Foldable power-assisted vehicle and control method

Abstract

The invention provides a foldable power-assisted vehicle and a control method. The foldable power-assisted vehicle comprises a vehicle body, a driving wheel train, a lower traction rod, an upper traction rod, a pull pressure sensor, a swing arm, a shock absorber, a folding mechanism, a lower traction rod adjusting mechanism, an upper traction rod adjusting mechanism, a hinge and a positioning pin. Wherein the vehicle body comprises a first longitudinal beam, a second longitudinal beam, a first cross beam and a second cross beam; the vehicle body is hinged to the swing arm through the hinge, the hinge ensures that the swing arm and the driving wheel train swing and rotate around itself in the vehicle running process, the other end of the swing arm is connected with the hub motor assembly, the vehicle body is hinged to the shock absorber through the shock absorber adjusting positioning pin, and the other end of the shock absorber is hinged to the swing arm through the hinge. The folding mechanism sleeves one ends, close to the second cross beam, of the first longitudinal beam and the second longitudinal beam of the vehicle body and is fixed on the vehicle body through positioning pins. The method comprises a plurality of modes including a flat road surface power assisting mode, an uphill and downhill road surface power assisting mode and an inclined road surface power assisting mode. The folding chair can be folded for storage and is convenient to carry.

Description

Technical Field

[0001] The present application relates to the technical field of portable vehicles, and in particular to a foldable power-assisted vehicle and a control method thereof. Background Art

[0002] At present, short-distance cargo transportation usually uses manpower or external power. The use of manpower-powered cargo trucks increases the labor intensity of the porters and the weight of the cargo they carry is limited. If an externally powered cargo truck is used, the cargo truck is usually large in size and weight, the cost is high, and the usage scenarios are limited.

[0003] Based on this, miniaturized carts have gradually become an important tool for short-distance transportation. However, current vehicles are usually large and difficult to carry. Therefore, how to solve the problem of large vehicle size and difficulty in carrying has gradually become the focus of current research. Summary of the invention

[0004] The present application provides a foldable power-assisted vehicle and a control method, which can be used to solve the technical problem that the vehicle is large in size and difficult to carry.

[0005] The present application provides a foldable power-assisted vehicle, the vehicle comprising:

[0006] Vehicle body, driving wheel system, lower traction rod, upper traction rod, tension pressure sensor, swing arm, shock absorber, folding mechanism, lower traction rod adjustment mechanism, upper traction rod adjustment mechanism, hinge, shock absorber adjustment locating pin, hinge, locating pin;

[0007] The vehicle body includes a first longitudinal beam, a second longitudinal beam, a first cross beam and a second cross beam; the first longitudinal beam has a mechanical interface A, and the second longitudinal beam has a mechanical interface B;

[0008] The vehicle body is hinged to the swing arm through a hinge, and the hinge ensures that the swing arm and the driving wheel system swing and rotate around themselves during the operation of the vehicle. The other end of the swing arm is connected to the wheel hub motor assembly. The vehicle body is hinged to the shock absorber through the shock absorber adjustment locating pin, and the other end of the shock absorber is hinged to the swing arm through a hinge. The folding mechanism is sleeved on the first longitudinal beam and the second longitudinal beam of the vehicle body at one end close to the second cross beam, and is fixed to the vehicle body through the locating pin.

[0009] Further, the vehicle body is hingedly connected to the lower traction rod through a lower traction rod adjustment mechanism, the lower traction rod is connected to the upper traction rod through an upper traction rod adjustment mechanism, and a tension pressure sensor is arranged on the upper traction rod;

[0010] Power batteries are arranged in the first longitudinal beam and the second longitudinal beam of the vehicle body, and a vehicle controller and a power management module are arranged in the second cross beam of the vehicle body.

[0011] Furthermore, the driving wheel system includes a hub motor assembly, a tire, and a reduction mechanism; the driving wheel system has three tires distributed in an equilateral triangle;

[0012] Among them, the hub motor assembly integrates a motor controller, a motor and a reducer, and the reduction mechanism includes a planetary gear, an intermediate gear, a sun gear, a planetary gear shaft, an intermediate gear shaft, a sun gear shaft, and a planetary carrier plate.

[0013] Furthermore, when the vehicle needs to be folded, the upper traction rod adjustment mechanism is adjusted to release the constraints of the lower traction rod and the upper traction rod, so that the upper traction rod rotates around the upper traction rod adjustment mechanism and folds in half with the lower traction rod;

[0014] Adjust the lower traction rod adjustment mechanism to release the constraints between the lower traction rod and the vehicle body, so that the lower traction rod and the upper traction rod rotate together around the lower traction rod adjustment mechanism and fold in half with the vehicle body; so that the upper traction rod, the lower traction rod and the vehicle body are in a Z-shaped bending and contraction state;

[0015] Pull out the shock absorber adjustment locating pin to release the restraint between the shock absorber and the vehicle body;

[0016] Pull out the positioning pin to release the constraints between the swing arm and the vehicle body, so that the swing arm, along with the driving wheel system and the shock absorber, rotates around the first longitudinal beam and the second longitudinal beam of the vehicle body and folds in half with the vehicle body;

[0017] After folding, the driving wheel system is located at the lower layer of the vehicle body.

[0018] Furthermore, when the vehicle needs to be unfolded, the lower traction rod adjustment mechanism is adjusted to release the constraints on the lower traction rod and the vehicle body, so that the lower traction rod and the upper traction rod rotate together around the lower traction rod adjustment mechanism and unfold to a preset position relative to the vehicle body; the upper traction rod adjustment mechanism is adjusted to release the constraints on the lower traction rod and the upper traction rod, so that the upper traction rod rotates around the upper traction rod adjustment mechanism and unfolds to a preset position relative to the lower traction rod; the rotating swing arm drives the driving wheel system and the shock absorber to rotate around the first longitudinal beam and the second longitudinal beam of the vehicle body and separate from the vehicle body, and the positioning pin is inserted to constrain and fix the folding mechanism and the vehicle body to each other, and the rotating swing arm drives the driving wheel system and the shock absorber to rotate around the hinge, and the shock absorber adjustment positioning pin is inserted to adjust the shock absorber to connect with the vehicle body.

[0019] Furthermore, when two vehicles are spliced, the rear ends of the two power-assisted vehicles face each other, and the A interface of the first longitudinal beam and the B interface of the second longitudinal beam are used to cooperate and lock to form a four-wheel vehicle;

[0020] After splicing, the upper traction bar and the tension pressure sensor are removed from the vehicle, and the sensing system is fixed on the lower traction bar.

[0021] The present application also provides a control method for a foldable power-assisted vehicle, which is used for the power-assisted vehicle provided in the present application. The method includes multiple modes, including a flat road power-assisted mode, an uphill and downhill road power-assisted mode, and an inclined road power-assisted mode.

[0022] Further, when the vehicle is in a flat road power-assist mode, the method includes:

[0023] When transporting goods, the upper traction rod is pulled. When the tension pressure sensor detects the pulling force F of the transporter, the elastic element in the tension pressure sensor is slightly deformed, and the strain gauge is also strained, causing the resistance value to change, thereby generating an electrical signal G. out :

[0024] G out =K S *F+G offset ;

[0025] Among them, K S G is the proportional coefficient of the tension pressure sensor; offset is the offset of the output signal;

[0026] After receiving the electrical signal output by the tension and pressure sensor, the vehicle controller amplifies, filters and converts the signal to analog-to-digital to obtain the precise tension and pressure value Fe and compares it with the set threshold; if it is greater than the set threshold, it enters the operation control mode;

[0027] At the same time, the vehicle controller calculates the magnitude and phase angle of the control current according to the motor speed and rotor position through the vector control algorithm, and converts it into a PWM signal and sends it to the motor controller. The power conversion circuit controls the working order and working time of the stator coil in the reluctance motor, thereby driving the rotor to rotate and control the motor operation to generate driving force;

[0028] When the upper traction bar is pushed, the two drive motors of the transport vehicle generate reverse driving force under the control of the power supply and the drive motor controller, thereby reducing the pulling force required to be provided by the porter.

[0029] Furthermore, when the vehicle is in an uphill or downhill road power assist mode, the method includes:

[0030] When transporting goods, pull the upper traction rod. When the pull pressure sensor detects the pulling force F of the transporter, the pull pressure sensor generates an electrical signal G out And transmit it to the vehicle controller arranged in the second crossbeam. At the same time, the IMU sensor updates and feeds back the current vehicle pitch angle θ to the vehicle controller in real time. In the vehicle controller, based on the vehicle pitch angle θ, vehicle weight m and tire size r, the torque Te and PWM duty cycle D required for the transport vehicle to go uphill and downhill are determined:

[0031] Te =F e *r=m*g*sinθ;

[0032]

[0033] Where g is the acceleration due to gravity, U avg is the average voltage at the motor end, U is the rated voltage, P is the output power, K is the constant coefficient, and I is the rated current;

[0034] The vehicle controller transmits the signal to the drive motor controller. Under the control of the power supply and the drive motor controller, the drive motor of the transport vehicle generates driving force to reduce the pulling force required by the transporter.

[0035] When the upper traction rod is pushed, the driving motor of the transport vehicle generates a reverse driving force under the control of the power supply and the driving motor controller.

[0036] Further, when the vehicle is in the inclined road power assist mode, the method includes:

[0037] When transporting goods, the upper traction bar is pulled. When the pulling pressure sensor detects the pulling force F of the cargo carrier, the pulling pressure sensor transmits an electrical signal to the vehicle controller arranged in the second crossbeam. At the same time, the lateral IMU detects the vehicle's rolling driving state and transmits the information to the vehicle controller. The vehicle controller calculates the power assist values ​​required to be provided by the drive motor and the drive motor respectively according to the influence of the vehicle's rolling state on the power assist effect. The vehicle controller transmits the signal to the power management system and the drive motor controller. The two drive motors of the transport vehicle generate different driving forces under the control of the power supply and the drive motor controller.

[0038] When the upper traction rod is pushed, the two drive motors of the transport vehicle generate reverse driving force under the control of the power supply and the drive motor controller.

[0039] The positive effects of the present invention are as follows:

[0040] 1. The invention produces a boosting effect during transportation, which can effectively reduce the labor intensity of porters;

[0041] 2. The invention has a high degree of integration, a small number of parts, and is lightweight while effectively reducing the cost of the entire vehicle;

[0042] 3. The invention can be folded and stored, which takes up little storage space and is convenient for transportation and storage;

[0043] 4. The invention adopts a high-power, large reduction ratio gearbox with strong cargo carrying capacity and significant power-assisting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A vehicle structure diagram provided in an embodiment of the present application.

[0045] Figure 2 A top view of a vehicle provided in an embodiment of the present application;

[0046] Figure 3 A folding diagram provided for an embodiment of the present application.

[0047] Figure 4 This is a schematic diagram of two vehicles after being spliced ​​together according to an embodiment of the present application.

[0048] Figure 5 A schematic diagram of function expansion provided for an embodiment of the present application.

[0049] Figure 6 A schematic diagram of the structure of a planetary gear train assembly provided in an embodiment of the present application.

[0050] Figure 7 A schematic diagram of the folding structure of a bicycle provided in an embodiment of the present application.

[0051] Figure 8 A drive control flow chart provided for an embodiment of the present application.

[0052] The meanings of the accompanying drawings are: 1. Vehicle body, 2. Driving wheel system, 3. Lower traction rod, 4. Upper traction rod, 5. Pull pressure sensor, 6. Swing arm, 7. Shock absorber, 8. Folding mechanism, 3.1. Lower traction rod adjustment mechanism, 4.1. Upper traction rod adjustment mechanism, 6.1. Hinge, 7.1. Shock absorber adjustment locating pin, 7.2. Hinge, 8.1. Locating pin, 1.1. Second longitudinal beam, 1.2. Second longitudinal beam, 1.3. First cross beam, 1.4. Second cross beam, 2.1. Hub motor assembly, 2.2. Tire, 2.3. Speed ​​reduction mechanism. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0054] The following first introduces the embodiments of the present application in conjunction with the accompanying drawings.

[0055] In order to solve the problems of high labor intensity and limited carrying capacity of manual transport vehicles and high cost and inconvenience of carrying of powered transport vehicles, a vehicle that can be used for cargo transportation, can be folded and stored, and has a power-assisted function was invented.

[0056] The technical solution adopted by the present invention is:

[0057] The power-assisted vehicle comprises a vehicle body 1, a driving wheel system 2, a lower traction rod 3, an upper traction rod 4, a tension pressure sensor 5, a swing arm 6, a shock absorber 7, a folding mechanism 8, a lower traction rod adjustment mechanism 3.1, an upper traction rod adjustment mechanism 4.1, a hinge 6.1, a shock absorber adjustment positioning pin 7.1, a hinge 7.2, and a positioning pin 8.1;

[0058] The vehicle body 1 includes a first longitudinal beam 1.1, a second longitudinal beam 1.2, a first cross beam 1.3 and a second cross beam 1.4; the first longitudinal beam 1.1 has a mechanical interface A, and the second longitudinal beam 1.2 has a mechanical interface B;

[0059] The driving wheel train 2 includes a hub motor assembly 2.1, a tire 2.2 and a reduction mechanism 2.3; the driving wheel train 2 has three tires distributed in an equilateral triangle; the setting of three tires on one side broadens the application scenarios of the present application, and the present application can glide smoothly in scenarios such as stairs.

[0060] The hub motor assembly 2.1 integrates a motor controller, a high-power and high-torque motor and a large transmission ratio reducer. The reduction mechanism 2.3 includes a planetary gear 2.3.1, an intermediate gear 2.3.2, a sun gear 2.3.3, a planetary gear shaft 2.3.4, an intermediate gear shaft 2.3.5, a sun gear shaft 2.3.6, and a planetary carrier plate 2.3.7.

[0061] Power batteries are arranged in the first longitudinal beam 1.1 and the second longitudinal beam 1.2 of the vehicle body 1, which can be used as a power source for the vehicle. The vehicle controller, power management module, etc. are arranged in the second cross beam 1.4 of the vehicle body 1.

[0062] The vehicle body 1 is hinged to the lower traction rod 3 through a lower traction rod adjustment mechanism 3.1, and the lower traction rod 3 is connected to the upper traction rod 4 through an upper traction rod adjustment mechanism 4.1. A tension pressure sensor 5 is arranged on the upper traction rod 4; the vehicle body 1 is hinged to the swing arm 6 through a hinge 6.1, and the hinge 6.1 ensures that the swing arm 6 and the driving wheel system 2 swing and rotate around themselves during the operation of the vehicle. The other end of the swing arm 6 is connected to the hub motor assembly 2.1, and the vehicle body 1 is hinged to the shock absorber 7 through a shock absorber adjustment locating pin 7.1, and the other end of the shock absorber 7 is hinged to the swing arm through a hinge 7.2. The folding mechanism 8 is sleeved on the first longitudinal beam 1.1 and the second longitudinal beam 1.2 of the vehicle body 1 at one end close to the second cross beam 1.4, and is fixed to the vehicle body 1 through the locating pin 8.1.

[0063] When the vehicle needs to be folded, the upper traction rod adjustment mechanism 4.1 is adjusted to release the constraints of the lower traction rod 3 and the upper traction rod 4, so that the upper traction rod 4 rotates around the upper traction rod adjustment mechanism 4.1 and folds in half with the lower traction rod 3;

[0064] Adjust the lower traction rod adjustment mechanism 3.1 to release the constraints between the lower traction rod 3 and the vehicle body 1, so that the lower traction rod 3 and the upper traction rod 4 rotate together around the lower traction rod adjustment mechanism 3.1 and fold in half with the vehicle body 1; so that the upper traction rod 4, the lower traction rod 3, and the vehicle body 1 are in a Z-shaped bending and contraction state;

[0065] Pull out the shock absorber adjustment positioning pin 7.1 to release the restraint between the shock absorber 7 and the vehicle body 1;

[0066] Pull out the positioning pin 8.1, release the constraint between the swing arm 6 and the vehicle body 1, so that the swing arm 6, with the driving wheel train 2 and the shock absorber 7, rotates around the first longitudinal beam 1.1 and the second longitudinal beam 1.2 of the vehicle body 1 and folds in half with the vehicle body 1;

[0067] After folding, the driving wheel train 2 is located at the lower layer of the vehicle body 1. The same is true for the other side. Figure 3 As shown, the power-assisted vehicle is now in a folded state, which is convenient for storage and transportation.

[0068] When the vehicle needs to be unfolded, the lower traction rod adjustment mechanism 3.1 is adjusted to release the constraints of the lower traction rod 3 and the vehicle body 1, so that the lower traction rod 3 and the upper traction rod 4 rotate together around the lower traction rod adjustment mechanism 3.1 and unfold to a preset position relative to the vehicle body 1; the upper traction rod adjustment mechanism 4.1 is adjusted to release the constraints of the lower traction rod 3 and the upper traction rod 4, so that the upper traction rod 4 rotates around the upper traction rod adjustment mechanism 4.1 and unfolds to a preset position relative to the lower traction rod 3; the rotating swing arm 6 rotates the driving wheel system 2 and the shock absorber 7 around the first longitudinal beam 1.1 and the second longitudinal beam 1.2 of the vehicle body 1 and separates from the vehicle body 1, and the positioning pin 8.1 is inserted to constrain and fix the folding mechanism 8 and the vehicle body 1 to each other, the rotating swing arm 6 rotates the driving wheel 2 and the shock absorber 7 around the hinge 6.1, and the shock absorber adjustment positioning pin 7.1 is inserted to connect the shock absorber adjustment positioning pin 7.1 to the vehicle body 1; adjust the relative position, and do the same on the other side, such as Figure 1 As shown, the power-assisted vehicle is now in an unfolded state and can be used for cargo transportation.

[0069] When transporting goods, the upper traction rod 4 is pulled. When the pulling pressure sensor 5 detects the pulling force F of the cargo transporter, the pulling pressure sensor 5 transmits the force signal to the vehicle controller arranged in the second crossbeam 1.4. The vehicle controller controls the power management module and the hub motor assembly 2.1, so that the hub motor assembly 2.1 generates driving force under the action of the power battery, reducing the pulling force required by the porter and alleviating his labor intensity; when the F value is negative, the hub motor assembly 2.1 generates an opposite driving force under the action of the power battery.

[0070] Double vehicle splicing function, the rear ends of two power-assisted vehicles face each other, and the A interface of the first longitudinal beam 1.1 and the B interface of the second longitudinal beam 1.2 are used to lock together to form a four-wheel vehicle, such as Figure 4 shown.

[0071] After the assembly, the upper traction rod 4 and the pulling pressure sensor 5 are removed from the vehicle, and the sensing system 9 is fixed on the lower traction rod 3. The sensing system provides vision for the tractor, laying a foundation for the vehicle to follow the person and drive autonomously. Figure 5 shown.

[0072] The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A foldable power-assisted vehicle, characterized in that: The vehicle comprises: Vehicle body (1), driving wheel system (2), lower traction rod (3), upper traction rod (4), pulling pressure sensor (5), swing arm (6), shock absorber (7), folding mechanism (8), lower traction rod adjustment mechanism (3.1), upper traction rod adjustment mechanism (4.1), hinge (6.1), shock absorber adjustment positioning pin (7.1), hinge (7.2), positioning pin (8.1); The vehicle body (1) comprises a first longitudinal beam (1.1), a second longitudinal beam (1.2), a first cross beam (1.3) and a second cross beam (1.4); a mechanical interface A is provided on the first longitudinal beam (1.1), and a mechanical interface B is provided on the second longitudinal beam (1.2); The vehicle body (1) is hinged to the swing arm (6) through a hinge (6.1), the hinge (6.1) ensures that the swing arm (6) and the driving wheel system (2) swing and rotate around themselves during the operation of the vehicle, the other end of the swing arm (6) is connected to the wheel hub motor assembly (2.1), the vehicle body (1) is hinged to the shock absorber (7) through a shock absorber adjustment positioning pin (7.1), the other end of the shock absorber (7) is hinged to the swing arm through a hinge (7.2), and the folding mechanism (8) is sleeved on the first longitudinal beam (1.1) and one end of the second longitudinal beam (1.2) of the vehicle body (1) close to the second cross beam (1.4), and is fixed to the vehicle body (1) through a positioning pin (8.1).

2. The vehicle according to claim 1, characterized in that The vehicle body (1) is hingedly connected to the lower traction rod (3) through a lower traction rod adjustment mechanism (3.1), the lower traction rod (3) is connected to the upper traction rod (4) through an upper traction rod adjustment mechanism (4.1), and a tension pressure sensor (5) is arranged on the upper traction rod (4); A power battery is arranged in the first longitudinal beam (1.1) and the second longitudinal beam (1.2) of the vehicle body (1), and a vehicle controller and a power management module are arranged in the second transverse beam (1.4) of the vehicle body (1).

3. The vehicle according to claim 1, characterized in that The driving wheel train (2) comprises a wheel hub motor assembly (2.1), a tire and a speed reduction mechanism (2.3); the driving wheel train (2) has three tires distributed in an equilateral triangle; The hub motor assembly (2.1) integrates a motor controller, a motor and a reducer, and the reduction mechanism (2.3) includes a planetary gear (2.3.1), an intermediate gear (2.3.2), a sun gear (2.3.3), a planetary gear shaft (2.3.4), an intermediate gear shaft (2.3.5), a sun gear shaft (2.3.6), and a planetary carrier plate (2.3.7).

4. The vehicle according to claim 1, characterized in that When the vehicle needs to be folded, the upper traction rod adjustment mechanism (4.1) is adjusted to release the constraints of the lower traction rod (3) and the upper traction rod (4), so that the upper traction rod (4) rotates around the upper traction rod adjustment mechanism (4.1) and folds in half with the lower traction rod (3); The lower traction rod adjustment mechanism (3.1) is adjusted to release the constraints between the lower traction rod (3) and the vehicle body (1), so that the lower traction rod (3) and the upper traction rod (4) rotate together around the lower traction rod adjustment mechanism (3.1) and fold in half with the vehicle body (1); so that the upper traction rod (4), the lower traction rod (3) and the vehicle body (1) are in a Z-shaped bent and contracted state; Pull out the shock absorber adjustment positioning pin (7.1) to release the restraint between the shock absorber (7) and the vehicle body (1); The positioning pin (8.1) is pulled out to release the constraints between the swing arm (6) and the vehicle body (1), so that the swing arm (6) with the driving wheel system (2) and the shock absorber (7) rotates around the first longitudinal beam (1.1) and the second longitudinal beam (1.2) of the vehicle body (1) and folds in half with the vehicle body (1); After being folded, the driving wheel train (2) is located at the lower layer of the vehicle body (1).

5. The vehicle according to claim 4, characterized in that When the vehicle needs to be unfolded, the lower traction rod adjustment mechanism (3.1) is adjusted to release the constraints between the lower traction rod (3) and the vehicle body (1), so that the lower traction rod (3) and the upper traction rod (4) rotate around the lower traction rod adjustment mechanism (3.1) and unfold to a preset position relative to the vehicle body (1); the upper traction rod adjustment mechanism (4.1) is adjusted to release the constraints between the lower traction rod (3) and the upper traction rod (4), so that the upper traction rod (4) rotates around the upper traction rod adjustment mechanism (4.1) and unfolds to a preset position relative to the vehicle body (1). The folding mechanism (8) and the vehicle body (1) are unfolded to a preset position; the rotating swing arm (6) drives the driving wheel train (2) and the shock absorber (7) to rotate around the first longitudinal beam (1.1) and the second longitudinal beam (1.2) of the vehicle body (1) and are separated from the vehicle body (1); a positioning pin (8.1) is inserted to constrain and fix the folding mechanism (8) and the vehicle body (1) to each other; the rotating swing arm (6) drives the driving wheel train (2) and the shock absorber (7) to rotate around the hinge (6.1); a shock absorber adjustment positioning pin (7.1) is inserted to adjust the shock absorber (7) to connect with the vehicle body (1).

6. A control method for a foldable power-assisted vehicle, the method being used to control the power-assisted vehicle according to claims 1 to 5, characterized in that: The method includes multiple modes, including a flat road power-assist mode, an uphill and downhill road power-assist mode, and an inclined road power-assist mode.

7. The method according to claim 6, characterized in that When the vehicle is in a flat road power assist mode, the method includes: When transporting goods, the upper traction rod (4) is pulled. When the tension pressure sensor (5) detects the pulling force F of the cargo transporter, the elastic element in the tension pressure sensor (5) is slightly deformed, and the strain gauge is also strained accordingly, resulting in a change in resistance value, thereby generating an electrical signal G. out : G out =K S *F+G offset ; Among them, K S G is the proportionality coefficient of the tension pressure sensor (5); offset is the offset of the output signal; After receiving the electrical signal output by the tension and pressure sensor (5), the vehicle controller amplifies, filters and performs analog-to-digital conversion on the signal to obtain an accurate tension and pressure value Fe and compares it with a set threshold value; if the value is greater than the set threshold value, the vehicle controller enters the operation control mode; At the same time, the vehicle controller calculates the magnitude and phase angle of the control current according to the motor speed and rotor position through the vector control algorithm, and converts it into a PWM signal and sends it to the motor controller. The power conversion circuit controls the working order and working time of the stator coil in the reluctance motor, thereby driving the rotor to rotate and control the motor operation to generate driving force; When the upper traction rod (4) is pushed, the two driving motors of the transport vehicle generate reverse driving force under the control of the power supply and the driving motor controller, thereby reducing the pulling force required to be provided by the transport worker.

8. The method according to claim 6, characterized in that When the vehicle is in uphill and downhill road assist mode, the method includes: When transporting goods, the upper traction rod (4) is pulled, and when the pulling pressure sensor (5) detects the pulling force F of the cargo transporter, the pulling pressure sensor (5) generates an electrical signal G out The vehicle controller is transmitted to the vehicle controller arranged in the second crossbeam (1.4), and the IMU sensor updates and feeds back the current vehicle pitch angle θ to the vehicle controller in real time. In the vehicle controller, the torque Te and PWM duty cycle D required for the transport vehicle to go uphill and downhill are determined based on the vehicle pitch angle θ, the vehicle weight m and the tire size r: T e =F e *r=m*g*sinθ; Where g is the acceleration due to gravity, U avg is the average voltage at the motor end, U is the rated voltage, P is the output power, K is the constant coefficient, and I is the rated current; The vehicle controller transmits the signal to the drive motor controller. Under the control of the power supply and the drive motor controller, the drive motor of the transport vehicle generates driving force to reduce the pulling force required by the transporter. When the upper traction rod (4) is pushed, the driving motor of the transport vehicle generates a reverse driving force under the control of the power supply and the driving motor controller.

9. The method according to claim 6, characterized in that When the vehicle is in the inclined road power assist mode, the method includes: When transporting goods, the upper traction rod (4) is pulled. When the pulling pressure sensor (5) detects the pulling force F of the cargo transporter, the pulling pressure sensor (5) transmits an electrical signal to the vehicle controller arranged in the second crossbeam (1.4). At the same time, the lateral IMU detects the rolling driving state of the vehicle and transmits the information to the vehicle controller. The vehicle controller calculates the power assistance values ​​required to be provided by the drive motor (1) and the drive motor (2) respectively according to the influence of the vehicle rolling state on the power assistance effect. The vehicle controller transmits the signal to the power management system and the drive motor controller. The two drive motors of the transport vehicle generate different driving forces under the control of the power supply and the drive motor controller. When the upper traction rod (4) is pushed, the two drive motors of the transport vehicle generate reverse driving force under the control of the power supply and the drive motor controller.

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