Trolley suitable for various terrains and control method thereof

Abstract

The invention discloses a trolley suitable for various terrains and a control method of the trolley. The trolley comprises a control frame, a trolley body, wheels and a damping assembly. A control system is arranged in the vehicle body; the wheels are installed at the bottom of the vehicle body through damping assemblies and connected with a control system in the vehicle body. The control frame is adjustably mounted at the top of the vehicle body, and the control frame is connected with a control system in the vehicle body; the control system is used for receiving the control command sent by the control frame and controlling the wheels to execute the control command. By improving a trolley control system, a manned mode, a remote control mode, an automatic mode, a following mode and a power assisting mode are added to the trolley, so that the trolley is more convenient, more intelligent and more flexible to control, and the overall transportation efficiency is improved when the trolley is used.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a small vehicle suitable for various terrains and a control method thereof. Background Art

[0002] At present, although various modes of transportation have been developed, in areas with complex terrain, such as mountains and grasslands, most of the transportation of goods still relies on livestock or manpower. The existing equipment has poor off-road capabilities in rugged areas.

[0003] Patent CN201410720379.3 discloses a mountain fruit transport cart, including a frame, a traveling mechanism and a fruit box, wherein the traveling mechanism is arranged at the bottom of the frame, and the fruit box is arranged on the upper part of the frame, and the fruit box includes at least two stacked boxes, each of which is composed of an outer box, a middle isolation layer made of isolation material and an inner box; a shock absorber is provided between the traveling mechanism and the frame, and the shock absorber is composed of a plurality of vertically arranged shock absorbers, each shock absorber includes a shock absorber spring, an upper connecting member and a lower connecting member, wherein the upper connecting member is arranged on the frame, and the lower connecting member is arranged on the traveling mechanism, and the upper and lower ends of the shock absorber spring are respectively connected to the upper connecting member and the lower connecting member.

[0004] Although the above patent solves the problem of transporting goods in complex environments, the control method of the trolley still mainly relies on human transportation, which consumes a lot of physical strength and has low transportation efficiency. In addition, there is a lack of intelligent control system in the trolley, which has the disadvantages of poor flexibility, difficult operation, and difficult control. Therefore, there is an urgent need for a trolley suitable for various terrains and a control method thereof. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention designs a small vehicle suitable for various terrains, including: a control frame, a body, wheels and a shock absorbing assembly; a control system is arranged in the body; the wheels are mounted on the bottom of the body through the shock absorbing assembly, and the wheels are connected to the control system in the body; the control frame is adjustably mounted on the top of the body, and the control frame is connected to the control system in the body; the control system is used to receive control commands issued by the control frame, and control the wheels to execute the control commands.

[0006] Preferably, the control frame includes: a first frame body, a second frame body, a connecting member, a control key and a control handle; wherein the connecting member is fixedly mounted on the vehicle body, the first frame body is adjustably mounted on one end of the connecting member, and the second frame body is adjustably mounted on the other end of the connecting member; the control key and the control handle are both mounted on the first frame body, and the control handle is connected to the control key, and the control key is connected to the control system.

[0007] Preferably, the control handle includes: a handlebar main body, a first control component, a second control component and a third control component; wherein the handlebar main body is installed on the first frame; the first control component and the second control component are respectively hollow circular ring structures, and the first control component can be rotatably installed at one end of the handlebar main body, and the second control component can be rotatably installed at the other end of the handlebar main body; the third control component is installed at the center position of the handlebar main body; the first control component, the second control component and the third control component are all connected to the control key.

[0008] Preferably, the third control component includes an outer ring and an inner ring; the outer ring and the inner ring are respectively hollow circular ring structures, and the outer ring is arranged on the outside of the inner ring; a control ring is provided on the outer side of the inner ring, and the control ring includes at least two annular structures extending in a circumferential direction along the outer side surface of the inner ring, and at least two annular structures are arranged opposite to each other on both sides of the center position of the inner ring; the outer side surfaces of at least two annular structures are connected to the inner side surface of the outer ring; the third control component is connected to the control key.

[0009] Preferably, the number of the annular structures is 2N, wherein N annular structures are provided on both sides of the center position of the inner ring.

[0010] Preferably, the annular structure adopts an annular pressure sensor.

[0011] Preferably, the first control member can be rotatably installed at one end of the handlebar main body in one direction, and the second control member can be rotatably installed at the other end of the handlebar main body in two directions; or, the first control member can be rotatably installed at one end of the handlebar main body in two directions, and the second control member can be rotatably installed at the other end of the handlebar main body in one direction.

[0012] Preferably, the control system includes: a first sub-control system, a second sub-control system, a third sub-control system and a fourth sub-control system; the first sub-control system, the second sub-control system, the third sub-control system and the fourth sub-control system are all connected to the control key, and the first sub-control system, the second sub-control system, the third sub-control system and the fourth sub-control system are all connected to the wheels; the first sub-control system is used to receive a first control command issued by the first control component and the second control component, and control the wheels to execute the first control command; the second sub-control system includes a first control device and a second control device, wherein the first control device and the second control device are signal-connected, the second control device is connected to the control key, and the second control device is connected to the wheels, and the second control device is used to receive a second control command issued by the first control device, and control the wheels to execute the second control command; the third sub-control system includes a signal The fourth sub-control system comprises a first signal processor and a second signal processor, wherein the first signal processor and the second signal processor are both connected to the control key, and the first signal processor and the second signal processor are both connected to the wheel, the first signal processor is used to receive the fourth control command of the third control component, and control the wheel to execute the fourth control command, and the second signal processor is used to receive the fifth control command of the third control component, and control the wheel to execute the fifth control command.

[0013] Preferably, the control keys include: a first switch key, a second switch key, a third switch key, a fourth switch key and a fifth switch key; wherein, at most one of the first switch key, the second switch key, the third switch key, the fourth switch key and the fifth switch key works simultaneously; the first switch key is connected to the first sub-control system, and the first control element and the second control element are evenly connected to the first switch key; the second switch key is connected to the second control device; the third switch key is connected to the integrated processing device; the fourth switch key is connected to the first signal processor, and the fourth switch key is connected to the third control element; the fifth switch key is connected to the second signal processor, and the fifth switch key is connected to the third control element.

[0014] Based on the same design concept, the present invention provides a control method for a trolley suitable for various terrains, including: a manned mode control method: lift the control frame and turn on the first switch, at which the first control member and the second control member are unidirectionally rotatably installed to control the travel speed of the trolley, and the bidirectionally rotatably installed to control the travel direction of the trolley; a remote control mode control method: turn on the second switch, send a second control command to the second control device through the first control device, and then control the travel speed and travel direction of the trolley; an automatic mode control method: turn on the third switch, capture the external environment through the signal acquisition device, and the comprehensive processing device calculates the travel direction and travel speed of the trolley according to the captured image, and then controls the travel speed and travel direction of the trolley; following Mode control method: lift the control frame, turn on the fourth switch, tie a rope around the person, and the other end of the rope is connected to the outer ring. When the person moves forward, the rope will drive the outer ring to squeeze the control ring. The first signal processor calculates the direction and speed of the trolley according to the squeezing data, and then controls the speed and direction of the trolley; Power-assisted mode control method: lift the control frame, turn on the fifth switch, tie a rope around the person, and the other end of the rope is connected to the outer ring. The person is behind the trolley. When the person moves forward, the rope will drive the outer ring to squeeze the control ring. The first signal processor calculates the direction and speed of the trolley according to the squeezing data, and then controls the speed and direction of the trolley.

[0015] Compared with the closest prior art, the beneficial effects of the present invention are:

[0016] 1. The present invention improves the trolley control system, making the trolley control more convenient and flexible, thereby increasing the overall transportation efficiency when in use.

[0017] 2. The present invention adds a manned mode to the trolley control system. By lifting the control frame and turning on the first switch, the first control component and the second control component are unidirectionally rotated to control the speed of the trolley, and the bidirectionally rotated to control the direction of the trolley. This mode can be applied to relatively flat roads. People can stand on the trolley, control the speed with one hand and the direction with the other hand.

[0018] 3. The present invention adds a remote control mode to the trolley control system, and sends a second control command to the second control device through the first control device, thereby controlling the travel speed and travel direction of the trolley. The trolley is controlled by remote control, and the control is more flexible.

[0019] 4. The present invention adds a third switch for turning on the automatic mode to the trolley control system. The signal acquisition device captures the external environment, and the comprehensive processing device calculates the direction and speed of the trolley based on the captured image, thereby controlling the speed and direction of the trolley. This mode can automatically determine the route of travel based on the surrounding environment and can reach the destination by itself, thereby increasing the efficiency of transportation.

[0020] 5. The present invention adds a following mode to the trolley control system. The control frame is lifted, the fourth switch is turned on, a rope is tied to the person, and the other end of the rope is connected to the outer ring. When the person moves forward, the outer ring will be driven by the rope to squeeze the control ring. The first signal processor calculates the direction and speed of the trolley according to the squeezing data, and then controls the speed and direction of the trolley. This can free the person's hands. When the person walks in front, the trolley can automatically follow, which increases efficiency.

[0021] 6. The present invention adds an assist mode to the trolley control system. The control frame is lifted, the fifth switch is turned on, a rope is tied to the person, and the other end of the rope is connected to the outer ring. The person is behind the trolley. When the person moves forward, the outer ring is driven by the rope to squeeze the control ring. The first signal processor calculates the direction and speed of the trolley according to the squeezing data, and then controls the speed and direction of the trolley. This mode is used when the person is tired and the trolley is full of goods. The trolley can provide an assist to the person, saving the person's physical strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a first structural schematic diagram of the trolley of the present invention.

[0023] Figure 2 It is a second structural schematic diagram of the trolley of the present invention.

[0024] Figure 3 It is a structural schematic diagram of the control frame of the present invention.

[0025] Figure 4 It is a structural schematic diagram of the control handle of the present invention.

[0026] Figure 5 It is a schematic structural diagram of the third control component of the present invention.

[0027] Reference numerals:

[0028] 1-control frame, 2-body, 3-wheel, 4-shock absorption assembly, 5-first frame, 6-second frame, 7-connecting piece, 8-control key, 9-control handle, 10-handle main pipe, 11-first control piece, 12-second control piece, 13-third control piece, 14-outer ring, 15-inner ring, 16-control ring. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0030] Example 1

[0031] like Figure 1-Figure 5 As shown, the present invention provides a small vehicle suitable for various terrains, including: a control frame 1, a body 2, wheels 3 and a shock absorbing assembly 4; a control system is arranged in the body 2; the wheels 3 are mounted on the bottom of the body 2 through the shock absorbing assembly 4, and the wheels 3 are connected to the control system in the body 2; the control frame 1 is adjustably mounted on the top of the body 2, and the control frame 1 is connected to the control system in the body 2; the control system is used to receive a control command issued by the control frame 1, and control the wheels 3 to execute the control command.

[0032] Preferably, the control frame 1 includes: a first frame body 5, a second frame body 6, a connecting member 7, a control key 8 and a control handle 9; wherein, the connecting member 7 is fixedly mounted on the vehicle body 2, the first frame body 5 is adjustably mounted on one end of the connecting member 7, and the second frame body 6 is adjustably mounted on the other end of the connecting member 7; the control key 8 and the control handle 9 are both mounted on the first frame body 5, and the control handle 9 is connected to the control key 8, and the control key 8 is connected to the control system.

[0033] Preferably, the control handle 9 includes: a handle main body 10, a first control component 11, a second control component 12 and a third control component 13; wherein, the handle main body 10 is installed on the first frame 5; the first control component 11 and the second control component 12 are respectively hollow circular ring structures, and the first control component 11 can be rotatably installed at one end of the handle main body 10, and the second control component 12 can be rotatably installed at the other end of the handle main body 10; the third control component 13 is installed at the center position of the handle main body 10; the first control component 11, the second control component 12 and the third control component 13 are all connected to the control key 8.

[0034] Preferably, the third control component 13 includes an outer ring 14 and an inner ring 15; the outer ring 14 and the inner ring 15 are respectively hollow circular ring structures, and the outer ring 14 is arranged on the outside of the inner ring 15; a control ring 16 is provided on the outer surface of the inner ring 15, and the control ring 16 includes at least two annular structures extending in a circumferential direction along the outer side surface of the inner ring 15, and the at least two annular structures are arranged opposite to each other on both sides of the center position of the inner ring 15; the outer side surfaces of the at least two annular structures are connected to the inner side surface of the outer ring 14; the third control component 13 is connected to the control key 8.

[0035] Preferably, the number of the annular structures is 2N, wherein N annular structures are provided on both sides of the center position of the inner ring 15 .

[0036] Preferably, the annular structure adopts an annular pressure sensor.

[0037] Preferably, the first control member 11 can be unidirectionally rotatably installed at one end of the handlebar main tube 10, and the second control member 12 can be bidirectionally rotatably installed at the other end of the handlebar main tube 10; or, the first control member 11 can be bidirectionally rotatably installed at one end of the handlebar main tube 10, and the second control member 12 can be unidirectionally rotatably installed at the other end of the handlebar main tube 10.

[0038] Preferably, the control system includes: a first sub-control system, a second sub-control system, a third sub-control system and a fourth sub-control system; the first sub-control system, the second sub-control system, the third sub-control system and the fourth sub-control system are all connected to the control key 8, and the first sub-control system, the second sub-control system, the third sub-control system and the fourth sub-control system are all connected to the wheel 3; the first sub-control system is used to receive a first control command issued by the first control component 11 and the second control component 12, and control the wheel 3 to execute the first control command; the second sub-control system includes a first control device and a second control device, wherein the first control device and the second control device are signal-connected, the second control device is connected to the control key 8, and the second control device is connected to the wheel 3, and the second control device is used to receive a second control command issued by the first control device, and control the wheel 3 to execute the second control command; the third sub-control system It includes a signal acquisition device and an integrated processing device; wherein the signal acquisition device is connected to the integrated processing device, the integrated processing device is connected to the control key 8, and the integrated processing device is connected to the wheel 3, the signal acquisition device uses a camera or a radar, the signal acquisition device captures the external environment, and transmits the captured image to the integrated processing device, the integrated processing device generates a third control command according to the captured image, and controls the wheel 3 to execute the third control command; the fourth sub-control system includes a first signal processor and a second signal processor, the first signal processor and the second signal processor are both connected to the control key 8, and the first signal processor and the second signal processor are both connected to the wheel 3, the first signal processor is used to receive the fourth control command of the third control component 13, and control the wheel 3 to execute the fourth control command, the second signal processor is used to receive the fifth control command of the third control component 13, and control the wheel 3 to execute the fifth control command.

[0039] Preferably, the control key 8 includes: a first switch key, a second switch key, a third switch key, a fourth switch key and a fifth switch key; wherein at most one of the first switch key, the second switch key, the third switch key, the fourth switch key and the fifth switch key works simultaneously; the first switch key is connected to the first sub-control system, and the first control element 11 and the second control element 12 are evenly connected to the first switch key; the second switch key is connected to the second control device; the third switch key is connected to the comprehensive processing device; the fourth switch key is connected to the first signal processor, and the fourth switch key is connected to the third control element 13; the fifth switch key is connected to the second signal processor, and the fifth switch key is connected to the third control element 13. The fourth switch key and the fifth switch key of the trolley of the present application are both connected to the third control element. Since the squeezing logic of the power-assisting mode with the vehicle body in front and the following mode with the vehicle body in the back are opposite, only one switch is needed to make corresponding calculations for the opposite squeezing logic, which facilitates the control of the trolley.

[0040] Example 2

[0041] The present invention provides a control method for a trolley applicable to various terrains, including: a manned mode control method: lift the control frame 1 and turn on the first switch, at which the first control member 11 and the second control member 12 are unidirectionally rotatably installed to control the travel speed of the trolley, and the bidirectionally rotatably installed to control the travel direction of the trolley; a remote control mode control method: turn on the second switch, send a second control command to the second control device through the first control device, and then control the travel speed and travel direction of the trolley; an automatic mode control method: turn on the third switch, capture the external environment through the signal acquisition device, and the comprehensive processing device calculates the travel direction and travel speed of the trolley according to the captured picture, and then controls the travel speed and travel direction of the trolley; a following mode control method: turn on the third switch, capture the external environment through the signal acquisition device, and the comprehensive processing device calculates the travel direction and travel speed of the trolley according to the captured picture, and then controls the travel speed and travel direction of the trolley; a following mode control method: turn on the second switch, and send a second control command to the second control device through the first control device, and then control the travel speed and travel direction of the trolley. Control method: lift the control frame 1, turn on the fourth switch, tie a rope around the person, the other end of the rope is connected to the outer ring, when the person moves forward, the rope will drive the outer ring to squeeze the control ring, the first signal processor calculates the direction and speed of the trolley according to the squeeze data, and then controls the speed and direction of the trolley; Power-assisted mode control method: lift the control frame 1, turn on the fifth switch, tie a rope around the person, the other end of the rope is connected to the outer ring, the person is behind the trolley, when the person moves forward, the rope will drive the outer ring to squeeze the control ring, the first signal processor calculates the direction and speed of the trolley according to the squeeze data, and then controls the speed and direction of the trolley.

[0042] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A small vehicle suitable for various terrains, characterized in that: include: A control frame (1), a vehicle body (2), wheels (3) and a shock absorbing assembly (4); A control system is provided in the vehicle body (2); The wheel (3) is mounted on the bottom of the vehicle body (2) via the shock absorbing assembly (4), and the wheel (3) is connected to a control system in the vehicle body (2); The control frame (1) is adjustably mounted on the top of the vehicle body (2), and the control frame (1) is connected to a control system in the vehicle body (2); The control system is used to receive a control command issued by the control frame (1) and control the wheels (3) to execute the control command.

2. The vehicle suitable for various terrains as claimed in claim 1, characterized in that: The control frame (1) comprises: a first frame body (5), a second frame body (6), a connecting member (7), a control key (8) and a control handle (9); The connecting member (7) is fixedly mounted on the vehicle body (2), the first frame (5) is adjustably mounted on one end of the connecting member (7), and the second frame (6) is adjustably mounted on the other end of the connecting member (7); The control key (8) and the control handle (9) are both mounted on the first frame (5), and the control handle (9) is connected to the control key (8), and the control key (8) is connected to the control system.

3. The vehicle suitable for various terrains as claimed in claim 2, characterized in that: The control handle (9) comprises: a handle main pipe (10), a first control member (11), a second control member (12) and a third control member (13); Wherein, the handle main pipe (10) is installed on the first frame (5); The first control member (11) and the second control member (12) are respectively hollow circular ring structures, and the first control member (11) can be rotatably mounted on one end of the handle main pipe (10), and the second control member (12) can be rotatably mounted on the other end of the handle main pipe (10); The third control member (13) is installed at the center of the handlebar main pipe (10); The first control member (11), the second control member (12) and the third control member (13) are all connected to the control key (8).

4. The vehicle suitable for various terrains as claimed in claim 3, characterized in that: The third control member (13) comprises an outer ring (14) and an inner ring (15); The outer ring (14) and the inner ring (15) are respectively hollow circular ring structures, and the outer ring (14) is arranged outside the inner ring (15); A control ring (16) is provided on the outer side of the inner ring (15), and the control ring (16) comprises at least two annular structures extending in an annular direction along the outer side of the inner ring (15), and the at least two annular structures are arranged opposite to each other on both sides of the center position of the inner ring (15); The outer side surfaces of the at least two annular structures are connected to the inner side surface of the outer ring (14); The third control member (13) is connected to the control key (8).

5. The vehicle applicable to various terrains as claimed in claim 4, characterized in that: The number of the annular structures is 2N, wherein N annular structures are respectively arranged on both sides of the center position of the inner ring (15).

6. The vehicle applicable to various terrains as claimed in claim 4, characterized in that: The annular structure adopts an annular pressure sensor.

7. The vehicle applicable to various terrains as claimed in claim 4, characterized in that: The first control member (11) is unidirectionally rotatably mounted on one end of the handlebar main tube (10), and the second control member (12) is bidirectionally rotatably mounted on the other end of the handlebar main tube (10); Alternatively, the first control member (11) can be bidirectionally rotatably mounted on one end of the handlebar main tube (10), and the second control member (12) can be unidirectionally rotatably mounted on the other end of the handlebar main tube (10).

8. The vehicle applicable to various terrains as claimed in claim 7, characterized in that: The control system comprises: a first sub-control system, a second sub-control system, a third sub-control system and a fourth sub-control system; The first sub-control system, the second sub-control system, the third sub-control system and the fourth sub-control system are all connected to the control key (8), and the first sub-control system, the second sub-control system, the third sub-control system and the fourth sub-control system are all connected to the wheel (3); The first sub-control system is used to receive a first control command issued by the first control component (11) and the second control component (12), and control the wheel (3) to execute the first control command; The second sub-control system comprises a first control device and a second control device, wherein the first control device and the second control device are connected by signal, the second control device is connected to the control key (8), and the second control device is connected to the wheel (3), and the second control device is used to receive a second control command issued by the first control device and control the wheel (3) to execute the second control command; The third sub-control system comprises a signal acquisition device and an integrated processing device; wherein the signal acquisition device is connected to the integrated processing device, the integrated processing device is connected to the control key (8), and the integrated processing device is connected to the wheel (3); the signal acquisition device uses a camera or a radar, the signal acquisition device captures the external environment, and transmits the captured image to the integrated processing device, the integrated processing device generates a third control command according to the captured image, and controls the wheel (3) to execute the third control command; The fourth sub-control system comprises a first signal processor and a second signal processor, the first signal processor and the second signal processor are both connected to the control key (8), and the first signal processor and the second signal processor are both connected to the wheel (3), the first signal processor is used to receive a fourth control command from the third control component (13), and control the wheel (3) to execute the fourth control command, and the second signal processor is used to receive a fifth control command from the third control component (13), and control the wheel (3) to execute the fifth control command.

9. The vehicle applicable to various terrains as claimed in claim 8, characterized in that: The control keys (8) include: a first switch key, a second switch key, a third switch key, a fourth switch key and a fifth switch key; wherein at most one of the first switch key, the second switch key, the third switch key, the fourth switch key and the fifth switch key works at the same time; The first switch key is connected to the first sub-control system, and the first control element (11) and the second control element (12) are evenly connected to the first switch key; The second switch key is connected to the second control device; The third switch key is connected to the comprehensive processing device; The fourth switch key is connected to the first signal processor, and the fourth switch key is connected to the third control element (13); The fifth switch key is connected to the second signal processor, and the fifth switch key is connected to the third control element (13).

10. A control method for a vehicle applicable to various terrains as claimed in claim 9, characterized in that: include: Manned mode control method: lift the control frame (1) and turn on the first switch, at which time the first control member (11) and the second control member (12) are unidirectionally rotatable to control the speed of the trolley, and the bidirectionally rotatable to control the direction of the trolley; Remote control mode control method: turn on the second switch, send the second control command to the second control device through the first control device, and then control the travel speed and travel direction of the car; Automatic mode control method: turn on the third switch, capture the external environment through the signal acquisition device, and the comprehensive processing device calculates the direction and speed of the car according to the captured image, and then controls the speed and direction of the car; The following mode control method comprises: lifting the control frame (1), turning on the fourth switch, tying a rope around the person, and connecting the other end of the rope to the outer ring. When the person moves forward, the outer ring is driven by the rope to squeeze the control ring. The first signal processor calculates the direction and speed of the vehicle according to the squeezing data, and then controls the speed and direction of the vehicle. The power-assist mode control method is as follows: lift the control frame (1), turn on the fifth switch, tie a rope around the person, and connect the other end of the rope to the outer ring. The person is behind the trolley. When the person moves forward, the outer ring is driven by the rope to squeeze the control ring. The first signal processor calculates the direction and speed of the trolley based on the squeezing data, and then controls the speed and direction of the trolley.

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