Foldable assistive vehicle and control method

Abstract

The application provides a foldable power-assisted vehicle and a control method, comprising a vehicle body, a drive wheel system, a lower traction rod, an upper traction rod, a tension and compression force 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 the swing arm and the drive wheel system to swing around themselves during the operation of the vehicle, the other end of the swing arm is connected to a hub motor assembly, the vehicle body is hinged to the shock absorber through the positioning pin and the shock absorber, the other end of the shock absorber is hinged to the swing arm through the hinge, the folding mechanism is sleeved on the first longitudinal beam and the second longitudinal beam of the vehicle body close to one end of the second cross beam, and is fixed to the vehicle body through the positioning pin. The method comprises multiple modes, including a flat road power-assisted mode, an uphill and downhill road power-assisted mode and an inclined road power-assisted mode. The application can be folded and stored, and is convenient to carry.

Description

TECHNICAL FIELD

[0001] The present application relates to the portable vehicle technical field, and particularly relates to a foldable assisted vehicle and a control method. BACKGROUND

[0002] At present, short-distance goods carrying is usually carried out by manpower or external power. The goods carrying vehicle using manpower increases the labor intensity of the carrier and has limited carrying capacity. If the goods carrying vehicle using external power is used, the goods carrying vehicle is usually large in size and heavy in weight, high in cost and limited in use scene.

[0003] Therefore, how to solve the problem of large size and inconvenience of carrying of the vehicle has gradually become a research focus. SUMMARY

[0004] The present application provides a foldable assisted vehicle and a control method, which can solve the technical problem of large size and inconvenience of carrying of the vehicle.

[0005] The present application provides a foldable assisted vehicle, which comprises:

[0006] a vehicle body, a drive wheel train, a lower traction rod, an upper traction rod, a tension and compression force sensor, a swing arm, a shock absorber, a folding mechanism, a lower traction rod adjusting mechanism, an upper traction rod adjusting mechanism, a hinge, a shock absorber adjusting positioning pin, a hinge and a positioning pin;

[0007] The vehicle body comprises a first longitudinal beam, a second longitudinal beam, a first cross beam and a second cross beam. The first longitudinal beam is provided with a mechanical interface A, and the second longitudinal beam is provided with a mechanical interface B.

[0008] The vehicle body is hingedly connected with the swing arm through the hinge, so that the swing arm and the drive wheel train swing and rotate around themselves during the operation of the vehicle. The other end of the swing arm is connected with a hub motor assembly. The vehicle body is hingedly connected with the shock absorber through the shock absorber adjusting positioning pin. The other end of the shock absorber is hingedly connected with the swing arm through the hinge. The folding mechanism is sleeved on the first longitudinal beam and the second longitudinal beam of the vehicle body close to one end of the second cross beam and is fixed to the vehicle body through the positioning pin.

[0009] Further, the vehicle body is hingedly connected with the lower traction rod through the lower traction rod adjusting mechanism, the lower traction rod is connected with the upper traction rod through the upper traction rod adjusting mechanism, and the tension and compression force sensor is arranged on the upper traction rod.

[0010] The power battery is arranged in the first longitudinal beam and the second longitudinal beam of the vehicle body, and the vehicle controller and the power management module are arranged in the second cross beam of the vehicle body.

[0011] Further, the drive wheel train comprises a wheel hub motor assembly, a tire and a speed reduction mechanism; the drive wheel train is in an equilateral triangle distribution of three tires.

[0012] The wheel hub motor assembly is integrated with a motor controller, a motor and a speed reducer; the speed reduction mechanism comprises a planetary wheel, an intermediate wheel, a sun wheel, a planetary wheel shaft, an intermediate wheel shaft, a sun wheel shaft and a planet carrier plate.

[0013] Further, when the vehicle needs to be folded, the upper traction rod adjusting mechanism is adjusted to release the constraint of the lower traction rod and the upper traction rod, so that the upper traction rod rotates around the upper traction rod adjusting mechanism and is folded with the lower traction rod;

[0014] The lower traction rod adjusting mechanism is adjusted to release the constraint of the lower traction rod and the vehicle body, so that the lower traction rod and the upper traction rod rotate around the lower traction rod adjusting mechanism and are folded with the vehicle body; so that the upper traction rod, the lower traction rod and the vehicle body present a Z-shaped folding and shrinking state;

[0015] The shock absorber adjusting positioning pin is extracted to release the constraint of the shock absorber and the vehicle body;

[0016] The positioning pin is extracted to release the constraint of the swing arm and the vehicle body, so that the swing arm rotates around the first longitudinal beam and the second longitudinal beam of the vehicle body with the drive wheel train and the shock absorber and is folded with the vehicle body;

[0017] After folding, the drive wheel train is in the lower layer of the vehicle body.

[0018] Further, when the vehicle needs to be unfolded, the lower traction rod adjusting mechanism is adjusted to release the constraint of the lower traction rod and the vehicle body, so that the lower traction rod and the upper traction rod rotate around the lower traction rod adjusting mechanism and are unfolded to a preset position relative to the vehicle body; the upper traction rod adjusting mechanism is adjusted to release the constraint of the lower traction rod and the upper traction rod, so that the upper traction rod rotates around the upper traction rod adjusting mechanism and is unfolded to a preset position relative to the lower traction rod; the swing arm rotates around the first longitudinal beam and the second longitudinal beam of the vehicle body with the drive wheel train and the shock absorber and is separated from the vehicle body, the positioning pin is inserted to constrain and fix the folding mechanism and the vehicle body relative to each other, the swing arm rotates around the hinge with the drive wheel train and the shock absorber, and the shock absorber adjusting positioning pin is inserted to connect the shock absorber and the vehicle body.

[0019] Further, when the two vehicles are spliced, the tails of the two power-assisted vehicles are opposite, the A interface of the first longitudinal beam and the B interface of the second longitudinal beam are matched and locked to form a four-wheeled vehicle.

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

[0021] The application also provides a control method of the foldable assisted power vehicle, the method is used for the assisted power vehicle provided by the application, and the method comprises multiple modes, and the modes comprise a flat road surface assisting mode, an uphill and downhill road surface assisting mode, and an inclined road surface assisting mode.

[0022] Further, when the vehicle is in the flat road surface assisting mode, the method comprises:

[0023] When transporting goods, the upper traction rod is pulled, and when the pulling force F of the delivery person is detected by the pulling pressure sensor, the elastic element in the pulling pressure sensor is slightly deformed, the strain gauge is also strained, the resistance value is changed, and then an electric signal G is generated out :

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

[0025] Wherein, K S is a proportional coefficient of the pulling pressure sensor; G offset is an offset of the output signal;

[0026] After the vehicle controller receives the electric signal output by the pulling pressure sensor, the signal is amplified, filtered and converted into an analog signal, an accurate pulling pressure value Fe is obtained, and the value is compared with a set threshold value; if the value is greater than the set threshold value, the vehicle enters the operation control mode;

[0027] At the same time, the vehicle controller calculates the size and phase angle of the control current according to the motor speed and rotor position through the vector control algorithm, and converts the control current into a PWM signal to send to the motor controller, so as to control the working order and working time of the stator coil in the reluctance motor through the power conversion circuit, thereby driving the rotor to rotate and control the motor to operate, and generating driving force;

[0028] When the upper traction rod 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 carrier.

[0029] Further, when the vehicle is in the uphill and downhill road surface assisting mode, the method comprises:

[0030] When transporting goods, the upper traction rod is pulled, and when the pulling force F of the delivery person is detected by the pulling pressure sensor, the pulling pressure sensor generates an electric signal G out and transmits the electric signal to the vehicle controller arranged in the second cross beam, and 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, the vehicle weight m and the tire size r, the torque Te required for the transport vehicle to go uphill and downhill and the PWM duty cycle D are determined:

[0031] Te =F e *r=m*g*sin theta

[0032]

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

[0034] The whole vehicle controller transmits the signal to the drive motor controller, and the drive motor of the transport vehicle generates 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 carrier.

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

[0036] Further, when the vehicle is in the inclined road assistance mode, the method comprises:

[0037] When transporting goods, the upper traction rod is pulled, and when the pulling force sensor detects the pulling force F of the goods carrier, the pulling force sensor transmits an electric signal to the whole vehicle controller arranged in the second cross beam, and the lateral IMU detects the vehicle side inclination state and transmits the information to the whole vehicle controller. The whole vehicle controller calculates the assistance value required to be provided by the drive motor and the drive motor respectively according to the influence of the vehicle side inclination state on the assistance effect, and 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 application are as follows:

[0040] 1. The application generates an assistance effect during transportation, which can effectively reduce the labor intensity of the carrier;

[0041] 2. The application has high integration degree, few parts, and effectively reduces the whole vehicle cost while being lightweight;

[0042] 3. The application can be folded and stored, and the storage space is small after folding, which is convenient for transportation and storage.

[0043] 4. The application adopts a high-power, large-reduction-ratio gearbox, has strong cargo carrying capacity, and has significant assistance effect. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 The vehicle structure diagram provided by the embodiments of the present application.

[0045] Figure 2 The vehicle top view provided for the embodiment of the application;

[0046] Figure 3 The folding view provided for the embodiment of the application.

[0047] Figure 4 The schematic view of the double vehicle after splicing provided for the embodiment of the application.

[0048] Figure 5 The function expansion schematic view provided for the embodiment of the application.

[0049] Figure 6 The planetary gear train assembly structure schematic view provided for the embodiment of the application.

[0050] Figure 7 The single vehicle folding structure schematic view provided for the embodiment of the application.

[0051] Figure 8 The driving control flow chart provided for the embodiment of the application.

[0052] The meanings of the reference signs are as follows: 1, vehicle body, 2, driving gear train, 3, lower traction rod, 4, upper traction rod, 5, tension and pressure sensor, 6, swing arm, 7, shock absorber, 8, folding mechanism, 3.1, lower traction rod adjusting mechanism, 4.1, upper traction rod adjusting mechanism, 6.1, hinge, 7.1, shock absorber adjusting positioning pin, 7.2, hinge, 8.1, positioning pin, 1.1, second longitudinal beam, 1.2, second longitudinal beam, 1.3, first cross beam, 1.4, second cross beam, 2.1, wheel hub motor assembly, 2.2, tire, 2.3, speed reduction mechanism. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical scheme and advantages of the application more clear, the embodiments of the application will be further described in detail below with reference to the drawings.

[0054] The embodiments of the application will be first introduced below with reference to the drawings.

[0055] In order to solve the problems of high labor intensity, limited carrying capacity of the manual carrier, high cost and inconvenience of carrying of the power carrier, the application discloses a vehicle which can be used for goods carrying, folding storage and has power assisting function.

[0056] The technical scheme adopted by the application is:

[0057] The power-assisted vehicle comprises a vehicle body 1, a drive wheel train 2, a lower drawbar 3, an upper drawbar 4, a tension and compression force sensor 5, a swing arm 6, a shock absorber 7, a folding mechanism 8, a lower drawbar adjusting mechanism 3.1, an upper drawbar adjusting mechanism 4.1, a hinge 6.1, a shock absorber adjusting positioning pin 7.1, a hinge 7.2, and a positioning pin 8.1;

[0058] 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; the first longitudinal beam 1.1 is provided with a mechanical interface A, and the second longitudinal beam 1.2 is provided with a mechanical interface B;

[0059] The drive wheel train 2 comprises a hub motor assembly 2.1, a tire 2.2, and a speed reduction mechanism 2.3; the drive wheel train 2 is in an equilateral triangle distribution of three tires; the single-side three-tire arrangement widens the application scenarios of the present application, and the present application can smoothly slide in scenarios such as stairs.

[0060] The hub motor assembly 2.1 is integrated with a motor controller, a high-power large-torque motor, and a large-ratio speed reducer; the speed reduction mechanism 2.3 comprises 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] The first longitudinal beam 1.1 and the second longitudinal beam 1.2 of the vehicle body 1 are arranged with power batteries, which can be used as power sources of the vehicle; the second cross beam 1.4 of the vehicle body 1 is arranged with a vehicle controller, a power management module, and the like.

[0062] The vehicle body 1 is connected with the lower drawbar 3 through the lower drawbar adjusting mechanism 3.1, the lower drawbar 3 is connected with the upper drawbar 4 through the upper drawbar adjusting mechanism 4.1, and the upper drawbar 4 is arranged with the tension and compression force sensor 5; the vehicle body 1 is hinged with the swing arm 6 through the hinge 6.1, the hinge 6.1 ensures that the swing arm 6 and the drive wheel train 2 rotate around themselves during the operation of the vehicle, the other end of the swing arm 6 is connected with the hub motor assembly 2.1, the vehicle body 1 is hinged with the shock absorber 7 through the shock absorber adjusting positioning pin 7.1, the other end of the shock absorber 7 is hinged with the swing arm through the 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 close to one end of the second cross beam 1.4, and is fixed to the vehicle body 1 through the positioning pin 8.1.

[0063] When the vehicle needs to be folded, the upper drawbar adjusting mechanism 4.1 is adjusted to release the constraint of the lower drawbar 3 and the upper drawbar 4, so that the upper drawbar 4 rotates around the upper drawbar adjusting mechanism 4.1 and is folded with the lower drawbar 3;

[0064] Adjust the lower drawbar adjusting mechanism 3.1 to release the constraint of the lower drawbar 3 and the vehicle body 1, so that the lower drawbar 3 and the upper drawbar 4 rotate together around the lower drawbar adjusting mechanism 3.1 and fold against the vehicle body 1; so that the upper drawbar 4, the lower drawbar 3 and the vehicle body 1 present a Z-shaped folding and shrinking state;

[0065] Extract the shock absorber adjusting positioning pin 7.1 to release the constraint of the shock absorber 7 and the vehicle body 1;

[0066] Extract the positioning pin 8.1 to release the constraint of the swing arm 6 and the vehicle body 1, so that the swing arm 6 rotates around the first longitudinal beam 1.1 and the second longitudinal beam 1.2 of the vehicle body 1 with the drive wheel system 2 and the shock absorber 7 and folds against the vehicle body 1;

[0067] After folding, the drive wheel system 2 is in the lower layer of the vehicle body 1. The other side is the same, as shown in Figure 3 At this time, the power-assisted vehicle is in a folded state, which is convenient for storage and transportation.

[0068] When the vehicle needs to be unfolded, adjust the lower drawbar adjusting mechanism 3.1 to release the constraint of the lower drawbar 3 and the vehicle body 1, so that the lower drawbar 3 and the upper drawbar 4 rotate together around the lower drawbar adjusting mechanism 3.1 and unfold to the preset position relative to the vehicle body 1; adjust the upper drawbar adjusting mechanism 4.1 to release the constraint of the lower drawbar 3 and the upper drawbar 4, so that the upper drawbar 4 rotates around the upper drawbar adjusting mechanism 4.1 and unfolds to the preset position relative to the lower drawbar 3; rotate the swing arm 6 to separate the drive wheel system 2 and the shock absorber 7 from the vehicle body 1, insert the positioning pin 8.1 to constrain and fix the folding mechanism 8 and the vehicle body 1, rotate the swing arm 6 to rotate the drive wheel 2 and the shock absorber 7 around the hinge 6.1, and insert the shock absorber adjusting positioning pin 7.1 to connect the shock absorber adjusting positioning pin 7.1 and the vehicle body 1; adjust the relative position, and the other side is the same, as shown in Figure 1 At this time, the power-assisted vehicle is in an unfolded state and can be used for cargo transportation.

[0069] When transporting goods, pull the upper drawbar 4. When the pull force sensor 5 detects the pulling force F of the goods carrier, the force signal is transmitted to the vehicle controller arranged in the second cross beam 1.4, the vehicle controller controls the power management module and the wheel hub motor assembly 2.1, so that the wheel hub motor assembly 2.1 generates driving force under the action of the power battery, reduces the pulling force required by the carrier, and reduces the labor intensity; when the F value is negative, the wheel hub motor assembly 2.1 generates an opposite driving force under the action of the power battery.

[0070] The double-car splicing function is that two power-assisted vehicles are opposite to each other at the tail, the A interface of the first longitudinal beam 1.1 and the B interface of the second longitudinal beam 1.2 are matched and locked to form a four-wheeled vehicle, as shown in Figure 4 .

[0071] After splicing, the vehicle removes the upper drawbar 4 and the tension and compression force sensor 5, and fixes the sensing system 9 on the lower drawbar 3, so as to provide vision for the towing vehicle through the sensing system, and lay a foundation for the vehicle to travel with people and autonomously, as shown in Figure 5 .

[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 assistive vehicle, characterized by, The vehicle comprises: The vehicle body (1), the drive wheel train (2), the lower drawbar (3), the upper drawbar (4), the tension and compression force sensor (5), the swing arm (6), the shock absorber (7), the folding mechanism (8), the lower drawbar adjusting mechanism (3.1), the upper drawbar adjusting mechanism (4.1), the first hinge (6.1), the shock absorber adjusting positioning pin (7.1), the second hinge (7.2), the positioning pin (8.1); The vehicle body (1) comprises the first longitudinal beam (1.1), the second longitudinal beam (1.2), the first cross beam (1.3) and the 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; The vehicle body (1) is hinged to the swing arm (6) through the first hinge (6.1), the first hinge (6.1) ensures that the swing arm (6) and the drive wheel train (2) 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), the vehicle body (1) is hinged to the shock absorber (7) through the shock absorber adjusting positioning pin (7.1), the other end of the shock absorber (7) is hinged to the swing arm through the second 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) close to one end of the second cross beam (1.4), and is fixed to the vehicle body (1) through the positioning pin (8.1).

2. The vehicle of claim 1, wherein The vehicle body (1) is hinged to the lower drawbar (3) through the lower drawbar adjusting mechanism (3.1), the lower drawbar (3) is connected to the upper drawbar (4) through the upper drawbar adjusting mechanism (4.1), and the tension and compression force sensor (5) is arranged on the upper drawbar (4); The power battery is arranged in the first longitudinal beam (1.1) and the second longitudinal beam (1.2) of the vehicle body (1), and the vehicle controller and the power management module are arranged in the second cross beam (1.4) of the vehicle body (1).

3. The vehicle of claim 1, wherein The drive wheel train (2) comprises a hub motor assembly (2.1), a tire and a speed reduction mechanism (2.3); the drive wheel train (2) is in an equilateral triangle shape and comprises three tires; The hub motor assembly (2.1) is integrated with a motor controller, a motor and a speed reducer, and the speed reduction mechanism (2.3) comprises 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 planet carrier plate (2.3.7).

4. The vehicle of claim 1, wherein When the vehicle needs to be folded, the upper drawbar adjusting mechanism (4.1) is adjusted, the constraint of the lower drawbar (3) and the upper drawbar (4) is released, the upper drawbar (4) is rotated around the upper drawbar adjusting mechanism (4.1) and is folded with the lower drawbar (3); The lower drawbar adjusting mechanism (3.1) is adjusted, the constraint of the lower drawbar (3) and the vehicle body (1) is released, the lower drawbar (3) and the upper drawbar (4) are rotated around the lower drawbar adjusting mechanism (3.1) and are folded with the vehicle body (1); so that the upper drawbar (4), the lower drawbar (3) and the vehicle body (1) are in a Z-shaped bending and shrinking state; The shock absorber adjusting positioning pin (7.1) is pulled out, and the constraint of the shock absorber (7) and the vehicle body (1) is released. Pull out the positioning pin (8.1), release the constraint between the swing arm (6) and the vehicle body (1), rotate the swing arm (6) with the drive 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 fold the swing arm (6) with the drive wheel system (2) and the shock absorber (7) with the vehicle body (1); After folding, the drive wheel system (2) is in the lower layer of the vehicle body (1).

5. The vehicle of claim 4, wherein, When the vehicle needs to be unfolded, adjust the lower traction rod adjusting mechanism (3.1), release the constraint between the lower traction rod (3) and the vehicle body (1), rotate the lower traction rod (3) and the upper traction rod (4) together around the lower traction rod adjusting mechanism (3.1), and unfold to the preset position relative to the vehicle body (1); adjust the upper traction rod adjusting mechanism (4.1), release the constraint between the lower traction rod (3) and the upper traction rod (4), rotate the upper traction rod (4) around the upper traction rod adjusting mechanism (4.1), and unfold to the preset position relative to the lower traction rod (3); rotate the swing arm (6) with the drive 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 separate from the vehicle body (1), insert the positioning pin (8.1), constrain and fix the folding mechanism (8) and the vehicle body (1) relative to each other, rotate the swing arm (6) with the drive wheel system (2) and the shock absorber (7) around the first hinge (6.1), and insert the shock absorber adjusting positioning pin (7.1) to adjust the connection between the shock absorber (7) and the vehicle body (1).

6. A control method of a foldable assist vehicle, the method being used to control the assist vehicle according to any one of claims 1 to 5, characterized by The method includes multiple modes, and the modes include a flat road assistance mode, an uphill and downhill road assistance mode, and an inclined road assistance mode.

7. The control method according to claim 6, characterized by When the vehicle is in the flat road assistance mode, the method includes: When transporting goods, the upper traction rod (4) is pulled, and when the pulling force F of the deliveryman is detected by the pulling pressure sensor (5), the elastic element in the pulling pressure sensor (5) is slightly deformed, the strain gauge is also strained, the resistance value is changed, and an electric signal is generated : ； wherein, is a proportional coefficient of the tensile-compressive force sensor (5); is an offset of the output signal; After the whole vehicle controller receives the electrical signal output by the pull-push force sensor (5), the signal is amplified, filtered and analog-digital converted to obtain an accurate pull-push force value Fe, which is compared with a set threshold value; if it is greater than the set threshold value, the operation control mode is entered; At the same time, the whole vehicle controller calculates the size and phase angle of the control current through a vector control algorithm according to the motor speed and rotor position, and converts it into a PWM signal to send to the motor controller, controls the working order and working time of the stator coil in the reluctance motor through the power conversion circuit, thereby driving the rotor to rotate and control the motor to operate, generating driving force; 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, reducing the pulling force required by the carrier worker to provide.

8. The control method according to claim 6, characterized by, When the vehicle is in the uphill and downhill road assistance mode, the method includes: When transporting goods, pull the upper drawbar (4), when the pulling force sensor (5) detects the pulling force F of the deliveryman, the pulling force sensor (5) generates an electric signal G out And is transmitted to the whole vehicle controller arranged in the second cross beam (1.4), and the IMU sensor updates and feeds back the current vehicle pitch angle θ to the whole vehicle controller in real time; in the whole vehicle controller, based on the vehicle pitch angle θ, the whole vehicle weight m and the tire size r, the torque Te required for the transport vehicle to go uphill and downhill and the PWM duty cycle D are determined: ； ； ； where g is the acceleration of gravity, is the average voltage at the terminals of the motor, U is the rated voltage, P is the output power, K is a constant factor, and I is the rated current. The whole vehicle controller transmits the signal to the drive motor controller, and the drive motor of the transport vehicle generates driving force under the control of the power supply and the drive motor controller, reducing the pulling force required by the carrier worker to provide; When the upper traction rod (4) is pushed, the drive motor of the transport vehicle generates reverse driving force under the control of the power supply and the drive motor controller.

9. The control method according to claim 6, characterized by, When the vehicle is in the inclined road assistance mode, the method includes: When transporting goods, pull the upper drawbar (4), when the pull pressure sensor (5) detects the pulling force F of the deliveryman, the pull pressure sensor (5) transmits the electrical signal to the whole vehicle controller arranged in the second cross beam (1.4), and the lateral IMU detects the vehicle roll driving state and transmits the information to the whole vehicle controller. The whole vehicle controller calculates the assist value required to be provided by the two drive motors respectively according to the influence of the vehicle roll state on the assist effect, and transmits the signal to the power management system and the drive motor controller. The two drive motors of the transport vehicle are controlled by the power supply and the drive motor controller to generate different driving forces. When pushing the upper drawbar (4), the two drive motors of the transport vehicle are controlled by the power supply and the drive motor controller to generate reverse driving force.

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