Rope traction type electrically-driven loading vehicle control device

Abstract

The invention discloses a rope traction type electrically-driven loading vehicle control device which comprises a traction rope, an operating rod, a two-dimensional rotation monitoring device and a signal processing control module, the two-dimensional rotation monitoring device is arranged on the front side of a loading vehicle, the rear end of the operating rod is connected with the upper portion of the front side of the two-dimensional rotation monitoring device, and the traction rope is connected with the operating rod through an elastic component; the signal output end of the two-dimensional rotation monitoring device is connected with the signal input end of the signal processing control module, and the signal output end of the signal processing control module is connected with a driving device of the loading vehicle. The device is scientific in principle, simple in structure and easy and convenient to operate, follow-up movement and corresponding assistance of the carrying vehicle are achieved according to the traction direction of a user through the traction rope, the distance between the user and the carrying vehicle is kept within a certain interval, labor intensity is relieved, the two hands are liberated, practicability is high, and application and popularization are easy.

Description

Technical Field

[0001] The present invention belongs to the technical field of control of electric-driven cargo-carrying vehicles, and in particular relates to a control device for a rope-pulled electric-driven cargo-carrying vehicle. Background Art

[0002] With the improvement of motor technology and automation control technology, mobile equipment driven by motors has made great progress, making its application more extensive and bringing convenience to people's lives and travel. Most of the existing motor-driven power-assisted carrying equipment on the market use a handlebar control device, such as electric power-assisted bicycles and lightweight electric-driven cargo transfer vehicles. The control device used requires the user to master its operating essentials to enable it to drive according to the user's wishes, or such as shopping carts and baby carriages, which require the user to push and drive without releasing the user's hands. Therefore, in order to solve the above-mentioned control deficiencies, a control device that can conveniently control the driving of the cargo carrier is designed. Summary of the invention

[0003] In order to solve the above technical problems existing in the prior art, the present invention provides a rope-traction electric-drive cargo vehicle control device with scientific principle, simple structure, convenient operation, safety and reliability, so that the cargo vehicle and the user can move while maintaining a predetermined distance range.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: a rope-traction type electric drive cargo carrier control device, comprising a traction rope, a joystick, a two-dimensional rotation monitoring device and a signal processing control module, wherein the two-dimensional rotation monitoring device is arranged at the front side of the cargo carrier, the rear end of the joystick is connected to the upper front side of the two-dimensional rotation monitoring device, the traction rope is connected to the joystick through an elastic component, the signal output end of the two-dimensional rotation monitoring device is connected to the signal input end of the signal processing control module, and the signal output end of the signal processing control module is connected to the travel device of the cargo carrier;

[0005] The rear end of the traction rope is connected to the front end of the joystick, and the front end of the traction rope is grasped by the user or fixed at a predetermined position of the body, and the traction rope is unfolded and generates tension as the user moves;

[0006] Under the action of the tension generated by the unfolding of the traction rope, the joystick swings left and right in the horizontal direction and rotates up and down in the vertical direction;

[0007] The two-dimensional rotation monitoring device is used to monitor the angle signal of the joystick swinging left and right and / or rotating up and down in real time, and transmit the angle signal to the signal processing control module in real time;

[0008] The signal processing control module processes the angle signal of the joystick swinging left and right and / or rotating up and down and generates a control signal, and transmits the control signal to the driving device to control the driving of the cargo carrier, so that the cargo carrier and the user can drive while maintaining the set traction rope length range.

[0009] The two-dimensional rotating monitoring device includes a U-shaped bracket which is horizontally arranged with an open front side, transparent on the left and right sides, closed on the rear side and fixedly connected to the loading vehicle, the top and bottom of the U-shaped bracket are respectively provided with through holes, a vertical rotating shaft is passed through the through holes, a first rotating sleeve, a second rotating sleeve and a third rotating sleeve are sequentially arranged on the vertical rotating shaft from top to bottom, the first rotating sleeve is located above the U-shaped bracket, the second rotating sleeve and the third rotating sleeve are both located inside the U-shaped bracket, a supporting sleeve which is concentric with the vertical rotating shaft is fixedly arranged between the second rotating sleeve and the third rotating sleeve, and the bottom of the U-shaped bracket is fixedly provided with a supporting sleeve which is concentric with the vertical rotating shaft through a lower rotating sleeve. The mounting seat is provided with a left and right rotation amount measuring sensor, and the lower end of the vertical rotating shaft is connected to the left and right rotation amount measuring sensor; the upper end of the vertical rotating shaft is fixedly connected to a U-shaped support located above the first rotating sleeve, the U-shaped support is transparent front and back, open on the top, and closed at the bottom, and a horizontal rotating shaft with a length along the left and right directions is rotatable on the U-shaped support, and an up and down rotation amount measuring sensor is provided on the left or right side of the U-shaped support through the upper mounting seat, one end of the horizontal rotating shaft is connected to the up and down rotation amount measuring sensor, and the rear end of the joystick extends into the U-shaped support and is fixedly connected to the horizontal rotating shaft.

[0010] The joystick is a hollow tube, the elastic component is a spring arranged in the joystick, the rear end of the spring is fixedly connected to the joystick, and the front end of the spring is connected to the traction rope.

[0011] The left-right rotation measurement sensor and the up-down rotation measurement sensor adopt a knob-type encoder, a potentiometer or a Hall sensor.

[0012] The signal processing control module includes a length calculation unit, an angle calculation unit, a position calculation unit and a signal generation unit.

[0013] The length calculation unit is used to calculate the rotation amount of the horizontal rotation axis and the joystick measured by the up and down rotation amount measurement sensor; that is, to calculate the rotation angle of the joystick in the vertical direction due to the tension of the traction rope.

[0014] The angle calculation unit is used to calculate the rotation amount of the vertical rotation axis and the joystick measured by the left and right rotation measurement sensor; as the user moves, the tension generated by the traction rope acts on the joystick, causing the joystick to rotate left and right in the horizontal direction; that is, the effect of the traction rope tension on the left and right swing angle of the joystick in the horizontal direction is calculated.

[0015] The position calculation unit outputs the position information of the cargo vehicle equivalent to the user in each set time unit based on the angle of the joystick in the left and right and up and down directions changed by the tension of the traction rope that changes with the movement of the user; here, the time unit for outputting the position information corresponds to the time unit for generating the control signal.

[0016] The signal generating unit generates a driving control signal for controlling the cargo vehicle based on the rotation angle β in the up and down directions and the rotation angle α in the horizontal direction of the joystick with a length of L; here, the signal generating unit can generate a control signal to control the start and stop of the driving device of the cargo vehicle, so that the cargo vehicle and the user can travel while maintaining a set traction rope length distance range.

[0017] Using the above technical solution, the control principle of the present invention is as follows: the signal processing control module acts on the joystick based on the tension generated by the unfolding of the traction rope of a set length, so that the joystick rotates in the vertical and horizontal directions. The control signal is generated by processing the angle signal and the position information of the cargo vehicle relative to the user to control the cargo vehicle and the user to travel while maintaining the set traction rope length distance range. The signal processing control module defines the position of the cargo vehicle relative to the user based on the angle signal of the joystick rotating in the vertical and horizontal directions, and based on the tension of the traction rope that changes with the movement of the user, the joystick changes the angle in the vertical and horizontal directions to derive the position information of the cargo vehicle based on the reference position in each set time unit. The control signal may include at least one of the speed control signal and the steering control signal of the cargo vehicle.

[0018] The specific structure of the two-dimensional rotation monitoring device is that when the joystick moves up and down, it directly drives the horizontal rotation axis to rotate up and down, and then drives the vertical rotation measurement sensor to rotate; when the joystick moves left and right, it drives the vertical rotation axis to rotate horizontally through the U-shaped support, and then drives the left and right rotation measurement sensor to rotate. The setting of the three rotating sleeves limits the vertical rotation axis to only rotate and realizes positioning in the height direction.

[0019] The spring is arranged in the hollow tube. When the traction rope is pulled, the spring only expands and contracts along the axial direction of the hollow tube, which helps to prolong the service life of the protective spring.

[0020] To sum up, the present invention has a scientific principle, a simple structure, and is easy to operate. It realizes the following movement and corresponding assistance of the cargo vehicle according to the traction direction of the traction rope by the user. The distance between the user and the cargo vehicle is maintained in a certain range, which reduces labor intensity, frees hands, is highly practical, and is easy to promote and apply. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is a connection diagram of the traction rope, the joystick and the two-dimensional rotation monitoring device in the present invention.

[0023] Figure 3 It is a structural block diagram of the signal processing control module in the present invention.

[0024] Figure 4 It is a structural schematic diagram of a two-dimensional rotation monitoring device.

[0025] Figure 5 yes Figure 4 Middle AA section view.

[0026] Figure 6 It is a schematic diagram of the angle calculation of the angle signal monitored by the up and down rotation measurement sensor by the length calculation unit.

[0027] Figure 7 It is a schematic diagram of the angle calculation of the angle signal monitored by the left and right rotation measurement sensor by the angle calculation unit. DETAILED DESCRIPTION

[0028] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0029] Figure 1-Figure 5 As shown, the rope-traction electric-drive cargo-carrying vehicle control device of the present invention comprises a traction rope 13, a joystick 12, a two-dimensional rotation monitoring device 20 and a signal processing control module 30, wherein the two-dimensional rotation monitoring device 20 is arranged at the front side of the cargo-carrying vehicle 15, the rear end of the joystick 12 is connected to the upper front side of the two-dimensional rotation monitoring device 20, the traction rope 13 is connected to the joystick 12 through an elastic component, the signal output end of the two-dimensional rotation monitoring device 20 is connected to the signal input end of the signal processing control module 30, and the signal output end of the signal processing control module 30 is connected to the travel device (wheel) of the cargo-carrying vehicle 15;

[0030] The rear end of the traction rope 13 is connected to the front end of the joystick 12. The front end of the traction rope 13 is grasped by the user 10 or fixed at a predetermined position of the body. The traction rope 13 is unfolded and generates tension as the user 10 moves.

[0031] Under the action of the tension generated by the unfolding of the traction rope 13, the joystick 12 swings left and right in the horizontal direction and rotates up and down in the vertical direction;

[0032] The two-dimensional rotation monitoring device 20 is used to monitor the angle signal of the joystick 12 swinging left and right and / or rotating up and down in real time, and transmit the angle signal to the signal processing control module 30 in real time;

[0033] The signal processing control module 30 processes the angle signal of the joystick 12 swinging left and right and / or rotating up and down and generates a control signal, and transmits the control signal to the driving device to control the driving of the vehicle 15, so that the vehicle 15 and the user 10 can travel while maintaining the set length range of the traction rope 13. For example: when the length of the traction rope 13 between the vehicle 15 and the user 10 is 2m and the error range is set to 0.1m, the signal processing control module 30 can generate a control signal to control the vehicle 15 and the user 10 to maintain the length of the traction rope 13 at a distance of 1.9m to 2m while traveling.

[0034] The two-dimensional rotation monitoring device 20 includes a U-shaped bracket 1 which is horizontally arranged with an open front side, transparent on the left and right sides, and closed on the rear side and fixedly connected to the carrier 15. The top and bottom of the U-shaped bracket 1 are correspondingly provided with through holes, and a vertical rotary shaft 2 is passed through the through holes. The vertical rotary shaft 2 is provided with a first rotary sleeve 3, a second rotary sleeve 4 and a third rotary sleeve 5 from top to bottom in sequence. The first rotary sleeve 3 is located above the U-shaped bracket 1, and the second rotary sleeve 4 and the third rotary sleeve 5 are both located inside the U-shaped bracket 1. A support sleeve 6 which is concentric with the vertical rotary shaft 2 is fixedly arranged between the second rotary sleeve 4 and the third rotary sleeve 5. The bottom of the U-shaped bracket 1 is fixed by a lower mounting The seat 7 is provided with a left and right rotation amount measuring sensor 8, and the lower end of the vertical rotating shaft 2 is connected to the left and right rotation amount measuring sensor 8; the upper end of the vertical rotating shaft 2 is fixedly connected to a U-shaped support 9 located above the first rotating sleeve 3, the U-shaped support 9 is transparent from front to back, open on the top and closed at the bottom, and a horizontal rotating shaft 11 with a length along the left and right directions is rotatably provided on the U-shaped support 9. An up and down rotation amount measuring sensor 17 is provided on the left or right side of the U-shaped support 9 through an upper mounting seat 14, one end of the horizontal rotating shaft 11 is connected to the up and down rotation amount measuring sensor 17, and the rear end of the joystick 12 extends into the U-shaped support 9 and is fixedly connected to the horizontal rotating shaft 11.

[0035] The joystick 12 is a hollow tube, and the elastic component is a spring (not shown) arranged in the joystick 12 . The rear end of the spring is fixedly connected to the joystick 12 , and the front end of the spring is connected to the traction rope 13 .

[0036] The left and right rotation amount measuring sensor 8 can use an encoder. The rotating encoder ring with grooves formed at equal intervals rotates together with the vertical rotating shaft 2, and the number of grooves that have been rotated is counted to measure the rotation amount. The up and down rotation amount measuring sensor 17 can use a potentiometer. If the rotating shaft rotates with the change of rotation displacement, the internal sliding piece moves on the resistor, and then outputs a voltage proportional to the rotation amount.

[0037] The signal processing control module 30 includes a length calculation unit 31 , an angle calculation unit 32 , a position calculation unit 33 , and a signal generation unit 34 .

[0038] The length calculation unit 31 is used to calculate the rotation amount of the horizontal rotating shaft 11 and the joystick 12 measured by the up and down rotation amount measurement sensor 17; that is, to calculate the rotation angle of the joystick 12 in the vertical direction due to the tension of the traction rope 13.

[0039] The angle calculation unit 32 is used to calculate the rotation amount of the vertical rotating axis 2 and the joystick 12 measured by the left and right rotation amount measurement sensor 8; as the user 10 moves, the tension generated by the traction rope 13 acts on the joystick 12, causing the joystick 12 to rotate left and right in the horizontal direction; that is, the effect of the tension of the traction rope 13 on the left and right swing angle of the joystick 12 in the horizontal direction is calculated.

[0040] The position calculation unit 33 outputs the position information of the vehicle 15 corresponding to the user 10 at each set time unit based on the angle of the joystick 12 in the left and right and up and down directions due to the tension of the traction rope 13 that changes with the movement of the user 10. Here, the time unit for outputting the position information corresponds to the time unit for generating the control signal. For example, it can be set to 20ms.

[0041] The position calculation unit 33 uses the angle β of the joystick 12 in the vertical direction with a length of L calculated by the length calculation unit 31 and the angle α of the joystick 12 in the horizontal direction with a length of L calculated by the angle calculation unit 32 to derive the position information of the vehicle 15 relative to the user 10. Here, the position information of the vehicle 15 relative to the user 10 may be equivalent to the spatial coordinate information defined in the X-Y and X-Z coordinate systems.

[0042] Reference Figure 6 and Figure 7 The position calculation unit 33 can use the following mathematical formula 1 to calculate the position information of the cargo vehicle 15 equivalent to the user 10.

[0043] Mathematical formula 1: (x, y) = (Lsinα, Lsinβ)

[0044] Here, the center of the coordinate system may be defined as the position of the vehicle 15 .

[0045] The signal generating unit 34 generates a driving control signal for controlling the cargo vehicle 15 based on the rotation angle β in the up and down directions and the rotation angle α in the horizontal direction of the joystick 12 having a length of L; here, the signal generating unit 34 can generate a control signal to control the start and stop of the driving device of the cargo vehicle 15, so that the cargo vehicle 15 and the user 10 can travel while maintaining a set distance range of the length of the traction rope 13.

[0046] More specifically, refer to Figure 6 and Figure 7The object-carrying vehicle 15 following the user 10 opens the joystick 12 at an angle of θ in the vertical direction. As the user 10 moves, the tension of the traction rope 13 changes, driving the joystick 12 to change its angle in the vertical and horizontal directions. The signal generating unit 34 can generate a control signal based on the angle β of the joystick 12 in the vertical direction and the angle α of the joystick 12 in the horizontal direction to control the object-carrying vehicle 15 so that the object-carrying vehicle 15 and the user 10 maintain the set traction rope 13 length range while driving. In one example, the signal generating unit 34 can generate the control signal using the following mathematical formula 2.

[0047] Mathematical formula 2: V = (β-θ)·Vg W = α·Wg

[0048] (V: speed of the cargo vehicle 15; W: steering speed of the cargo vehicle 15; θ: vertical angle of the joystick 12 when the cargo vehicle 15 is traveling; β: vertical angle of the joystick 12; α: horizontal angle of the joystick 12; Vg: speed gain; Wg: steering angle gain).

[0049] For example, when the cargo vehicle 15 with the traction rope 13 set to be 2 m in length is traveling behind the user 10, the vertical angle of the joystick 12 is θ, and the signal generating unit 34 determines the vertical rotation angle β and the horizontal rotation angle α of the joystick 12 every 20 ms, and generates a control signal for controlling the travel device of the cargo vehicle 15 per time unit based on the above mathematical formula 2. Figure 6 And mathematical formula 2, when the distance between the user 10 and the carrier 15 is closer than the length of the traction rope 13 (that is, the relative position of the user 10 and the carrier 15 changes to 10', and the joystick 12 rotates from A to B. When the tension of the traction rope 13 decreases, the vertical rotation angle of the joystick 12 becomes smaller), the signal generating unit 34 calculates that the carrier 15 needs to slow down the control signal V, which can be transmitted to the driving device.

[0050] In addition, refer to Figure 7 According to Mathematical Formula 2, when the user 10 moves to the right (i.e., the relative position of the user 10 and the vehicle 15 changes to 10", and the joystick 12 rotates from A to C), the signal generating unit 34 calculates the steering control signal W of the vehicle 15 to follow the user 10 and turn to the left, which can be transmitted to the driving device. Through the operation of the signal generating unit 34, the vehicle 15 can travel while maintaining the set distance range of the traction rope 13 with the user 10.

[0051] In one example, the signal generating unit 34 can generate a control signal based on the position information of the cargo carrier 15 relative to the user 10 calculated by the position calculating unit 33. More specifically, the signal generating unit 34 can calculate the speed and steering control signal using the angle β of the joystick 12 in the vertical direction and the angle α of the joystick 12 in the horizontal direction as variables in the mathematical formula 2. Different from this, the speed and steering control signal can be calculated using the position coordinates of the cargo carrier 15 relative to the user 10 derived based on the rotation angle β of the joystick 12 in the vertical direction and the rotation angle α in the horizontal direction as variables.

[0052] The specific use process of the present invention is as follows: under the tension of the traction rope 13, the cargo carrier 15 moves at a certain distance from the user 10. The distance is the length of the traction rope 13, and the length of the traction rope 13 is determined by the habits and needs of the user 10. The front end of the traction rope 13 can be fixed on a suitable part of the user's 10 body, or can be clamped by hand. As the user 10 moves forward, the traction rope 13 generates a predetermined tension, which drives the joystick 12 through the elastic component to drive the cargo vehicle 15 to travel. The setting of the elastic component enables the traction rope 13 to maintain a predetermined constant tension when responding to the movement of the user 10, and the traction rope 13 always maintains this tension; under the action of the tension of the traction rope 13, the joystick 12 can move up and down in the vertical direction with the horizontal rotating axis 11 as the center axis and swing left and right in the horizontal direction with the vertical rotating axis 2 as the center axis; the signal of the rotation of the horizontal rotating axis 11 is transmitted to the up and down rotation amount measurement sensor 17, and the signal of the rotation of the vertical rotating axis 2 is transmitted to the left and right rotation amount measurement sensor 8, and the up and down rotation amount measurement sensor 17 and the left and right rotation amount measurement sensor 8 transmit the collected signals to the signal processing control module 30.

[0053] When the user 10 moves forward and backward, the vertical tension of the traction rope 13 causes the joystick 12 to change its angle in the vertical direction, and the up and down rotation measurement sensor 17 outputs an electrical signal corresponding to the vertical position of the joystick 12, which is transmitted to the signal processing control module 30, which converts the signal into a walking speed signal and transmits the walking speed signal to the driving device (wheel) of the vehicle 15. The driving device adjusts the speed so that the vehicle 15 moves at a certain distance from the user 10, and automatically adjusts the driving speed of the vehicle 15 as the walking speed of the user 10 changes. The following speed of the vehicle 15 can be controlled by pulse width modulation, current feedback, vector control, and other speed control methods.

[0054] When the user 10 moves to the left or right, the horizontal tension of the traction rope 13 causes the joystick 12 to change its horizontal angle, and the left and right rotation measurement sensor 8 outputs an electrical signal corresponding to the horizontal position of the joystick 12, which is transmitted to the signal processing control module 30. The signal processing control module 30 converts the signal into a driving track change signal, so that the vehicle 15 follows the user 10 to change its moving track to the left or right. The vehicle 15 can change its moving track by the speed difference between the left and right wheels of the vehicle 15.

[0055] When the user 10 stops moving, the tension of the traction rope 13 disappears, the cargo carrier 15 stops moving, the signal processing control module 30 sends a stop signal to the travel device, and the wheels stop moving and remain stationary.

[0056] The above embodiments illustrate the basic principles and features of the present invention, but the above only illustrates the preferred embodiments of the present invention and is not limited to the embodiments. Under the inspiration of this patent, a person skilled in the art can make many forms of deformation and improvement without departing from the scope of protection of the present invention and the claims, which are all within the protection scope of the present invention. Therefore, the patent and protection scope of the present invention shall be subject to the attached claims.

Claims

1. A control device for a rope-pulled electric-driven cargo carrier, characterized in that: It includes a traction rope, a joystick, a two-dimensional rotation monitoring device and a signal processing control module. The two-dimensional rotation monitoring device is arranged on the front side of the cargo-carrying vehicle. The rear end of the joystick is connected to the upper front part of the two-dimensional rotation monitoring device. The traction rope is connected to the joystick through an elastic component. The signal output end of the two-dimensional rotation monitoring device is connected to the signal input end of the signal processing control module. The signal output end of the signal processing control module is connected to the travel device of the cargo-carrying vehicle. The rear end of the traction rope is connected to the front end of the joystick, and the front end of the traction rope is grasped by the user or fixed at a predetermined position of the body, and the traction rope is unfolded and generates tension as the user moves; Under the action of the tension generated by the unfolding of the traction rope, the joystick swings left and right in the horizontal direction and rotates up and down in the vertical direction; The two-dimensional rotation monitoring device is used to monitor the angle signal of the joystick swinging left and right and / or rotating up and down in real time, and transmit the angle signal to the signal processing control module in real time; The signal processing control module processes the angle signal of the joystick swinging left and right and / or rotating up and down and generates a control signal, and transmits the control signal to the driving device to control the driving of the cargo carrier, so that the cargo carrier and the user can drive while maintaining the set traction rope length range.

2. The control device for a rope-driven electric vehicle according to claim 1, characterized in that: The two-dimensional rotating monitoring device includes a U-shaped bracket which is horizontally arranged with an open front side, transparent on the left and right sides, closed on the rear side and fixedly connected to the loading vehicle, the top and bottom of the U-shaped bracket are respectively provided with through holes, a vertical rotating shaft is passed through the through holes, a first rotating sleeve, a second rotating sleeve and a third rotating sleeve are sequentially arranged on the vertical rotating shaft from top to bottom, the first rotating sleeve is located above the U-shaped bracket, the second rotating sleeve and the third rotating sleeve are both located inside the U-shaped bracket, a supporting sleeve which is concentric with the vertical rotating shaft is fixedly arranged between the second rotating sleeve and the third rotating sleeve, and the bottom of the U-shaped bracket is fixedly provided with a supporting sleeve which is concentric with the vertical rotating shaft through a lower rotating sleeve. The mounting seat is provided with a left and right rotation amount measuring sensor, and the lower end of the vertical rotating shaft is connected to the left and right rotation amount measuring sensor; the upper end of the vertical rotating shaft is fixedly connected to a U-shaped support located above the first rotating sleeve, the U-shaped support is transparent front and back, open on the top, and closed at the bottom, and a horizontal rotating shaft with a length along the left and right directions is rotatable on the U-shaped support, and an up and down rotation amount measuring sensor is provided on the left or right side of the U-shaped support through the upper mounting seat, one end of the horizontal rotating shaft is connected to the up and down rotation amount measuring sensor, and the rear end of the joystick extends into the U-shaped support and is fixedly connected to the horizontal rotating shaft.

3. The control device for a rope-driven electric vehicle according to claim 1 or 2, characterized in that: The joystick is a hollow tube, the elastic component is a spring arranged in the joystick, the rear end of the spring is fixedly connected to the joystick, and the front end of the spring is connected to the traction rope.

4. The control device for a rope-driven electric vehicle according to claim 2, characterized in that: The left-right rotation measurement sensor and the up-down rotation measurement sensor adopt a knob-type encoder, a potentiometer or a Hall sensor.

5. The control device for a rope-driven electric vehicle according to claim 2 or 4, characterized in that: The signal processing control module includes a length calculation unit, an angle calculation unit, a position calculation unit and a signal generation unit.

6. The control device for the rope-pulled electric-driven cargo-carrying vehicle according to claim 5, characterized in that: The length calculation unit is used to calculate the rotation amount of the horizontal rotation axis and the joystick measured by the up and down rotation amount measurement sensor; that is, to calculate the rotation angle of the joystick in the vertical direction due to the tension of the traction rope.

7. The control device for the rope-pulled electric-driven cargo-carrying vehicle according to claim 6, characterized in that: The angle calculation unit is used to calculate the rotation amount of the vertical rotation axis and the joystick measured by the left and right rotation measurement sensor; as the user moves, the tension generated by the traction rope acts on the joystick, causing the joystick to rotate left and right in the horizontal direction; that is, the effect of the traction rope tension on the left and right swing angle of the joystick in the horizontal direction is calculated.

8. The control device for the rope-pulled electric-driven cargo-carrying vehicle according to claim 7, characterized in that: The position calculation unit outputs the position information of the cargo vehicle equivalent to the user in each set time unit based on the angle of the joystick in the left and right and up and down directions changed by the tension of the traction rope that changes with the movement of the user; here, the time unit for outputting the position information corresponds to the time unit for generating the control signal.

9. The control device for a rope-pulled electric-driven cargo-carrying vehicle according to claim 8, characterized in that: The signal generating unit generates a driving control signal for controlling the cargo vehicle based on the rotation angle β in the up and down directions and the rotation angle α in the horizontal direction of the joystick with a length of L; here, the signal generating unit can generate a control signal to control the start and stop of the driving device of the cargo vehicle, so that the cargo vehicle and the user can travel while maintaining a set traction rope length distance range.

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