Outdoor carrying equipment with force transducer

Abstract

The invention provides outdoor carrying equipment with a force transducer. The outdoor carrying equipment comprises a carriage assembly, a pull rod assembly and a sensing assembly. The carriage assembly comprises a carriage body and wheels, and the wheels are rotationally connected to the carriage body. The pull rod assembly comprises a handle and a pull rod, one end of the pull rod is connected to the carriage body, and the other end is connected with the handle. The sensing assembly is arranged on the handle and comprises a force measuring sensor and a controller which are electrically connected, the force measuring sensor is used for acquiring acting force applied to the handle in the vertical direction, and the controller is used for controlling the wheels. When the handle and the pull rod rotate to any angle, a user only needs to pull or push the handle, the force measuring sensor can obtain the acting force applied to the vertical direction, only the acting force of one shaft needs to be obtained, the situation that in the related technology, the acting force of two shafts or three shafts is collected, and the stress value is calculated and analyzed through trigonometric function conversion can be omitted, and therefore the working efficiency is improved. Therefore, the algorithm is simplified, and the detection precision and the response speed of the acting force applied to the handle are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of outdoor transport equipment, and in particular relates to outdoor transport equipment with a force sensor. Background Art

[0002] As an essential tool for outdoor camping, outdoor transport equipment is lightweight, foldable, and easy to carry, providing great convenience for campers. When facing complex and changeable outdoor terrain, such as mountains, beaches, muddy terrain, etc., the dragging process of outdoor transport equipment is often laborious and inefficient. Force sensors can be set on outdoor transport equipment to assist users.

[0003] In the related art, the force sensor of outdoor transport equipment needs to collect the force of two or three axes and calculate and analyze the force value through algorithms. However, the force analysis algorithm is complex and requires high precision of the sensor components of outdoor transport equipment, which is not conducive to accurate and fast control of outdoor transport equipment and reduces the user experience. Summary of the invention

[0004] In view of this, the present application provides an outdoor transport equipment with a force sensor, the outdoor transport equipment comprising:

[0005] A carriage assembly comprises a carriage body and wheels, wherein the wheels are rotatably connected to the carriage body;

[0006] A pull rod assembly, comprising a handle and a pull rod, one end of the pull rod being rotatably connected to the carriage body, and the other end being connected to the handle; and

[0007] A sensor assembly is arranged on the handle, and the sensor assembly includes a force sensor and a controller which are electrically connected to each other. The force sensor is used to obtain the force applied to the handle in the vertical direction, and the controller is used to control the wheel.

[0008] Wherein, the sensor assembly further comprises a sensing element, the sensing element connects the handle and the force sensor, and the sensing element, the force sensor, and the controller are all arranged in the inner cavity of the handle;

[0009] Among them, when the handle is subjected to a force, the sensing component is deformed and moves in a vertical direction relative to the handle, and the sensing component drives the preset parameters of the force sensor to change, so that the force sensor obtains the force applied to the handle in the vertical direction, and the force includes pulling force and pushing force.

[0010] The sensor assembly further comprises a fixing member, the fixing member comprises a connecting end and a fixing end which are arranged opposite to each other, the connecting end is connected to the pull rod, the fixing end is passed through the inner cavity of the handle, a surface of the fixing end which is away from the pull rod is provided with a slot, and at least a part of the sensing member is arranged in the slot;

[0011] The extension direction of the sensing member is perpendicular to the extension direction of the pull rod. The sensing member includes a first end, a sensing portion, and a second end arranged along the extension direction of the sensing member. The first end is connected to the fixed end, and the second end is connected to the handle. The sensing portion is used to generate deformation, and there is a gap between the sensing portion and the bottom wall of the slot, and the first end abuts against the bottom wall of the slot.

[0012] Wherein, the first end is detachably connected to the fixed end via a first fastener, and the second end is detachably connected to the handle via a second fastener.

[0013] Wherein, the sensor assembly also includes a limiter, which is arranged on the side of the fixing member away from the pull rod, and the sensing member is clamped between the fixing member and the limiter, and the limiter is used to limit the movement of the sensing member in the vertical direction, and there is a gap between the sensing member and the limiter.

[0014] Wherein, a surface of the limiting member facing the fixing member is provided with an avoidance groove, the avoidance groove is arranged corresponding to the force sensor, and the avoidance groove is used to avoid and limit the force sensor.

[0015] Wherein, the sensing part is provided with a thinning groove, and the thinning groove is arranged corresponding to the force sensor.

[0016] Wherein, the thinning groove is arranged on the surface of the sensing component away from the force sensor, and the thinning groove is an arc-shaped groove.

[0017] Wherein, a mounting groove is provided on the surface of the sensing member facing away from the pull rod, and at least a part of the force sensor is arranged in the mounting groove.

[0018] Wherein, the sensing assembly includes two sensing members and two force sensors, the two sensing members are arranged along a length direction perpendicular to the pull rod, and the two force sensors are respectively arranged on the two sensing members.

[0019] The outdoor transport equipment provided by the present application is composed of a car body assembly, a pull rod assembly, and a sensor assembly. Compared with the outdoor transport equipment in the related art in which the sensor assembly is arranged at the bottom of the pull rod, the present application improves the detection accuracy of the force sensor and reduces the error by arranging the sensor assembly on the handle. Moreover, no matter when the handle and the pull rod are rotated to any angle, the user only needs to pull or push the handle, and the force sensor can obtain the force applied in the vertical direction, that is, only the force of one axis needs to be obtained, and the related art of collecting the force of two or three axes and calculating and analyzing the force value through trigonometric function conversion can be omitted, thereby simplifying the algorithm, improving the detection accuracy and response speed of the force applied to the handle, and improving the user experience.

[0020] In addition, the controller can receive force information from the force sensor to control the wheels to assist users in actively decelerating, braking and reversing the outdoor transport equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the implementation modes of the present application, the drawings required for use in the implementation modes of the present application will be described below.

[0022] Figure 1 A schematic diagram of the structure of an outdoor transport device provided in one embodiment of the present application.

[0023] Figure 2 A cross-sectional view of an outdoor transport device provided in one embodiment of the present application.

[0024] Figure 3 A schematic diagram of the structure of a force sensor and a sensing element provided in one embodiment of the present application.

[0025] Figure 4 A schematic diagram of the structure of a sensing element provided in one embodiment of the present application.

[0026] Figure 5 A schematic structural diagram of a sensing element from another perspective provided in one embodiment of the present application.

[0027] Figure 6 A schematic structural diagram of a fixing member provided in one embodiment of the present application.

[0028] Figure 7 for Figure 2 A partial enlarged view of .

[0029] Figure 8 A schematic structural diagram of a position limiting member provided in one embodiment of the present application.

[0030] Fig. 9 This is a mechanical simulation diagram of a sensing component for mechanical simulation analysis.

[0031] Fig.10 This is the mechanical simulation diagram of the second sensing component in the mechanical simulation analysis.

[0032] Fig.11 Mechanical simulation diagram of three sensing parts for mechanical simulation analysis.

[0033] Fig.12 This is the result diagram of the dot test of the induction component.

[0034] Explanation of reference numerals: outdoor transport equipment 1, pull rod assembly 11, handle 111, pull rod 112, sensor assembly 12, force sensor 121, controller 122, sensing member 123, mounting groove 1231, first end 1232, second end 1233, sensing portion 1234, thinning groove 1235, fixing member 124, connecting end 1241, fixing end 1242, slot 1243, first fastener 1251, second fastener 1252, limit member 126, avoidance groove 1261, connecting hole 1262. DETAILED DESCRIPTION

[0035] The following are preferred implementations of the present application. It should be noted that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications are also considered to be within the scope of protection of the present application.

[0036] Unless otherwise specified or there is a contradiction, the terms and phrases used in this application have the following meanings:

[0037] In this application, "first", "second", etc. are used only for descriptive purposes and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0038] In this application, "one or several" refers to any one, any two or more of the listed items. Among them, "several" refers to any two or more of the listed items.

[0039] In the present application, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0040] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated. It can be mechanically connected or electrically connected. It can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0041] The following is a detailed introduction to the relevant technologies of outdoor transport equipment. Most of the outdoor transport equipment in the relevant technologies detects the user's pulling force on the outdoor transport equipment by setting a force sensor on the rotating shaft at the bottom of the pull rod. When the force sensor detects that the pulling force exceeds the preset range, the controller will control the wheel speed to assist and help the outdoor transport equipment move smoothly.

[0042] However, since the force sensor is fixed at the steering position, when the handrail of the outdoor transport equipment is laid down, the force detected by the force sensor is actually the component force in the vertical direction. Therefore, in order to accurately obtain the actual pulling force of the user on the outdoor transport equipment, it is necessary to first collect the force of two or three axes, and then convert the force detected by the force sensor through trigonometric functions, which makes the calculation process of the control system more complicated.

[0043] Please refer to Figure 1-Figure 2 This embodiment provides an outdoor transport equipment 1 with a force sensor 121, and the outdoor transport equipment 1 includes a carriage assembly, a tie rod assembly 11, and a sensor assembly 12. The carriage assembly includes a carriage body and a wheel, and the wheel is rotatably connected to the carriage body. The tie rod assembly 11 includes a handle 111 and a tie rod 112, one end of the tie rod 112 is rotatably connected to the carriage body, and the other end is connected to the handle 111. The sensor assembly 12 is provided on the handle 111, and the sensor assembly 12 includes a force sensor 121 and a controller 122 that are electrically connected, the force sensor 121 is used to obtain the force applied to the handle 111 in the vertical direction, and the controller 122 is used to control the wheel.

[0044] The outdoor transport device 1 may be, but is not limited to, used for outdoor camping, and can load and transport equipment, food and other items required for camping, etc. The outdoor transport device 1 can also be understood as a camping vehicle.

[0045] The carriage assembly includes a carriage body and wheels. The vehicle is rotated to connect the carriage body, and the carriage body is moved by driving the vehicle to rotate, thereby moving the outdoor transport equipment 1. The wheels are fixed to at least one side of the carriage body, and the number of wheels is multiple. It should be noted that in the terminology of this application, "multiple" refers to any number of two or more. Optionally, the carriage body includes a foldable body frame, so that the outdoor transport equipment 1 has a folded state and an extended state. When the outdoor transport equipment 1 is in the extended state, that is, the outdoor transport equipment 1 is in the unfolded state, the carriage body is enclosed to form a receiving space and is used to load items.

[0046] Optionally, the outdoor vehicle 1 is an electrically assisted outdoor vehicle 1, and the outdoor vehicle 1 is provided with a control system and a hub motor. The hub motor is connected to a wheel or one of a plurality of wheels, for example, the plurality of wheels include a driving wheel and a driven wheel, and the hub motor is connected to the driving wheel of the outdoor vehicle 1. The control system is electrically connected to the hub motor, and controls the speed of the driving wheel by controlling the speed and torque output of the motor, thereby electrically assisting the movement of the outdoor vehicle 1.

[0047] The pull rod assembly 11 includes a handle 111 and a pull rod 112. The handle 111 and the pull rod 112 can be directly connected or indirectly connected through other components. The pull rod 112 is rotatably connected to the carriage body. For example, the pull rod 112 and the carriage body are both rotatably connected to the rotating shaft, thereby realizing the rotational connection between the pull rod 112 and the carriage body. The handle 111 can be used as a direct force application point for the user to the outdoor transport equipment 1. The user applies a pulling force or a pushing force to the handle 111 to drag or push the outdoor transport equipment 1; the user can also swing the handle 111 to rotate the pull rod 112 relative to the carriage body to change the angle between the pull rod 112 and the carriage body, so that the user can find a more comfortable operating angle according to their own usage habits, thereby improving the user's usage experience.

[0048] The sensor assembly 12 is disposed on the handle 111, and at least part of the sensor assembly 12 is disposed on the handle 111. The sensor assembly 12 includes a force sensor 121 and a controller 122 which are electrically connected. The force sensor 121 is used to obtain the force applied to the handle 111 in the vertical direction and send force information. The controller 122 is used to receive the force information and control the wheel according to the force information. The force includes pulling force and pushing force. Figure 2 As shown in the middle direction D, the vertical direction is parallel to the direction of gravity, which can also be understood as the vertical direction is the up and down direction. When the force is a pulling force, the vertical direction is opposite to the direction of gravity; when the force is a thrust, the vertical direction is the same as the direction of gravity.

[0049] Optionally, the wheel includes a driving wheel and a driven wheel, the driving wheel is used to drive the driven wheel to rotate, and the controller 122 is used to control the driving wheel. When the force obtained by the force sensor 121 is not within a preset range, the controller 122 controls the driving wheel to rotate to assist the user in actively decelerating, braking and reversing the outdoor transport equipment 1.

[0050] In summary, compared with the outdoor transport equipment 1 in the related art in which the sensor component 12 is arranged at the bottom of the pull rod 112, this embodiment improves the detection accuracy of the force sensor 121 and reduces the error by arranging the sensor component 12 on the handle 111. Moreover, no matter when the handle 111 and the pull rod 112 are rotated to any angle, the user only needs to pull or push the handle 111, and the force sensor 121 can obtain the force applied in the vertical direction, that is, only one-axis force needs to be obtained, and the related art of collecting two-axis or three-axis forces and calculating and analyzing the force values ​​through trigonometric function conversion can be omitted, thereby simplifying the algorithm, improving the detection accuracy and response speed of the force applied to the handle 111, and improving the user experience.

[0051] Please refer to Figure 1-Figure 7 In one embodiment, the sensor assembly 12 further includes a sensing element 123 , wherein the sensing element 123 connects the handle 111 and the force sensor 121 , and the sensing element 123 , the force sensor 121 , and the controller 122 are all disposed in the inner cavity of the handle 111 .

[0052] When the handle 111 is subjected to a force, the sensing element 123 is deformed and moves in a vertical direction relative to the handle 111. The sensing element 123 drives the preset parameters of the force sensor 121 to change, so that the force sensor 121 obtains the force applied to the handle 111 in the vertical direction, and the force includes pulling force and pushing force.

[0053] The handle 111 includes a shell, the shell has an inner cavity, and the sensing element 123, the force sensor 121, and the controller 122 are all arranged in the inner cavity of the shell. For example, the shape of the shell is annular. Optionally, the shell includes a first sub-semi-ring and a second sub-semi-ring connected to each other, the first sub-semi-ring is closer to the pull rod 112 than the second sub-semi-ring, and the sensing component 12 is arranged in the first sub-semi-ring. In this embodiment, the sensing component 12 is arranged in the first sub-semi-ring closer to the pull rod 112. On the one hand, it is more convenient and simple for the user to push and pull the second sub-semi-ring away from the pull rod 112. On the other hand, the sensing component 12 is arranged in the first sub-semi-ring, which is conducive to the deformation amount generated by the sensing element 123 to be more obvious, thereby improving the detection accuracy of the force sensor 121.

[0054] The sensing member 123 is made of a material with deformation properties. Specifically, the sensing member 123 is made of a material that is strong and can be deformed under a certain force. Optionally, the material of the sensing member 123 is metal. Preferably, the material of the sensing member 123 is aluminum, or an aluminum alloy, or stainless steel. Optionally, the thickness of the sensing member 123 is 2 mm to 6 mm, and specifically, 2 mm, 3 mm, 4 mm, 5 mm, or 6 mm, etc., can be exemplified. By limiting the thickness range of the sensing member 123, the sensing member 123 can be deformed and moved under a force.

[0055] Specifically, when the user pulls the handle 111, that is, applies a pulling force to the handle 111, the shell of the handle 111 is pulled upward relative to the user; when the user pushes the handle 111, that is, applies a pushing force to the handle 111, the shell of the handle 111 is pressed downward relative to the user; both of the above situations can drive the sensing element 123 to deform and move the sensing element 123 in the vertical direction relative to the handle 111, which can also be understood as the sensing element 123 moving up and down relative to the handle 111. In addition, when the user no longer applies a force to the handle 111, the sensing element 123 can return to the state before the deformation.

[0056] The induction member 123 drives the preset parameters of the force sensor 121 to change, so that the force sensor 121 can capture and measure the deformation of the induction member 123, and send force information according to the deformation of the induction member 123. Among them, the deformation of the induction member 123 refers to the displacement change of the induction member 123 relative to the handle 111 in the vertical direction. The controller 122 receives the force information and analyzes and processes the force information to obtain the magnitude of the user's force on the handle 111, and generates control signals in turn to complete the intelligent power-assisted control process of the outdoor transport equipment 1. Optionally, the force sensor 121 is arranged on the side of the induction member 123 away from the pull rod 112; or, the force sensor 121 is arranged on the side of the induction member 123 facing the pull rod 112. The controller 122 can also be understood as a control board or a circuit board. Optionally, the controller 122 is arranged on the side of the force sensor 121 away from the induction member 123.

[0057] Optionally, under the effect of the deformation of the sensing member 123, the force sensor 121 also deforms, and the force sensor 121 can obtain the force applied to the handle 111 in the vertical direction according to the change of its own preset parameters. Preferably, the force sensor 121 is a semiconductor resistor. The force sensor 121 can also be understood as a strain gauge, and generally a semiconductor resistor is a resistor provided on a silicon-based chip, and the preset parameters are the semiconductor resistors of the strain gauge. When a force acts on a semiconductor resistor, the semiconductor resistor will undergo a slight deformation. This deformation causes the geometric shape of the semiconductor resistor to change, thereby causing a change in the resistance value. By measuring the change in the resistance value of the semiconductor resistor, and after appropriate circuit processing and calibration, it can be converted into the measured force value.

[0058] The force sensor 121 has the following advantages: first, the data processing for users is intuitive, and the user has a high learning and adaptability. Second, it has a high bidirectional sensing force, and can achieve deceleration and reversing by pushing and pulling. Third, the force sensor 121 is very sensitive to changes in force and has high sensitivity. Fourth, it has good stability and a wide operating temperature range. It can work normally in the temperature range of -20°C to 60°C, and the storage temperature range is -25 to 80°C. Fifth, the force sensor 121 can work under various harsh environmental conditions, such as high temperature, low temperature, humidity, vibration, etc., and has good stability, and the output signal does not have excessive deviation in different harsh environments.

[0059] In summary, by converting the force applied by the user to the handle 111 into the deformation of the sensing member 123 and the displacement in the vertical direction, the force sensor 121 first obtains the deformation of the sensing member 123, and then obtains the force value applied in the vertical direction, that is, obtains the force value of one axis in the vertical direction. By setting the sensing member 123, this embodiment can amplify the change of the force, improve the detection accuracy of the force sensor 121, and improve the user experience.

[0060] Please refer to Figure 3 and Figure 4 In one embodiment, a mounting groove 1231 is provided on a surface of the sensing element 123 facing away from the pull rod 112 , and at least a portion of the force sensor 121 is disposed in the mounting groove 1231 .

[0061] The shape of the mounting groove 1231 can be rectangular, circular, etc., which is not limited in the present application. Optionally, the shape of the mounting groove 1231 matches the shape of the force sensor 121. For example, part of the force sensor 121 is arranged in the mounting groove 1231, and the other part protrudes from the mounting groove 1231. For another example, the force sensor 121 is arranged in the mounting groove 1231 as a whole. The connection method between the force sensor 121 and the mounting groove 1231 can be an adhesive connection, a snap connection, a threaded connection, etc., which is not limited in the present application.

[0062] In summary, in this embodiment, the force sensor 121 is disposed in the installation groove 1231. The installation groove 1231 can not only play a positioning role to reduce the difficulty of installing the force sensor 121 on the sensing component 123, but also play a limiting role to limit the position of the force sensor 121, so as to improve the connection performance between the sensing component 123 and the force sensor 121, and improve the reliability of the sensor component 12.

[0063] Please refer to Figure 1-Figure 7 In one embodiment, the sensor component 12 also includes a fixing member 124, the fixing member 124 has a connecting end 1241 and a fixing end 1242 that are relatively arranged, the connecting end 1241 is connected to the pull rod 112, the fixing end 1242 is passed through the inner cavity of the handle 111, and a slot 1243 is provided on the surface of the fixing end 1242 facing away from the pull rod 112, and at least a portion of the sensing member 123 is arranged in the slot 1243.

[0064] The fixing member 124 is used to connect the pull rod 112 and the handle 111, and is also used to fix the sensing member 123. The fixing member 124 includes a connecting end 1241 and a fixing end 1242. The connecting end 1241 is arranged outside the inner cavity of the handle 111, and the connection method between the connecting end 1241 and the pull rod 112 can be an adhesive connection, a snap connection, a threaded connection, etc., which is not limited in this application. For example, the connecting end 1241 has a first through hole, and the fixing member 124 has a second through hole. The first through hole and the second through hole are used to accommodate fasteners. It can also be understood that the connecting end 1241 and the fixing member 124 are connected by fasteners. The fasteners can be bolts, screws, studs, etc., which are not limited in this application. The fixing end 1242 is arranged in the inner cavity of the handle 111, which can also be understood that part of the fixing member 124 is embedded in the handle 111. The connection method between the fixing end 1242 and the handle 111 can be an adhesive connection, a snap connection, a threaded connection, etc., which is not limited in this application.

[0065] The fixed end 1242 is provided with a slot 1243 for accommodating the sensing member 123. The shape of the slot 1243 may be rectangular, circular, etc., which is not limited in the present application. Optionally, the shape of the slot 1243 matches the shape of the sensing member 123. At least a portion of the sensing member 123 is disposed in the slot 1243. For example, the sensing member 123 is disposed as a whole in the slot 1243. For another example, part of the slot 1243 is disposed in the mounting slot 1231, and the other part protrudes from the slot 1243. The connection method between the sensing member 123 and the slot 1243 may be an adhesive connection, a snap connection, a threaded connection, etc., which is not limited in the present application.

[0066] In summary, by providing a fixing member 124 and installing the sensing member 123 on the fixing member 124, the present embodiment can reduce the influence of the pull rod 112 on the sensing member 123 and improve the detection accuracy of the force sensor 121. In addition, the present embodiment also provides a card slot 1243 on the fixing member 124. On the one hand, the card slot 1243 can limit the movement of the sensing member 123 in the vertical direction, that is, limit the downward movement of the sensing member 123, and implement overshoot protection for the sensing member 123 to avoid damage to the sensing member 123; on the other hand, the card slot 1243 can play a positioning role, reduce the difficulty of installing the sensing member 123, and also improve the connection performance between the sensing member 123 and the force sensor 121, thereby improving the reliability of the sensor assembly 12.

[0067] The extension direction of the sensing member 123 is perpendicular to the extension direction of the pull rod 112. The sensing member 123 includes a first end 1232, a sensing portion 1234, and a second end 1233 arranged along the extension direction of the sensing member 123. The first end 1232 is connected to the fixed end 1242, and the second end 1233 is connected to the handle 111. The sensing portion 1234 is used to generate deformation, and there is a gap between the sensing portion 1234 and the bottom wall of the slot 1243. The first end 1232 abuts against the bottom wall of the slot 1243.

[0068] The extension direction of the sensing member 123 is perpendicular to the extension direction of the pull rod 112, which can also be understood as the extension direction of the sensing member 123 being perpendicular to the vertical direction, or the extension direction of the sensing member 123 being perpendicular to the length direction of the pull rod 112, or the extension direction of the sensing member 123 being perpendicular to the arrangement direction from the handle 111 to the pull rod 112. In this embodiment, by making the extension direction of the sensing member 123 perpendicular to the vertical direction, the sensing member 123 is conducive to converting the force in the vertical direction into the deformation of the sensing member 123 and the displacement in the vertical direction, thereby improving the detection accuracy of the force sensor 121.

[0069] Specifically, the first end 1232 can be used as a fixed fulcrum of the sensing member 123 and connected to the entire body of the outdoor transport device 1. The second end 1233 is connected to the handle 111. When the user pulls the handle 111, a relative movement occurs between the handle 111 and the sensing member 123, causing the sensing member 123 to move relative to the body. It should be noted that the movement of the sensing member 123 is relatively small, which will cause at least part of the sensing member 123 between the first end 1232 and the second end 1233 to deform, thereby causing the force sensor 121 to generate an electrical signal to feedback the force value of the user on the handle 111.

[0070] In summary, this embodiment connects the first end 1232 of the sensing element 123 to the fixing element 124 and the second end 1233 to the handle 111, which not only improves the connection performance between the sensing element 123 and the fixing element 124 and the handle 111 and improves the reliability of the sensor assembly 12, but also facilitates the sensing element 123 to convert the force into deformation and displacement of the sensing part 1234, thereby improving the detection accuracy of the force sensor 121.

[0071] When the handle 111 is subjected to a force, at least part of the sensing portion 1234 is deformed, and the sensing member 123 moves in the vertical direction relative to the handle 111. Optionally, the width of the sensing portion 1234 is smaller than the width of the first end 1232, and the width of the sensing portion 1234 is smaller than the width of the second end 1233. Optionally, there is a gap between the second end 1233 and the bottom wall of the slot 1243.

[0072] In summary, in this embodiment, a gap is provided between the sensing portion 1234 and the bottom wall of the slot 1243 to provide space for the sensing component 123 to deform and move, so that the sensing component 123 has sufficient deformation margin; and the first end 1232 is abutted against the bottom wall of the slot 1243 so that the first end 1232 serves as a fixed fulcrum of the sensing component 123, thereby improving the reliability of the sensing component 123.

[0073] Alternatively, if Figure 7 As shown, there is a gap H between the sensing portion 1234 and the bottom wall of the slot 1243, and the gap H satisfies: 0.2mm≤H≤0.5mm, and specifically, 0.2mm, or 0.3mmmm, or 0.4mm, or 0.5mm. If the gap H is too large, the sensing element 123 is likely to exceed its own displacement stroke under the force, causing the sensing element 123 to be unable to rebound and recover, thereby damaging the sensing element 123; if the gap H is too small, the sensing element 123 is deformed, and the displacement space is insufficient, and the force sensor 121 has a reduced detection accuracy of the force.

[0074] Therefore, by limiting the gap range between the sensing part 1234 and the bottom wall of the slot 1243 to 0.2mm to 0.5mm, it is possible to provide space for the sensing component 123 to deform and displace, so that the sensing component 123 has a deformation margin, and to limit the displacement of the sensing component 123, thereby preventing the sensing component 123 from exceeding its own displacement stroke when the user applies a thrust or pull force to the handle 111, causing the sensing component 123 to be unable to rebound, thereby achieving overshoot protection and effectively preventing damage to the sensing component 123 and the force sensor 121.

[0075] In one embodiment, the first end 1232 is detachably connected to the fixed end 1242 via a first fastener 1251 , and the second end 1233 is detachably connected to the handle 111 via a second fastener 1252 .

[0076] The sensing member 123 includes a first end 1232 and a second end 1233. The first end 1232 is fixed to the fixed end 1242 by a first fastener 1251. For example, the sensing member 123 has a first mounting hole, and the bottom wall of the slot 1243 has a second mounting hole. The first mounting hole and the second mounting hole are both used to accommodate the first fastener 1251. The first mounting hole and the second mounting hole are arranged along the extension direction of the pull rod 112. The first fastener 1251 includes a stud and a nut. The stud of the first fastener 1251 is arranged in the first mounting hole and the second mounting hole. The nut of the first fastener 1251 abuts against the first end 1232, thereby fixing the first end 1232 on the fixing member 124, so that the sensing member 123 is connected to the entire body of the outdoor transport equipment 1. The second end 1233 is fixed to the handle 111 through the second fastener 1252. For example, the second end 1233 has a first through hole, and the housing of the handle 111 has a second through hole. The first through hole and the second through hole are used to accommodate the second fastener 1252. The first through hole and the second through hole are arranged along a direction perpendicular to the extension direction of the pull rod 112. The first fastener 1251 and the second fastener 1252 can be bolts, screws, studs, etc., and this application does not limit this.

[0077] Optionally, the housing of the handle 111 is provided with a receiving groove for receiving the second end 1233, so as to further limit the position of the sensing element 123, so as to improve the connection performance between the sensing element 123 and the handle 111, thereby improving the reliability of the sensor assembly 12. Optionally, the first end 1232 is arranged close to the central axis of the handle 111, or is arranged corresponding to the central axis of the handle 111. The second end 1233 is farther from the central axis of the handle 111 than the first end 1232. Such an arrangement makes the sensing element 123 more sensitive to the change of the force applied to the handle 111, thereby improving the detection accuracy of the force sensor 121.

[0078] Please refer to Figure 1-Figure 8In one embodiment, the sensor assembly 12 further includes a limit member 126, and the limit member 126 is disposed on a side of the fixing member 124 away from the pull rod 112, and the sensing member 123 is clamped between the fixing member 124 and the limit member 126, and the limit member 126 is used to limit the movement of the sensing member 123 in the vertical direction, and there is a gap between the sensing member 123 and the limit member 126.

[0079] The limit member 126 is used to limit the movement of the sensing member 123 in the vertical direction, that is, to limit the upward movement of the sensing member 123. The limit member 126 can also be understood as a cover plate. The limit member 126 is detachably connected to the surface of the fixing member 124 that is away from the pull rod 112. The connection method between the limit member 126 and the fixing member 124 can be an adhesive connection, a snap connection, a threaded connection, etc., which is not limited in the present application. For example, the limit member 126 has a third through hole, and the fixing member 124 has a fourth through hole. The third through hole and the fourth through hole are used to accommodate fasteners. It can also be understood that the limit member 126 and the fixing member 124 are connected by fasteners. The fasteners can be bolts, screws, studs, etc., which are not limited in the present application.

[0080] In one embodiment, the surface of the limiting member 126 facing the fixing member 124 is provided with an avoidance groove 1261, and the avoidance groove 1261 is provided corresponding to the force sensor 121, and the avoidance groove 1261 is used to avoid and limit the force sensor 121. By providing the avoidance groove 1261 on the limiting member 126, not only can the force sensor 121 be avoided to provide the force sensor 121 with sufficient displacement space, but also the position of the force sensor 121 can be limited, thereby improving the reliability of the sensor assembly 12.

[0081] Optionally, the controller 122 is disposed on a side of the stopper 126 away from the fixing member 124. Optionally, the stopper 126 is provided with a connection hole 1262 penetrating the avoidance groove 1261 and the surface of the stopper 126 away from the fixing member 124, and the connection hole 1262 is used to accommodate an electrical connection line electrically connecting the controller 122 and the force sensor 121.

[0082] In summary, the present embodiment sets a limiter 126 to limit the movement of the sensing member 123 in the vertical direction, that is, to limit the upward movement of the sensing member 123, thereby avoiding the displacement stroke of the sensing member 123 itself, resulting in the sensing member 123 being unable to rebound and recover, thereby achieving overshoot protection, and effectively preventing the sensing member 123 and the force sensor 121 from being damaged; and, it is also defined that there is a gap between the sensing member 123 and the limiter 126, thereby providing space for the sensing member 123 to deform and displace, so that the sensing member 123 has sufficient deformation margin.

[0083] Please refer to Figure 4-Figure 7In one embodiment, the sensing portion 1234 further includes a thinning groove 1235 , and the thinning groove 1235 is arranged corresponding to the force sensor 121 .

[0084] The thinning groove 1235 is used to thin the thickness of the sensing member 123. Optionally, the shape of the thinning groove 1235 can be an arc structure, a triangle, a square, other shapes, etc., which is not limited in the present application. Among them, the thinning groove 1235 can be arranged on the surface of the sensing member 123 away from the force sensor 121, and / or the side of the sensing member 123, and / or the surface of the sensing member 123 facing the force sensor 121. At least part of the positive projection of the force sensor 121 on the sensing member 123 is located in the thinning groove 1235, or corresponds to the thinning groove 1235. The sensing member 123 includes a first end 1232, a sensing portion 1234, and a second end 1233 connected to each other, and the thinning groove 1235 and the force sensor 121 are both arranged in the sensing portion 1234.

[0085] In summary, in this embodiment, a thinning groove 1235 is provided on the sensing element 123 to reduce the thickness of the sensing element 123 , thereby weakening the strength of the sensing element 123 and enabling the sensing element 123 to deform better, thereby improving the output signal sensitivity of the force sensor 121 .

[0086] In one embodiment, the thinning groove 1235 is disposed on a surface of the sensing element 123 that is away from the force sensor 121 , and the thinning groove 1235 is an arc-shaped groove.

[0087] The thinning groove 1235 is an arc-shaped groove, which can also be understood as an arc-shaped structure. Specifically, when the user pulls the handle 111 upward, the deformation of the arc-shaped position of the sensing element 123 will drive the force sensor 121 disposed above to deform; when the user pushes the handle 111 downward, the deformation of the arc-shaped position of the sensing element 123 will drive the force sensor 121 disposed above to deform in the opposite direction, so that the force sensor 121 generates positive and negative signals respectively to feedback the magnitude of the force applied to the handle 111 by the user.

[0088] Optionally, the arc-shaped groove includes a first part, a second part, and a third part arranged along the extension direction of the sensing element 123, the groove depth of the first part is less than the groove depth of the second part, the groove depth of the third part is less than the groove depth of the second part, and the second part is arranged corresponding to the force sensor 121. By arranging the force sensor 121 at the part with the largest groove depth in the arc-shaped groove, it can also be understood that arranging the force sensor 121 at the part with the thinnest thickness of the sensing element is conducive to the force sensor 121 to better sense the changes of the sensing element 123, and further improve the output signal sensitivity of the force sensor 121.

[0089] In summary, in this embodiment, the thinning groove 1235 is arranged in the arc structure, so that the travel of the sensing member 123 during the deformation process is amplified, the sensing member 123 has a higher sensitivity, and the force sensor 121 can generate a corresponding signal more sensitively to the deformation of the sensing member 123.

[0090] Please refer to Figure 1-Figure 5 In one embodiment, the sensor assembly 12 includes two sensing members 123 and two force sensors 121 . The two sensing members 123 are arranged along a length direction perpendicular to the pull rod 112 , and the two force sensors 121 are respectively disposed on the two sensing members 123 .

[0091] Optionally, the two sensing members 123 are connected, or the two sensing members 123 are spaced apart. Optionally, the two sensing members 123 are an integrated structure. Among them, the first ends 1232 of the two sensing members 123 are adjacently arranged, and the second ends 1233 of the two sensing members 123 are back-to-back arranged. The first ends 1232 of the two sensing members 123 are arranged corresponding to the midpoint of the handle 111. The two sensing members 123 are symmetrically arranged along the symmetry axis of the handle 111. The two force sensors 121 can respectively obtain the deformation of the two sensing members 123, thereby obtaining the force applied to the handle 111.

[0092] In summary, the outdoor transport equipment 1 has a certain strength for outdoor use. As a low-speed transport tool, the outdoor transport equipment 1 has relatively complex usage scenarios and working conditions. In this embodiment, two force sensors 121 are set. On the one hand, it is for redundancy considerations. It can be understood that if one of the force sensors 121 is damaged, it will at least not affect the use of the outdoor transport equipment 1, and the other force sensor 121 can still ensure the normal operation of the outdoor transport equipment 1. On the other hand, during use, the signals generated by the force sensors 121 on both sides can be compared and verified.

[0093] For example, the outdoor vehicle 1 of the related art may encounter problems when turning, because turning is equivalent to using a relatively large force to press the force sensor 121, so the force sensor 121 will generate a signal that requires acceleration. However, by comparing the force sensors 121 on both sides, it can be determined whether the outdoor vehicle 1 is in a straight running state or a turning running state, so that it can turn smoothly and avoid impact, so that the outdoor vehicle 1 can maintain a smooth use state whether it is turning or going straight.

[0094] Optionally, the two force sensors 121 include a first force sensor disposed on a first side and a second force sensor disposed on a second side, and the first side and the second side are disposed opposite to each other.

[0095] Obtain a first signal from the first force sensor and a second signal from the second force sensor; wherein, if the absolute value of the difference between the first signal and the second signal is within a preset range, it is determined that the outdoor transport equipment 1 is in a straight running state; if the absolute value of the difference between the first signal and the second signal is outside the preset range, it is determined that the outdoor transport equipment 1 is in a turning running state.

[0096] Further optionally, when the outdoor transport equipment 1 is in a turning operation state, the first signal is further compared with the second signal. If the first signal is greater than the second signal, the wheel located on the second side is controlled to accelerate; if the second signal is greater than the first signal, the wheel located on the first side is controlled to accelerate.

[0097] In one embodiment, the force sensor feeds back the detected force signal to the microprocessor. When the force sensor detects that the pulling force or thrust exceeds a preset range, the microprocessor can send an instruction to the motor driver. After receiving the instruction, the motor driver can control the operating state of the wheel hub motor, and then control the operating state of the driving wheel of the outdoor transport equipment.

[0098] Furthermore, the microprocessor will also detect battery status information, posture information of outdoor transportation equipment and user key commands to improve decision-making accuracy.

[0099] Furthermore, the control system can also use multiple sensor information fusion technologies, such as using force sensors to collect the user's pulling and pushing force on the handle, and detect information such as the handle inclination angle, the body inclination angle and the wheel speed, as well as detect battery voltage, motor temperature and other states, while receiving user button commands and outputting decision information after comprehensive analysis, thereby improving the decision-making accuracy of the outdoor transportation equipment control system.

[0100] Among them, the instructions issued by the control system include but are not limited to controlling the outdoor transportation equipment to move forward, backward, accelerate, decelerate, or park, etc., and the control scheme is more diverse and delicate.

[0101] In order to make the purpose and advantages of this application clearer, mechanical simulation analysis is performed on sensing parts made of various materials (including aluminum alloy and stainless steel, etc.) to verify the effect of the sensing component of this application. The core points of the simulation verification include:

[0102] 1. Trigger force: Since the outdoor transport equipment products are required to be relatively sensitive during use, that is, the user does not need to exert much force to pull it, so the trigger force is a crucial point.

[0103] 2. Material yield degree: refers to the need to judge the yield degree of the material of the sensing component under the most extreme working conditions, whether the shape of the material can be restored, and whether it will exceed the yield strength of the material itself.

[0104] 3. Linearity of deformation: Since the force sensor relies on the deformation of the sensing part to generate an electrical signal, the deformation of the sensing part material under force needs to be sufficiently linear to ensure a smooth experience for users.

[0105] Mechanical simulation analysis 1: Aluminum alloy is used as the material of the sensor, and the thickness of the sensor is 2mm. Please refer to Table 1 and Fig. 9 Table 1 is the test parameter table of the induction component in the mechanical simulation analysis. Fig. 9 This is a mechanical simulation diagram of a sensing component for mechanical simulation analysis.

[0106] Table 1 Test parameters of the induction parts in mechanical simulation analysis 1

[0107] Weight acting on the handle (g) Deformation of induction parts (mm) Stress of induction parts (MPa) 500 0.011 8 18181.82 0.4 290.9091 22727.27 0.5 363.6364

[0108] From the above table, it can be seen that when the weight acting on the handle is 500g, the deformation of the sensing part is 0.011mm and the stress is 8MPa. At this time, the signal of the triggering force sensor is about 165×4=660uV, which meets the requirements of high sensitivity and small triggering force of the sensor component. If the deformation of the sensing part reaches 0.5mm, 22727g needs to be applied, which can also be understood as a force of 23kg. At this time, the stress is 363MPa, which is lower than the yield strength of aluminum alloy 370MPa, meets the yield degree requirements of the sensing part, and is not easy to be damaged.

[0109] Mechanical simulation analysis 2: Stainless steel is used as the material of the sensor, and the thickness of the sensor is 2mm. Please refer to Table 2 and Fig.10 Table 2 is the test parameter table of the induction parts in the mechanical simulation analysis 2. Fig.10 This is the mechanical simulation diagram of the second sensing component in the mechanical simulation analysis.

[0110] Table 2 Test parameters of the induction parts in mechanical simulation analysis II

[0111] Weight acting on the handle (g) Deformation of induction parts (mm) Stress of induction parts (MPa) 500 0.0042 7 47619.05 0.4 666.6667 59523.81 0.5 833.3333

[0112] From the above table, it can be seen that when the weight acting on the handle is 500g, the deformation of the sensing part is 0.0042mm and the stress is 7MPa. At this time, the signal of the triggering force sensor is about 53×4=212uV, which meets the requirements of high sensitivity and small triggering force of the sensor component. If the deformation of the sensing part reaches 0.5mm, 59523g needs to be applied, which can also be understood as a force of 59.5kg. At this time, the stress is 833MPa, which is lower than the yield strength of stainless steel 930MPa, meets the yield degree requirements of the sensing part, and is not easy to be damaged.

[0113] Mechanical simulation analysis 3: Stainless steel is used as the material of the sensing part, the thickness of the sensing part is 3mm, and an arc-shaped thinning groove is set on the sensing part. Please refer to Table 3 and Fig.11 Table 3 is the test parameter table of the three sensing parts in the mechanical simulation analysis. Fig.11 Mechanical simulation diagram of three sensing parts for mechanical simulation analysis.

[0114] Table 3 Test parameters of the three sensing parts in mechanical simulation analysis

[0115] Weight acting on the handle (g) Deformation of induction parts (mm) Stress of induction parts (MPa) 500 0.0027 5 74074.07 0.4 740.7407 92592.59 0.5 925.9259

[0116] From the above table, we can see that when the weight acting on the handle is 500g, the deformation of the sensing part is 0.0027mm and the stress is 5MPa. At this time, the signal of the triggering force sensor is about 41×4=164uV, which meets the requirements of high sensitivity and small triggering force of the sensor component. If the deformation of the sensing part reaches 0.5mm, 92592g needs to be applied, which can also be understood as a force of 92.5kg. At this time, the stress is 926MPa, which is lower than the yield strength of stainless steel 930MPa, meets the yield degree requirements of the sensing part, and is not easy to be damaged.

[0117] For the core points of simulation verification, please refer to Fig.12 , Fig.12 The figure is the result of the dot test of the sensor. The cantilever beam is used to apply different weights to the front and back of the sensor to perform dot tests, and the signal generated by the force sensor is collected. Fig.12 In the figure, the horizontal axis is the different applied weights, and the vertical axis is the signal generated by the force sensor. The test results show that the curve generated by the final force sensor is extremely linear, R 2 As high as 0.99, it is also very friendly to the post-processing of the control system, thus enabling the control system of outdoor transportation equipment to make more accurate decisions.

[0118] Moreover, compared with the outdoor transport equipment in the related art that only processes the tension signal, the present application improves the sensor component so that the force sensor generates the signal amount when it is subjected to force in both the positive and negative directions, and the signal curve is very linear and stable. Therefore, the outdoor transport equipment provided by the present application can use a force sensor to detect signals in two different directions (tension / thrust), and thereby support the outdoor transport equipment to make different control decisions such as acceleration, braking, deceleration and reversing. Compared with the outdoor transport equipment in the related art, the application scenarios of the outdoor transport equipment provided by the present application will be more extensive, and the use experience will be more intelligent and smooth.

[0119] Mentioning "embodiment" and "implementation method" in this application means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrases in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments. In addition, it should also be understood that the features, structures or characteristics described in the various embodiments of the present application can be arbitrarily combined to form another embodiment that does not deviate from the spirit and scope of the technical solution of the present application, provided that there is no contradiction between them.

[0120] The above is part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. An outdoor transport device having a force sensor, characterized in that: The outdoor transport equipment includes: A carriage assembly comprises a carriage body and wheels, wherein the wheels are rotatably connected to the carriage body; A pull rod assembly, comprising a handle and a pull rod, one end of the pull rod being rotatably connected to the carriage body, and the other end being connected to the handle; and A sensor assembly is arranged on the handle, and the sensor assembly includes a force sensor and a controller which are electrically connected to each other. The force sensor is used to obtain the force applied to the handle in the vertical direction, and the controller is used to control the wheel.

2. The outdoor transport equipment according to claim 1, characterized in that: The sensor assembly further comprises a sensing element, wherein the sensing element connects the handle and the force sensor, and the sensing element, the force sensor, and the controller are all disposed in the inner cavity of the handle; Among them, when the handle is subjected to a force, the sensing component is deformed and moves in a vertical direction relative to the handle, and the sensing component drives the preset parameters of the force sensor to change, so that the force sensor obtains the force applied to the handle in the vertical direction, and the force includes pulling force and pushing force.

3. The outdoor transport equipment according to claim 2, characterized in that: The sensor assembly further includes a fixing member, the fixing member having a connecting end and a fixing end which are arranged opposite to each other, the connecting end is connected to the pull rod, the fixing end is passed through the inner cavity of the handle, a surface of the fixing end which is away from the pull rod is provided with a slot, and at least a part of the sensing member is arranged in the slot; The extension direction of the sensing member is perpendicular to the extension direction of the pull rod. The sensing member includes a first end, a sensing portion, and a second end arranged along the extension direction of the sensing member. The first end is connected to the fixed end, and the second end is connected to the handle. The sensing portion is used to generate deformation, and there is a gap between the sensing portion and the bottom wall of the slot, and the first end abuts against the bottom wall of the slot.

4. The outdoor transport equipment according to claim 3, characterized in that: The first end is detachably connected to the fixed end via a first fastener, and the second end is detachably connected to the handle via a second fastener.

5. The outdoor transport equipment according to claim 3, characterized in that: The sensor assembly also includes a limiter, which is arranged on a side of the fixing member away from the pull rod, and the sensing member is clamped between the fixing member and the limiter. The limiter is used to limit the movement of the sensing member in the vertical direction, and there is a gap between the sensing member and the limiter.

6. The outdoor transport equipment according to claim 5, characterized in that: A surface of the limiting member facing the fixing member is provided with an avoidance groove, the avoidance groove is arranged corresponding to the force sensor, and the avoidance groove is used to avoid and limit the force sensor.

7. The outdoor transport equipment according to claim 3, characterized in that: The sensing portion is provided with a thinning groove, and the thinning groove is arranged corresponding to the force sensor.

8. The outdoor transport equipment according to claim 7, characterized in that: The thinning groove is arranged on the surface of the sensing element away from the force sensor, and the thinning groove is an arc-shaped groove.

9. The outdoor transport equipment according to claim 2, characterized in that: A mounting groove is provided on the surface of the sensing member facing away from the pull rod, and at least a part of the force sensor is arranged in the mounting groove.

10. The outdoor transport equipment according to claim 2, characterized in that: The sensor assembly includes two sensing members and two force sensors. The two sensing members are arranged along a length direction perpendicular to the pull rod, and the two force sensors are respectively arranged on the two sensing members.

Images