal. Specifically, a pressure sensor is provided on the handle of the push rod to acquire data (including numerical value and direction of force) of the pressure or tension applied by the user on the handle.

[0095] The functional combination relationship in the preferred functional states of the present invention is exemplified below:

[0096] 1. First functional state

[0097] In some embodiments, when the cart is in the first functional state, S101 includes the steps of:

[0098] S11 determines the adjustment interval (or speed adjustment interval) of the cart according to the first control condition,

[0099] The first control condition includes: a first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotation plane, the value of the angle between the push rod and the horizontal plane where the main body is located or the change value of the angle (such as the angle of rotation of the push rod in the front-to-back direction);

[0100] Spend);

[0101] S12: inputting the first control condition into the first vehicle speed adjustment module corresponding to the speed adjustment interval

[0102] The first vehicle speed adjustment model includes:

[0103] V=λ1V a +λ2V b (1-1);

[0104] Among them, V is the first target vehicle speed, V a is the first speed adjustment, V b is the second regulating vehicle speed, λ1 is the first regulating coefficient, and λ2 is the second regulating coefficient.

[0105] In some embodiments, various parameters in the vehicle speed adjustment model of the present invention (such as the adjustment vehicle speed, the adjustment coefficient, etc.) can be set by the user.

[0106] Alternatively, in some embodiments, various parameters in the vehicle speed regulation model of the present invention (such as regulating vehicle speed, coefficient, etc.) can also be intelligently switched according to the current actual operating state or user input information.

[0107] 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.

[0108] 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.

[0109] In some embodiments, 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 correspondingly with the rotation of the push rod.

[0110] 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.

[0111] For example, in some embodiments, an acceleration sensor is provided on the push rod to detect 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.

[0112] 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.

[0113] 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.

[0114] 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 determines whether the user's hand is on the handle through the infrared sensor signal. When the user's hand is on the handle, it is considered that the cart is in a normal state, otherwise, it is considered that the cart is in an out-of-control state. In addition, when the speed of the cart is not zero and the control state is in an out-of-control state, an alarm signal can be sent to the user.

[0115] In some embodiments, the speed regulation 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.

[0116] In some embodiments, when the cart is in the parking zone, the cart is in a parked state and is difficult to be pushed or pulled under the action of external forces.

[0117] In some embodiments, when the angle between the push rod and the horizontal plane belongs to a first preset angle (such as 90 degrees), the push rod is in a reset state / initial position (that is, the cart is in a parking interval); wherein, along the first rotation direction of the push rod on the horizontal plane (that is, rotation in a direction gradually approaching the horizontal plane P2), there are sequentially arranged: a first parking interval, an acceleration interval, a uniform speed interval, and a second parking interval.

[0118] In some embodiments, when the first angle is about 0°-about 20°, the cart is in the parking interval: braking and parking are achieved when the push rod slides down. When the first angle is about 20°-about 75°, the cart is in the free interval (the user is in the normal process of pulling the cart). In the free interval, the speed adjusted by the push rod of the cart will increase as the angle decreases, and when the uniform speed interval in the free interval is reached, the speed adjusted by the push rod will be constant. When the first angle is about 50°-about 75°, the cart is in the acceleration interval, and the speed adjusted by the push rod of the cart will increase as the angle decreases. When the first angle is about 20°-about 50°, the cart is in the uniform speed interval, and the speed adjusted by the push rod will be constant. When the first angle rotates to about 75°-about 90°, the cart is in the parking interval, the push rod is reset / the distance between the cart and the user is too close, and braking and parking are achieved.

[0119] For example, in some embodiments, when the first rotation signal is in the acceleration adjustment interval and / or the deceleration adjustment interval,

[0120] In the speed adjustment range, the first vehicle speed adjustment model is:

[0121] V=λ1(v0+v Δ0 (α-θ))+λ2V b (1-2);

[0122] Where, v0 is the initial velocity of the cart, v Δ0 is the preset first speed change, α is the preset parking angle, and θ is the size of the first angle.

[0123] For example, in some embodiments, the minimum speed at which the cart starts is the minimum speed at start-up:

[0124] 0.3m / s. Predetermined maximum travel speed: 1.5m / s. The first speed variation is approximately 0.3-0.8m / s.

[0125] In some embodiments, the first control condition further includes: a first pressure signal, and the first pressure signal includes: data of a first pressure or a first tension applied by the user to the push rod;

[0126] or change data; accordingly, the S101 further comprises the steps of:

[0127] determining whether the data of the first pressure or the first tension falls within a preset first pressure threshold range,

[0128] If yes, the first pressure signal is input into the first vehicle speed adjustment model, and the first vehicle speed

[0129] The adjustment model is:

[0130]

[0131] Among them, v Δ1 is the preset second speed change, P is the pressure or tension, and p is the proportional coefficient.

[0132] For example, in some embodiments, a pressure sensor is provided at the handle of the push rod or in the middle of the push rod.

[0133] To obtain the first pressure / tension value.

[0134] For example, in some embodiments, the first pressure threshold range is [600, +∞), and its unit is g.

[0135] For example, in some embodiments, the second velocity change is approximately 0.2-0.7 m / s.

[0136] In some embodiments, when the cart is traveling on a flat road, the first functional state is preferably used to adjust and control the cart.

[0137] In this embodiment, when the cart (such as a camping cart, a beach cart, etc.) is in the first functional state, the speed adjustment mode using the push rod as the main and pressure as the auxiliary is preferentially adopted.

[0138] On the one hand, the push rod speed regulation is in line with the user's usage habits of traditional camping carts, that is, the push rod is pulled down to accelerate the cart (for users, the learning difficulty is also relatively low). On the other hand, the present invention sets the push rod speed regulation to a linear change mode with relatively slow speed change (such as the speed change under the push rod speed regulation is linear), and sets the pressure speed regulation to a curve change mode with relatively fast speed change (such as under pressure speed regulation, the greater the pressure, the faster the speed change trend). This combination of different operating modes and speed change characteristics can not only adjust the speed within a relatively low speed range, so that users can control the cart stably, safely and easily; at the same time, the speed can also be flexibly and quickly adjusted to match the user's walking speed in real time.

[0139] From another perspective, from the user's perspective, the entire speed regulation process is more in line with the user's usage habits. When the user pulls the cart normally, the initial assistance is provided according to the push rod angle, and when the cart cannot be pulled, the speed is supplemented through the pressure sensor (i.e., pressure speed regulation). The user does not need to deliberately adjust the walking speed of the cart. The cart can actively adjust its own speed to adapt to the user's walking speed. Compared with the traditional handle speed regulation method or push rod speed regulation method in the prior art, the present invention not only improves the operation sensitivity, but also reduces the user's operation learning difficulty.

[0140] In some embodiments, when the rotation range of the push rod is in the same adjustment interval (such as the first angle of the push rod is in the acceleration interval), the minimum thrust that can be used to rotate the push rod is the first thrust f1. When the rotation range of the push rod rotates from one adjustment interval to another adjustment interval (such as from the acceleration interval to the deceleration interval), the minimum thrust that can be used to rotate the push rod from one adjustment interval to another adjustment interval is the second thrust f2.

[0141] Preferably, in some embodiments, the magnitude of the second thrust f2 is greater than the magnitude of the first thrust f1.

[0142] This will limit the flexibility of the push rod's rotation to a certain extent and avoid over-adjustment.

[0143] In some embodiments, the first thrust f1 in each adjustment interval may be set to the same or different values. Alternatively, the second thrust f2 for switching between different adjustment intervals may be set to the same or different values.

[0144] For example, in some embodiments, f2 = 3 kg.

[0145] In some embodiments, when the push rod of the cart is in the parking zone, the minimum thrust that can pull / push the push rod to rotate is the fourth thrust f4.

[0146] In some embodiments, when the push rod of the cart is in the parking interval, the pressure regulation mode can be temporarily turned off, that is, the pressure speed regulation mode is enabled only when the push rod enters the acceleration, deceleration, and constant speed regulation intervals.

[0147] Preferably, in some embodiments, the fourth thrust f4 is greater than the first thrust f1.

[0148] It is worth noting that the embodiment of the present invention adopts a method of coordinating the push rod adjustment with the tension adjustment.

[0149] The magnitude of the second thrust f2 can also be increased to a certain extent.

[0150] For example, in some embodiments, when the push rod is turned from the initial position, it will pass through the first parking interval, acceleration adjustment interval, deceleration adjustment interval, uniform speed adjustment interval, and second parking interval of the push rod in sequence. In the actual driving process, if the push rod is currently in the acceleration adjustment interval, but the user wants to decelerate the cart appropriately. At this time, the user can turn the push rod to the deceleration adjustment interval to reduce the acceleration effect. However, since the second thrust f2 is set to be greater than the first thrust f1, when the user is actually adjusting, the adjustment may not be in place due to reasons such as effort (such as a long adjustment time, or excessive adjustment due to the user's large hand). In order to avoid these problems, the user can also directly input the first pressure signal (such as applying a third thrust f3 on the push rod) to auxiliaryly achieve the deceleration adjustment of the cart through pressure regulation.

[0151] Therefore, the use of pressure regulation as an auxiliary regulating means in this embodiment also helps to increase the difference between the second thrust f2 and the first thrust f1 to a certain extent, without reducing the flexibility of the regulating method because the second thrust is greater than the first thrust.

[0152] In some embodiments, the third pushing force f3 applied by the user is smaller than the first pushing force f1.

[0153] In some embodiments, when the push rod is in the process of rotating, the vehicle speed is preferably adjusted by rotating the push rod at an angle (such as the first angle). When the push rod is in a relatively static state, a pressure factor (such as the first pressure) is added to assist in adjusting the vehicle speed.

[0154] In some embodiments, the pushing force may be various external forces applied by the user to the push rod (such as the force when a person's arm pulls the push rod), such as pressure, tension, and the like.

[0155] 2. Second functional state

[0156] In some embodiments, when the cart is in the second functional state, S101 includes the steps of:

[0157] S13 determines the adjustment interval of the cart according to a second control condition, wherein the second control condition includes: a second rotation signal, and the second rotation signal includes: when the push rod rotates in a preset second rotation plane, the value or change value of the angle between the push rod and a preset position of the push rod (for example, the initial position of the push rod, or the position of the push rod when the push rod was last adjusted) (for example, the push rod rotates in the left and right direction of the cart), and the second rotation plane is perpendicular or approximately perpendicular to the first rotation plane; Figure 1d As shown, the push rod of the cart in this embodiment can also rotate left and right (ie, the rotation direction X1) to control the running direction of the cart.

[0158] 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:

[0159]

[0160] Among them, V a is the first speed adjustment, V b is the second regulating vehicle speed, λ1 is the first regulating coefficient, λ2 is the second regulating coefficient, V R is the right wheel speed of the cart, V L is the left wheel speed of the cart, m is the first steering coefficient, n is the second steering coefficient, π is pi, β is the second angle, and R is the wheelbase between the motors on the left and right sides of the cart.

[0161] It is understandable that the values ​​of m and n may be default values ​​of the system or may be set by the user. For example, in some embodiments, when m is set to 1, n may be set to -1.

[0162] Preferably, when the cart is turning on a flat road section, it will switch to the second functional state.

[0163] Preferably, in some embodiments, when the cart is on a flat road section, the pressure speed regulation + push rod steering function is used to achieve steering assistance for the cart.

[0164] 3. The third functional state

[0165] In some embodiments, when the cart is in the third functional state, the S101 includes:

[0166] S15 determines the adjustment state of the cart according to a third control condition, wherein the third control condition includes:

[0167] A reversing signal, wherein the reversing signal includes: a reversing direction and / or a reversing angle;

[0168] and / or a turning signal (for example, the turning signal can be used to control the cart to achieve an in-situ differential steering function), and the turning signal includes: a turning angle, and / or the turning direction;

[0169] S16: input the rotation angle into a third vehicle speed adjustment model corresponding to the adjustment state, and the third vehicle speed adjustment model is:

[0170]

[0171] Wherein, V' is the second target vehicle speed, λ3 is the third adjustment coefficient, π is the pi, is the reversing angle or the turning angle, and R is the wheelbase between the motors on the left and right sides of the cart.

[0172] For example, in some embodiments, a button is added to the handle of the push rod to serve as a determination condition for on-the-spot differential steering to avoid conflicts with the parking function.

[0173] In some embodiments, a button may be used to switch functions, for example, by pressing the button briefly to accelerate / shift gears, and by pressing the button long to enter reverse mode.

[0174] Preferably, the third functional state is suitable for controlling the stroller when the stroller is in a parking state.

[0175] 4. Fourth functional state

[0176] In some embodiments, when the cart is in the fourth functional state, S101 includes the steps of:

[0177] S18: determining the adjustment state of the cart according to the fourth control condition, wherein the fourth control condition includes: a second pressure signal, and the second pressure signal includes: a second pressure or a second pulling force data size applied by the user to the handle of the cart, and a second pressure or a second pulling force direction applied by the user to the handle of the cart;

[0178] S19: inputting the second pressure signal into a fourth vehicle speed regulating model corresponding to the regulating state, and the fourth vehicle speed regulating model is:

[0179]

[0180] Wherein, V′ is the second target vehicle speed, λ3 is the third adjustment coefficient, π is the pi, φ is the set rotation angle, and R is the wheelbase between the motors on the left and right sides of the cart;

[0181] For example, in some embodiments, when the second pressure or pulling force is greater than a set threshold, the pressure speed regulation mode is started, that is, the cart speed is controlled according to the fourth speed regulation model.

[0182] For example, in some embodiments, the set rotation angle may be a default value, or, according to a preset rule, a corresponding set rotation angle may be selected through the detected second pressure or tension value.

[0183] For example, in some embodiments, the direction of the cart's rotation can be determined based on the direction of the force.

[0184] In some embodiments, when the cart is in the fourth functional state, S101 includes the steps of:

[0185] determining the adjustment state of the cart according to the fourth control condition, wherein the fourth control condition includes: a shaking signal (applicable to the anti-shake function of the cart), and the shaking signal includes: first shaking data, the first shaking data is the angle data between the main body part and the horizontal plane in the length direction, and / or, second shaking data, the second shaking data is the angle data between the main body part and the horizontal plane in the width direction;

[0186] Determine whether the current speed of the cart needs to be corrected according to the jitter signal; if so, input the jitter signal into a preset fourth speed adjustment model, wherein the fourth speed adjustment model includes:

[0187] V″=λ1V a ′+λ2V b (4);

[0188] Wherein, V″ is the corrected third target vehicle speed, V a ' is the first adjusted vehicle speed just before entering the shaking state.

[0189] For example, in some embodiments, the step of determining whether the current speed of the cart needs to be corrected according to the jitter signal includes:

[0190] A sliding variance algorithm is used to calculate a first standard deviation and a second standard deviation of the first jitter data and the second jitter data respectively.

[0191] The first standard deviation and the second standard deviation are used to determine whether the current speed of the cart needs to be corrected (ie, to determine whether the cart is in a shaking state).

[0192] Specifically, in some embodiments, the average value of the first standard deviation and the second standard deviation may be calculated, and when the average value belongs to a preset shaking threshold range, it is determined that the cart is in a shaking state, and the current vehicle speed is corrected.

[0193] For example, in some embodiments, the detection data of the acceleration sensor may be preprocessed. For example, the preprocessing may be performed by sliding mean filtering, that is, by taking the average of the data over a period of time, so that the angle data changes more smoothly and eliminates the severe jitter data. Alternatively, the preprocessing may be performed by Kalman filtering, that is, by predicting the ratio, so that the angle data changes more smoothly and eliminates the severe jitter data.

[0194] In some embodiments, a brushless DC motor is preferably used for speed regulation. Among them, the number of pulses generated by one rotation of the three items ABC of the brushless DC motor is 15 (pole pairs) * 3 = 45. An exemplary method of use is as follows: The pulses are processed using sextuple frequency so that the number of pulses obtained is converted 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 the Kalman filter algorithm are used to filter the motor speed to make its changes smoother and more fluent.

[0195] Preferably, in some embodiments, the fourth functional state is applicable to the cart being on complex road conditions such as uneven sections, uphill sections, downhill sections, etc.

[0196] For example, in some embodiments, when the cart detects that it is in a shaking state, it will automatically switch to the fourth functional state (or remain in the fourth functional state).

[0197] It can be understood that, in addition to the above-mentioned preferred functional combination state, each function in the present invention (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-shake function, etc.) can be operated independently in response to the user's operation, or can be used in combination in other forms under the user's operation.

[0198] For example, in some embodiments, the method further comprises the steps of:

[0199] S102: obtaining a first function adding signal input by a user, wherein the first function adding signal includes: at least one function information to be added (such as a name of a function, or a type of signal to be collected such as a first pressure signal, etc.), and a corresponding function state (such as a current function state, or any other preset function state);

[0200] S103: Add the at least one function information to a corresponding function state according to the first function adding signal.

[0201] For example, in some embodiments, the method further comprises the steps of:

[0202] S104: obtaining a second function removal signal input by a user, wherein the second function removal signal includes: at least one function information to be removed, and a corresponding function state;

[0203] S105: Remove the at least one function information from a corresponding function state according to the second function removal signal.

[0204] Furthermore, in some embodiments, different signals (such as rotation signals, pressure signals, vibration signals, etc.) are marked with corresponding priorities. S102 also includes the steps of:

[0205] 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, when the priorities are the same), S103 is executed, otherwise, a corresponding prompt signal is sent to the user. At this time, the user can modify the input first function adding signal according to the prompt signal, or stop adding the function.

[0206] In the embodiment of the present invention, the user can customize the available functions / unavailable functions under the functional state according to his own usage needs, so as to further improve the flexible decision-making ability of the cart, thereby improving the adaptability of the cart to different application scenarios (such as mountains, beaches, flat terrain, etc.) or different users.

[0207] At the same time, for different functional states, a limited combination of signal types is selected for intelligent decision-making. On the one hand, it can improve the accuracy and safety of decision-making assistance, and on the other hand, it can reduce outdoor power consumption to a certain extent.

[0208] Any coefficient in any vehicle speed regulation model in the embodiments of the present invention may be pre-set by the cart intelligent control system or may be modified by the user.

[0209] Furthermore, in some embodiments, along the first rotation direction of the push rod on the horizontal plane, there are arranged in sequence: a first parking interval, an acceleration interval, a constant speed interval, and a second parking interval. When the angle between the push rod and the horizontal plane belongs to a first preset angle, the push rod is located in the corresponding parking interval (i.e., a reset state).

[0210] In some embodiments, the method further comprises the steps of:

[0211] Determine the target motion trajectory of the cart according to the turning angle input by the user / the current speed of the cart, wherein the target motion trajectory includes: the turning direction (i.e., the turning angle);

[0212] Acquire a fifth control condition associated with the steering safety of the cart, the fifth control condition comprising: acquiring target obstacle information on at least one side of the steering direction, the target obstacle information comprising: coordinates of a first target obstacle located on one side of the steering direction;

[0213] The method further comprises the step of determining whether the distance between the first target obstacle and the second target obstacle is greater than a preset safe turning distance. If so, the vehicle continues to turn; if not, the vehicle outputs a first alarm signal to the user to remind the user to turn automatically (such as increasing or decreasing the turning angle).

[0214] For example, in some embodiments, when the speed difference between the left and right sides of the cart is determined, the turning angle of the cart is also determined, such as turning 30° to the left. At this time, the coordinates of the obstacle at a first distance (e.g., 2m) in the 30° direction to the left are obtained, and when it is detected that the road ahead is narrow (i.e., the distance between the two obstacles is too close, blocking the route), the user can be reminded to continue adjusting the turning direction of the cart.

[0215] The control method of the present invention is mainly applied to outdoor camping vehicles in outdoor environments and other transportation scenarios. The outdoor environment may be a beach, a mountain, or other terrain. Especially for adventure camping activities, tourists may have to walk through a bumpy road to the target camping site. At this time, it is very physically demanding for tourists to push the camping cart manually. In addition, due to reasons such as blocked vision (such as obstacles in the outdoor environment itself, or the cart blocking the vision due to a lot of accumulated goods), it is difficult for the user to immediately observe the road conditions and judge the pushing conditions of the cart (for example, whether it is necessary to turn, or whether it is necessary to increase or reduce the thrust).

[0216] Specifically, in some embodiments, the push rod is integrated with multiple components such as a button, an infrared sensor (preferably a sunlight-resistant HJ-IR2 module), an accelerometer, and a pressure-sensitive sensor. Among them, the button is used to control the reversing function of the cart, so that the cart can be carried normally through the reversing 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 the safety of the cart during driving, and to avoid the phenomenon of hitting people or sliding down the slope after the user's palm is off the handle. The accelerometer user senses the angle change of the push rod, such as the push rod moving up and down or swinging left and right, and by obtaining such angle information, it can judge the user's walking condition to ensure that the cart can respond to the user's walking condition more smoothly and quickly. The function of the pressure-sensitive sensor is mainly used to sense the pulling force applied by the user to the handle of the cart during the travel process. By detecting the change of the pulling force value in real time, it can more directly and timely obtain the change of the user's force to drag the cart, and accurately control the speed of the cart based on the pulling force value.

[0217] Specifically, in some embodiments, Figure 1bAs shown in the figure, the chassis module of the main part mainly includes two components: the hub motor and the accelerometer. The hub motor is responsible for the transportation and speed adjustment of the cart. At the same time, the Hall sensor counts the number of pulses and feeds back to the central control module to ensure the accurate detection of the car speed. The accelerometer can sense the angle change of the car chassis, and judge the road bumps by the intensity of the change, and judge the road slope information by the angle size, providing reference data for adjusting the speed of the cart. By optimizing the chassis module, the stability and driving efficiency of the car can be improved, so that it can better adapt to different road conditions. This will make the car more stable and reliable in actual use, providing users with a better use experience.

[0218] In some embodiments, FOC (Field Oriented Control, also known as vector control) is used to control the motor, thereby achieving power adjustment / control of the cart. In FOC, the motor is regarded as a vector composed of a base 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 present invention, the FOC control mode and the pulling speed adjustment mode are used in combination, so that the speed adjustment of the cart has the advantages of high efficiency, smooth operation and high accuracy.

[0219] In some embodiments, the driver circuit design in the cart mainly includes a power supply circuit, a FOC drive circuit, a main controller (preferably an STM32F103C8T6 controller), a sensor and other parts. The sensor obtains status information and feeds the information back to the main controller for processing. The information is processed into a required driving speed signal and sent to the FOC drive board through the serial port to drive the brushless DC motor. The power supply is used for the whole, and the brushless motor feeds back its Hall signal to the drive circuit to determine the position of its rotor.

[0220] In some embodiments, in order to ensure that the intelligent control system of the cart can operate effectively and save the operating cost of the intelligent control system as much as possible, it is preferred to use a battery with the following parameters for power supply. Width and height:

[0221] 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

[0222] (30-40V), battery packaging: bare battery. Currently, after 36v4.4Ah battery is used 1.75

[0223] After 100 kilometers (about 50 minutes), the voltage drops from 42.1V to 40V, and there is still enough power to complete the work for at least 500 meters.

[0224] In some embodiments, the push rod includes two adjustment parameters: angle and length, through which different users or terrains can be adapted.

[0225] The intelligent control method provided in the embodiment of the present invention integrates multiple functional modes such as power assistance, downhill descent, emergency braking, and steering assistance. It can provide users with intelligent power assistance in complex outdoor terrain (for example, mountain roads with low road surface flatness, narrow uphill sections, etc.), and can comprehensively adjust or correct the vehicle speed through the operation signals actively sent by the user (such as acceleration and deceleration signals transmitted by the control handle) and the environmental information actively obtained by the cart (such as the shaking characteristics of the cart during its movement), so as to ensure the safe and stable operation of the cart while accurately receiving the user's control signal.

[0226] Embodiment 2

[0227] like Figure 1e As shown, the present invention also provides an intelligent control system for a cart, the cart comprising: a main body for carrying objects, and a main body that can rotate relative to the main body along at least one rotation plane.

[0228] The push rod of the body part rotates in phase, and accordingly, the system includes:

[0229] The function conversion module 101 is configured to obtain user input information of the cart and / or the actual operating state of the cart, and to convert the cart into a function according to the user input information and / or the actual operating state.

[0230] The cart is placed in or converted into a corresponding functional state;

[0231] The state control module 102 is configured to collect corresponding control information according to the current functional state.

[0232] Control condition information, and control the running state of the cart according to the corresponding control conditions;

[0233] The state control module comprises:

[0234] The first condition acquisition unit 102a is configured to, when the cart is in a first functional state,

[0235] The speed adjustment range of the cart is determined according to a first control condition, wherein the first control condition includes:

[0236] a first rotation signal, wherein the first rotation signal includes: when the push rod rotates in a preset first rotation plane, a value of an angle between the push rod and a horizontal plane where the main body is located, or a value of a change in the angle;

[0237] The first state control unit 102b is configured to input the first control condition and the

[0238] A first vehicle speed regulation model corresponding to the speed regulation interval, and the first vehicle speed regulation model includes:

[0239] V=λ1V a +λ2V b (1-1);

[0240] Among them, V is the first target vehicle speed, V a is the first speed adjustment, V b is the second regulating vehicle speed, λ1 is the first regulating coefficient, and λ2 is the second regulating coefficient.

[0241] In some embodiments, the state control module includes:

[0242] The second condition collecting unit 102c is configured to, when the cart is in the second functional state,

[0243] The adjustment interval of the cart is determined according to a second control condition, wherein the second control condition includes:

[0244] a second rotation signal, wherein 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 in a preset second rotation plane, and the second rotation plane is perpendicular or approximately perpendicular to the first rotation plane;

[0245] The second state control unit 102d 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:

[0246]

[0247] Among them, V a is the first speed adjustment, V b is the second regulating vehicle speed, λ1 is the first regulating coefficient, λ2 is the second regulating coefficient, V R is the right wheel speed of the cart, V L is the left wheel speed of the cart, m is the first steering coefficient, n is the second steering coefficient, π is pi, β is the second angle, and R is the wheelbase between the motors on the left and right sides of the cart.

[0248] In some embodiments, when the first rotation signal is in the acceleration adjustment interval and / or the deceleration adjustment interval, the first vehicle speed adjustment model is:

[0249] V=λ1(v0+v Δ0 (α-θ))+λ2Vb (1-2);

[0250] Where, v0 is the initial velocity of the cart, v Δ0 is the preset first speed change, α is the preset parking angle, and θ is the size of the first angle.

[0251] 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; the first state control unit is further configured to determine whether the data of the first pressure or the first tension belongs to a preset first pressure threshold range, and if so, input the first pressure signal into the first vehicle speed regulation model, and the first vehicle speed regulation model is:

[0252]

[0253] Among them, v Δ1 is the preset second speed change, P is the first pressure size or the first pulling force size, and p is the proportional coefficient.

[0254] In some embodiments, the state control module includes:

[0255] The third condition collection unit is configured to, when the cart is in the third functional state,

[0256] The adjustment state of the cart is determined according to a third control condition, wherein the third control condition includes:

[0257] A reversing signal, wherein the reversing signal includes: a reversing direction and / or a reversing angle;

[0258] and / or a turn signal, wherein the turn signal includes: a turn angle, and / or the turn direction;

[0259] The third state control unit is configured to input the rotation angle into a third vehicle speed adjustment model corresponding to the adjustment state, and the third vehicle speed adjustment model is:

[0260]

[0261] Wherein, V' is the second target vehicle speed, λ3 is the third adjustment coefficient, π is the pi, is the reversing angle or the turning angle, and R is the wheelbase between the motors on the left and right sides of the cart.

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

[0263] The fourth condition collecting unit is configured to, when the cart is in the fourth functional state,

[0264] Determining the adjustment state of the cart according to the fourth control condition, wherein the fourth control condition includes: a second pressure signal, and the second pressure signal includes: a second pressure or a second pulling force data magnitude applied by a user to the handle of the cart, and a second pressure or a second pulling force direction applied by the user to the handle of the cart;

[0265] The fourth state control unit is configured to input the second pressure signal into a third vehicle speed regulation model corresponding to the regulation state, and the third vehicle speed regulation model is:

[0266]

[0267] Wherein, V' is the second target vehicle speed, λ3 is the third adjustment coefficient, π is the pi, is the turning angle, and R is the wheelbase between the motors on the left and right sides of the cart.

[0268] For example, in some embodiments, when the direction of the force is toward the left, the cart moves to the left, and when the direction of the force is toward the right, the cart moves to the right.

[0269] In some embodiments, the state control module includes:

[0270] The fourth condition acquisition unit is further configured to determine the 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;

[0271] The fourth state control unit is further configured to determine whether the current speed of the cart needs to be corrected according to the jitter signal; if so, input the jitter signal into a preset fourth speed adjustment model, wherein the fourth speed adjustment model includes:

[0272] V″=λ1V a ′+λ2V b (4);

[0273] Wherein, V″ is the corrected third target vehicle speed, V a ' is the first adjusted vehicle speed just before entering the shaking state.

[0274] The control system in the embodiment of the present invention can implement the method or steps in any of the above embodiments.

[0275] I will not go into details here.

[0276] Embodiment 3

[0277] The present invention also provides a reference Figure 1f and Figure 2 , is an electric cart according to an exemplary embodiment of the present invention, specifically, the electric cart comprises: a frame 1, a telescopic push rod 11, a

[0278] The handle 12 on the vehicle frame 1 is fixed to an electric control box 2 on the front frame of the vehicle frame 1, and a central control circuit board is integrated in the electric control box 2.

[0279] Furthermore, the electric cart also includes a sensor module electrically connected to the central control circuit board through a circuit embedded in the telescopic push rod 11 and the frame 1. Specifically, the sensor module includes: a push rod sensor part and a chassis sensor part, wherein the push rod sensor part includes: a pressure sensor, an angle sensor (such as a three-axis accelerometer) and an infrared sensor arranged on the handle 12; the chassis sensor part includes an angle sensor (such as a three-axis accelerometer) arranged in the electric control box and integrated on the central control circuit board.

[0280] By setting up two three-axis accelerometers to respectively collect the angles of the telescopic push rod 11 and the base frame relative to the earth (for example, in some embodiments, the three-axis accelerometer can be used to collect the first angle and the second angle of the push rod), the main control circuit board can identify the specific postures of the push rod and the base frame according to the angle, and then it becomes possible to perform intelligent control according to the posture.

[0281] By setting an infrared sensor on the handle 12 to sense whether the user's hand is on the handle 12, it is possible to know whether the user is currently pushing the cart according to the detection result of the infrared sensor. Specifically, a mounting groove 123 is set in the handle 12, and a corresponding third wiring hole 124 (such as Figure 3 As shown), the line connected to the infrared sensor can enter the retracting push rod 11 through the third wiring hole 124, and then pass through the connecting piece 13, the supporting link 14, the oblique support rod 171 in the base frame, the oblique support rod in the rear frame, and finally be electrically connected to the central control circuit board.

[0282] Pressure sensors, accelerometers, and infrared sensors are usually used in wireless communication. However, in this embodiment, these three sensors are all set in the handle. If wireless communication is used to electrically connect to the central control board, not only does it require separate battery modules for these three sensors, but there are also problems of instability and delay. If the battery module is set separately, the weight and volume of the handle are increased, and the handle structure needs to be redesigned. Therefore, in order to ensure the stability of communication and avoid delay problems without making major changes to the handle structure, this embodiment uses a wired connection to electrically connect these three sensors to the central control board, and designs the line routing method.

[0283] In some embodiments, the angle sensor is a variety of sensors that can be used to directly or indirectly collect angle data of the cart (such as the first angle, the second angle, a 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), gyroscope, accelerometer, potentiometer, etc.

[0284] In some embodiments, a reversing control button is also provided on the handle 12 , and the reversing control button is electrically connected to the central control circuit board through a circuit embedded in the telescopic push rod 11 and the frame.

[0285] 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 a gap L is provided between the inner wall of the outer tube 112 sleeved outside the inner tube 111 and the outer wall of the inner tube 111, thereby providing a routing space for the circuits of the electronic devices in the handle 12. Specifically, the range of the gap L is 3-5 mm; preferably 4.2 mm, see Figure 5 .

[0286] See also Figure 4a and Figure 4b In order to facilitate the wiring, a first wiring hole 1120 and a second wiring hole 131 are respectively provided on the outer tube 112 of the telescopic rod and the connecting member 13; when the connecting member and the telescopic rod are installed together, the wiring hole on the connecting member corresponds to the wiring hole on the outer tube, so that the line can pass through the outer tube and the connecting member in sequence and then enter the wiring channel provided in a supporting connecting rod 14 connected to the connecting member. Specifically, the supporting connecting rod 14 adopts a hollow tube.

[0287] In some embodiments, see Figure 6a and Figure 6bThe chassis of the vehicle frame 1 includes a set of X components, and the X components include four oblique support rods 171, and a central connector 15 for hingedly connecting the four oblique support rods 171. Specifically, the central connector 15 includes: a connector body 150 having a first axis O1, and through holes 151 penetrating the connector body 150 are respectively provided at the positions where the connector body 150 and the four oblique support rods 171 are hinged, and the second axis of the through hole 151 is perpendicular to the first axis O1, and a fourth wiring hole 1501 is opened in the connector body 150 along the diagonal direction, so that the line passing through the wiring channel in one oblique support rod 171 passes through one end of the fourth wiring hole 1501 in the connector body 150, and then passes out and enters the diagonally connected oblique support rods 171, see Figure 6b By providing the through hole 151 and the fourth wiring hole 1501, the influence of the folding of the X assembly on the line during the storage of the cart can be avoided, thereby extending the service life to a certain extent.

[0288] In order to allow the line to pass through the central connecting member 15 without affecting the folding, a notch 1710 is provided at the end of the oblique supporting link 171, see Figure 7 , thereby further ensuring that the line passes through and is not damaged when folded.

[0289] In this embodiment, the line is arranged on the base frame instead of on either side frame because the diagonal support rod of the base frame adopts a hollow design, which can provide a routing channel for the line, and at the same time, the same routing hole can be arranged on the central connecting piece without any influence on the connection between the central connecting piece and the diagonal support rod. If the side frame is adopted, it is necessary to open a corresponding routing hole on the connecting piece on the side frame. However, the connecting piece on the side frame itself has a small structure and it is impossible to open a corresponding routing hole, or the overall structure of the connecting piece needs to be greatly modified, which increases the cost and affects the folding of the side frame.

[0290] In some embodiments, the electric cart further includes two hub motors electrically connected to the central control circuit board, and the hub motors are disposed in the wheel hubs of the two rear wheels 16 of the electric cart.

[0291] In some embodiments, the two front wheels use bearing universal wheels and are provided with physical brakes, which are all existing technologies and will not be described in detail here.

[0292] In some embodiments, the three-axis accelerometer is an ADXL accelerometer. In other embodiments, a potentiometer may be used to replace the three-axis accelerometer.

[0293] In some embodiments, the central control circuit board includes a single chip microcomputer and its peripheral circuits.

[0294] The microcontroller uses the STM32F103C8T6 chip.

[0295] In some embodiments, the telescopic push rod 11 is fixed on a connecting member 13, and the two sides of the connecting member 13 are respectively fixedly connected to the connecting ends of the two supporting links 14, and the other ends of the two supporting links 14 are respectively hinged to the mounting seats on the two front wheels, so that the rope push rod 11 can rotate a certain angle with the connecting line between the two front wheels as the axis.

[0296] Embodiment 4

[0297] A fourth aspect of the present invention further provides an intelligent cart with intelligent decision-making capability, the cart comprising:

[0298] The vehicle frame 1, the push rod 11 and the handle 12 arranged on the push rod also include: an electric control box 2 fixed on the rear frame of the vehicle frame 1, wherein the electric control box 2 integrates a central control circuit board, and the electric cart also includes a sensor module electrically connected to the central control circuit board through a circuit buried in the push rod 11 and the chassis of the vehicle frame 1, wherein the sensor module includes:

[0299] A pressure sensor, a three-axis accelerometer, and an infrared sensor are arranged on the handle 12; and a three-axis accelerometer is arranged on the bottom frame of the frame 1;

[0300] And an intelligent control system connected to the central control circuit board, and the intelligent control system includes:

[0301] 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 converted to a corresponding functional state according to the user input information and / or the actual operating state;

[0302] The 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 conditions.

[0303] In some embodiments, the above-mentioned three-axis accelerometer may also replace other types of angle sensors.

[0304] In some embodiments, the user input information can be detected by a sensor module.

[0305] In some embodiments, the first rotation signal can be obtained by at least one three-axis accelerometer disposed on the push rod.

[0306] In some embodiments, the second pressure signal can be obtained by a pressure sensor disposed on the handle.

[0307] In some embodiments, the jitter signal may be acquired by a three-axis accelerometer disposed on the base frame.

[0308] It can be understood that the smart cart in this embodiment may include the same or similar functional modules or structures as any of the above embodiments.

[0309] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0310] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a computer terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0311] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. An intelligent control method for a cart, characterized in that: The cart comprises: a main body for carrying objects, and a push rod that can rotate relative to the main body on at least one rotation plane, and an angle sensor is provided on the push rod to detect the rotation angle of the push rod. Accordingly, the method comprises: S100 obtains user input information of the cart and / or the actual operating state of the cart, and makes the cart be in or converted to a corresponding functional state according to the user input information and / or the actual operating state; S101 collects corresponding control condition information according to the current functional state, and controls the operating state of the cart according to the corresponding control condition; Among them, S101 includes: When the push rod is in the second functional state, a second control condition is obtained, and the second control condition includes: a second rotation signal, and the second rotation signal includes: when the push rod rotates in a preset second rotation plane, a value or a change value of a second angle between the push rod and a preset position of the push rod; inputting the second control condition into a corresponding second vehicle speed adjustment model; Among them, V a is the first speed adjustment, V b is the second regulating vehicle speed, λ1 is the first regulating coefficient, λ2 is the second regulating coefficient, V R is the right wheel speed of the cart, V L is the left wheel speed of the cart, m is the first steering coefficient, n is the second steering coefficient, π is pi, β is the second angle, and R is the wheelbase between the motors on the left and right sides of the cart; When the cart is in the first functional state, S101 includes the steps of: Determining the adjustment interval of the push cart according to a first control condition, wherein the first control condition includes: a first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotation plane, the value of the angle between the push rod and the horizontal plane where the main body is located or the value of the change of the angle; and a first pressure signal, and the first pressure signal includes: data or change data of a first pressure or a first tension applied by a user to the push rod; The first control condition is input into a first vehicle speed regulation model corresponding to the regulation interval, wherein when the first rotation signal is in the acceleration regulation interval and / or the deceleration regulation interval of the push rod, and the data or the change data of the first pressure or the first tension belongs to a preset first pressure threshold range, the corresponding first vehicle speed regulation model is: Wherein, V is the first target vehicle speed, λ1 is the first adjustment coefficient, λ2 is the second adjustment coefficient, v0 is the initial speed of the cart, and v Δ0 is the preset first speed change, α is the preset parking angle, θ is the first angle, wherein the first angle is the angle between the push rod and the horizontal plane, v Δ1 is the preset second speed change, P is the corresponding pressure or tension, and p is the proportional coefficient.

2. The intelligent control method according to claim 1, characterized in that: Includes steps: The control state of the cart by the user is determined according to the user sensing signal, wherein the user sensing signal is used to determine whether the user's hand is on the handle. If so, the control state is considered to be normal; if not, the control state is considered to be out of control.

3. The intelligent control method according to claim 2, characterized in that: Includes steps: When the cart is in an out-of-control state, an alarm signal is sent to the user.

4. The intelligent control method according to claim 1, characterized in that: The user input information includes: a switching signal indicating switching of the functional state.

5. The intelligent control method according to claim 1, characterized in that: 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.

6. An intelligent control system for a cart, characterized in that: The cart comprises: a main body for carrying objects, and a push rod that can rotate relative to the main body on at least one rotation plane, and an angle sensor is provided on the push rod to detect the rotation angle of the push rod. Accordingly, the system comprises: 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 converted 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 second condition acquisition unit is configured to acquire a second control condition when the push rod is in a second functional state, and the second control condition includes: a second rotation signal, and the second rotation signal includes: a value or a change value of a second angle between the push rod and a preset position of the push rod when the push rod rotates in a preset second rotation plane; a second state control unit configured to input the second control condition into a corresponding second vehicle speed adjustment model; Among them, V a is the first speed adjustment, V b is the second regulating vehicle speed, λ1 is the first regulating coefficient, λ2 is the second regulating coefficient, V R is the right wheel speed of the cart, V L is the left wheel speed of the cart, m is the first steering coefficient, n is the second steering coefficient, π is pi, β is the second angle, and R is the wheelbase between the motors on the left and right sides of the cart; The state control module also includes: A first condition acquisition unit is configured to determine a speed adjustment range of the cart according to a first control condition when the cart is in a first functional state, wherein the first control condition includes: a first rotation signal, and the first rotation signal includes: when the push rod rotates in a preset first rotation plane, a value of an angle between the push rod and a horizontal plane where the main body is located or a change value of the angle; and a first pressure signal, and the first pressure signal includes: data or change data of a first pressure or a first tension applied by a user to the push rod; The first state control unit is configured to input the first control condition into a first vehicle speed regulation model corresponding to the speed regulation interval, wherein when the first rotation signal is in the acceleration regulation interval and / or the deceleration regulation interval of the push rod, and the data or the change data of the first pressure or the first tension belongs to a preset first pressure threshold range, the corresponding first vehicle speed regulation model is: Wherein, V is the first target vehicle speed, λ1 is the first adjustment coefficient, λ2 is the second adjustment coefficient, v0 is the initial speed of the cart, and v Δ0 is the preset first speed change, α is the preset parking angle, θ is the first angle, wherein the first angle is the angle between the push rod and the horizontal plane, v Δ1 is the preset second speed change, P is the corresponding pressure or tension, and p is the proportional coefficient.

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