Sensing holding rod, hand-push tool and control method of hand-push tool

Abstract

The embodiment of the invention relates to the field of cleaning equipment, and discloses a sensing holding rod, a hand-push tool and a control method of the hand-push tool. The sensing holding rod comprises a connecting rod part, a holding part, a sensing module, a conduction module, a reset module and a control system; the holding part is connected with the connecting rod part so as to be connected to a main body of the hand-push tool through the connecting rod part; the holding part comprises a sensing area and a non-sensing area; the sensing module is installed in the sensing area of the holding part, and the sensing module senses the holding operation of a user in the radial direction of the holding part and outputs a sensing signal; in the radial direction of the holding part, at least part of the conduction module is arranged on the second side of the sensing module; the reset module is mounted on the sensing holding rod and enables the conduction module to be far away from the sensing module; the control system controls the walking speed of the main body according to the sensing signal. According to the sensing holding rod, the hand-push tool and the control method of the hand-push tool, the problems that an existing hand-push tool is prone to being poor in control stability and inaccurate in operation feedback can be solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of cleaning equipment, and in particular to a sensing handle, a hand-push tool, and a control method thereof. Background Art

[0002] A lawn mower is a hand-pushed tool used for mowing lawns, vegetation, etc., and the user can stand behind the lawn mower and push the lawn mower to walk. At present, there are some lawn mowers with self-propelled functions on the market, and their self-propelled speed can be controlled by the user, such as the lawn mower disclosed in the utility model patent with authorization announcement number CN215601945U, in which the pressure sensing device is installed at the connection between the connecting rod part and the grip part. The position change of the grip part on the connecting rod part is pushed by the user, which causes the deformation of the pressure sensing device, thereby forming detection data. In order to achieve the deformation required for pressing the grip part, the existing design retains a certain deformation gap between the grip part and the connecting rod part. However, this gap causes the grip part to shake during use, so that the user needs to pay extra attention to keep the device stable, which not only reduces the control accuracy, but also may cause fatigue and reduced experience. In addition, this design is more obvious on uneven or rugged roads. The bumps of the road surface produce short and frequent impacts on the grip part, which are further amplified under the action of the deformation gap, causing the walking speed of the hand-pushed tool to become unstable, and it is easy to have unexpected acceleration or deceleration. This not only reduces work efficiency, but also poses a potential threat to the safety of users. Now there is an urgent need for a new technology or structural design that can effectively eliminate the shaking of the grip and improve the control accuracy and comfort, so as to improve work efficiency and safety and improve the user experience. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a sensing grip, a hand-push tool and a control method thereof, aiming to solve the problems of poor control stability and inaccurate operation feedback that are prone to occur in existing hand-push tools.

[0004] In order to solve the above technical problems, an embodiment of the present application provides a sensing handle for a hand-pushing tool, wherein the sensing handle comprises:

[0005] Connecting rod;

[0006] A gripping portion connected to the connecting rod portion so as to be connected to the main body of the hand push tool through the connecting rod portion; the gripping portion includes a sensing area and a non-sensing area;

[0007] a sensing module, the sensing module being installed in a sensing area of ​​the grip portion, the sensing module having a first side close to the grip portion and a second side away from the grip portion, the sensing module sensing a user's gripping operation in a radial direction of the grip portion and outputting a sensing signal;

[0008] A conducting module, at least part of which is arranged on a second side of the sensing module in a radial direction of the gripping portion;

[0009] A reset module, mounted on the sensing handle, at least part of which enables the conduction module to be away from the sensing module;

[0010] A control system is provided, wherein the control system controls the walking speed of the main body according to the sensing signal.

[0011] Compared with the prior art in which the pressure sensing device is installed at the connection between the connecting rod and the gripping part, and the position change of the gripping part on the connecting rod by the user causes deformation of the pressure sensing device, thereby forming detection data, the present application sets the sensing module directly on the gripping part, which can accurately capture the force and direction of the user in different operations such as pushing, pulling, and gripping. This refined sensing capability effectively improves the accuracy of the signal during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. At the same time, the user's gripping force is applied directly to the sensing module along the radial direction of the gripping part, which not only makes the signal transmission path short and clear, reduces signal interference and errors, and significantly improves the accuracy of the signal during the operation process, but also reduces the data instability problem caused by the overall shaking of the structure, achieving smooth, direct and fine operation adjustment, and providing accurate and real-time operation data. This enables the system to respond quickly and accurately adjust the walking speed of the tool body, improve the control performance, and through the reset module, realize effective detection of the sensing module and improve the user's operation perception. Compared with the existing technology, the present application can more accurately reflect the user's operation intentions, improve work efficiency and use safety, while also improving the user's operation perception and overall experience satisfaction.

[0012] Optionally, the conduction module has an operating portion and a buffer portion, the buffer portion is arranged on a side of the operating portion close to the sensing module, the reset module enables the buffer portion to be away from the sensing module, and the buffer portion is made of a flexible material.

[0013] Optionally, a maximum compression distance of the reset module is greater than a distance between the buffer portion and the sensing module.

[0014] Optionally, the non-sensing area has a non-sensing surface, the operating portion has an operating surface for the user to contact when holding the device, and the operating surface has a soft material, wherein:

[0015] The Shore hardness of the soft material of the operating surface is greater than the Shore hardness of the non-sensing surface material of the non-sensing area; or, the Shore hardness of the soft material of the operating surface is less than the Shore hardness of the non-sensing surface material of the non-sensing area.

[0016] Optionally, the non-sensing area has a non-sensing surface, the operating part has an operating surface for the user to contact when holding the device, the operating surface has a soft material, and the Shore hardness of the soft material of the operating surface is equal to the Shore hardness of the non-sensing surface material of the non-sensing area.

[0017] Optionally, the operating surface has a contour matching with an application body of a gripping operation.

[0018] Optionally, in the axial direction of the gripping portion, the middle portion of the operating surface is convex relative to both ends; and / or,

[0019] In the radial direction of the gripping portion, the middle portion of the operating surface is convex relative to the two ends.

[0020] Optionally, the gripping portion includes a first gripping portion and a second gripping portion; the first gripping portion and the second gripping portion are respectively connected to the connecting rod portion; wherein:

[0021] The sensing module is installed on the first gripping portion; and / or,

[0022] The sensing module is installed on the second gripping portion.

[0023] Optionally, the length of the first grip portion is not greater than 20 cm, the sensing module on the first grip portion is installed along the axial direction of the first grip portion, and the length is not less than one tenth of the length of the first grip portion; and / or,

[0024] The length of the second grip portion is not greater than 20 centimeters, and the sensing module on the second grip portion is installed along the axial direction of the second grip portion, and the length is not less than one tenth of the length of the second grip portion.

[0025] Optionally, the left horizontal line of the intersection point of the horizontal line intersecting the central axis of the first grip portion is taken as 0°, and the sensing module is installed in the area of ​​0°~60° and 180°~360° of the central axis of the first grip portion; and / or,

[0026] The left side horizontal line of the intersection point where the horizontal line intersects the central axis of the second gripping portion is 0°, and the sensing module is installed in the area of ​​120° to 360° of the central axis of the second gripping portion.

[0027] Optionally, when the first grip portion is equipped with one of the sensing modules, a horizontal line on the left side of an intersection point where a horizontal line intersects the central axis of the first grip portion is 0°, wherein:

[0028] The sensing module is installed in the area of ​​180° to 360° of the central axis of the first grip portion; or,

[0029] The sensing module is installed in the area of ​​0°~60° and 300°~360° of the central axis of the first gripping part.

[0030] Optionally, when the second grip portion is equipped with one of the sensing modules, a horizontal line on the left side of an intersection point where a horizontal line intersects the central axis of the second grip portion is 0°, wherein:

[0031] The sensing module is installed in the area of ​​180° to 360° of the central axis of the second grip portion; or,

[0032] The sensing module is installed in the area of ​​120° to 240° of the central axis of the second gripping portion.

[0033] Optionally, the holding portion has an opening and a cavity connected to the opening, the sensing module is fixed in the cavity, and at least a portion of the conduction module is fixed in the cavity and stacked on a side of the sensing module close to the opening.

[0034] Optionally, the sensing module is a plate-shaped sensor.

[0035] Optionally, the buffer portion has a conductive surface, the conductive surface is a region that can be away from the sensing module through the reset module, and the area of ​​the conductive surface is greater than or equal to half the area of ​​the sensing surface of the plate-shaped sensor.

[0036] Optionally, the sensing module is one of the following types: a resistive sensor, a capacitive sensor, and a ceramic piezoelectric sensor.

[0037] An embodiment of the present application further provides a sensing grip for a hand-pushing tool, the sensing grip comprising:

[0038] Connecting rod;

[0039] A gripping portion connected to the connecting rod portion to be connected to the main body of the hand push tool through the connecting rod portion; the gripping portion includes a sensing area and a non-sensing area, and the non-sensing area has a non-sensing surface;

[0040] a sensing module, the sensing module being installed in a sensing area of ​​the grip portion, the sensing module having a first side close to the grip portion and a second side away from the grip portion, the sensing module sensing a user's gripping operation in a radial direction of the grip portion and outputting a sensing signal;

[0041] A conducting module, wherein the conducting module has an operating surface, and in the radial direction of the gripping portion, at least a portion of the conducting module is disposed on the second side of the sensing module; the Shore hardness of the operating surface of the conducting module is different from the Shore hardness of the non-sensing surface of the non-sensing area of ​​the gripping portion;

[0042] A control system is provided, wherein the control system controls the walking speed of the main body according to the sensing signal.

[0043] Compared with the prior art in which the pressure sensing device is installed at the connection between the connecting rod and the gripping part, and the position change of the gripping part on the connecting rod by the user causes deformation of the pressure sensing device, thereby forming detection data, the present application sets the sensing module directly on the gripping part, which can accurately capture the force and direction of the user in different operations such as pushing, pulling, and gripping. This refined sensing capability effectively improves the accuracy of the signal during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. At the same time, the user's gripping force is applied directly to the sensing module along the radial direction of the gripping part, which not only makes the signal transmission path short and clear, reduces signal interference and errors, and significantly improves the accuracy of the signal during the operation process, but also reduces the data instability problem caused by the overall shaking of the structure, achieving smooth, direct and fine operation adjustment, and providing accurate and real-time operation data. This allows the system to respond quickly and accurately adjust the travel speed of the tool body, improving control performance. By setting the Shore hardness of the operating surface to be different from that of the non-sensing surface, the user can perceive the functions of different areas through the sense of touch when holding the grip, thereby enhancing the naturalness and intuitiveness of human-computer interaction. The user can adjust the operation by himself through the gripping strength and position, increasing the comfort of use. Compared with the prior art, the present application can more accurately reflect the user's operating intentions, improve work efficiency and safety of use, and also enhance the user's operating perception and overall experience satisfaction.

[0044] Optionally, the Shore hardness of the gripping portion is greater than the Shore hardness of the connecting rod portion.

[0045] Optionally, the conducting module has an operating portion and a buffer portion, the buffer portion is disposed on a side of the operating portion close to the sensing module, and the buffer portion is made of a flexible material.

[0046] An embodiment of the present application further provides a sensing grip for a hand-pushing tool, the sensing grip comprising:

[0047] Connecting rod;

[0048] A gripping portion connected to the connecting rod portion so as to be connected to the main body of the hand push tool through the connecting rod portion; the gripping portion includes a sensing area and a non-sensing area; the gripping portion includes a first gripping portion and a second gripping portion, and the axes of the first gripping portion and the second gripping portion are located in a gripping portion plane; the first gripping portion and the second gripping portion are respectively connected to two connecting rod portions, and the axes of the two connecting rod portions are located in a connecting rod portion plane; the angle between the gripping portion plane and the connecting rod portion plane is 80°~135°;

[0049] a sensing module, the sensing module being installed in a sensing area of ​​the grip portion, the sensing module having a first side close to the grip portion and a second side away from the grip portion, the sensing module sensing a user's gripping operation in a radial direction of the grip portion and outputting a sensing signal;

[0050] A conducting module, at least part of which is arranged on a second side of the sensing module in a radial direction of the gripping portion;

[0051] A control system is provided, wherein the control system controls the walking speed of the main body according to the sensing signal.

[0052] Compared with the prior art in which the pressure sensing device is installed at the connection between the connecting rod and the gripping part, and the position change of the gripping part on the connecting rod by the user causes deformation of the pressure sensing device, thereby forming detection data, the present application sets the sensing module directly on the gripping part, which can accurately capture the force and direction of the user in different operations such as pushing, pulling, and gripping. This refined sensing capability effectively improves the accuracy of the signal during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. At the same time, the user's gripping force is applied directly to the sensing module along the radial direction of the gripping part, which not only makes the signal transmission path short and clear, reduces signal interference and errors, and significantly improves the accuracy of the signal during the operation process, but also reduces the data instability problem caused by the overall shaking of the structure, achieving smooth, direct and fine operation adjustment, and providing accurate and real-time operation data. This allows the system to respond quickly and accurately adjust the walking speed of the tool body, improving the control performance; by setting the angle range between the plane of the grip and the plane of the connecting rod, it is beneficial for the user to hold the grip in a relatively comfortable position with the body, which is more ergonomically designed, and it is not easy to get tired after operating the push tool for a long time. At the same time, it is beneficial for the user to better grasp the strength of the grip operation, and it is easier to maintain a stable grip operation in bumpy conditions, and it is easier to stably control the walking speed of the main body. Compared with the existing technology, this application can more accurately reflect the user's operating intention, improve work efficiency and safety of use, and also improve the user's operating perception and overall experience satisfaction.

[0053] Optionally, the angle between the plane of the gripping portion and the plane of the connecting rod portion is 90°~120°.

[0054] An embodiment of the present application further provides a hand-pushing tool, comprising the above-mentioned sensing handle.

[0055] The present application sets the sensing module directly on the grip, which can accurately capture the strength and direction of the user in different operations such as pushing, pulling, and holding. This refined sensing capability effectively improves the accuracy of the signal during the operation process, reduces the speed fluctuation caused by misoperation, and thus enhances the control stability of the device. At the same time, the user's gripping force is applied directly to the sensing module along the radial direction of the grip, which not only makes the signal transmission path short and clear, reduces signal interference and errors, and significantly improves the accuracy of the signal during the operation process, but also reduces the data instability problem caused by the overall shaking of the structure, achieving smooth, direct and fine operation adjustment, and providing accurate and real-time operation data. Compared with the prior art, the present application can more accurately reflect the user's operating intentions, improve work efficiency and safety of use, and also enhance the user's operating perception and overall experience satisfaction.

[0056] An embodiment of the present application further provides a control method for a hand push tool, wherein a gripping portion of a sensing grip of the hand push tool comprises a first gripping portion and a second gripping portion, and at least one sensing module is mounted on the first gripping portion and / or the second gripping portion; the number of sensing points arranged on the sensing module is at least 2, and the control method for the hand push tool comprises:

[0057] receiving a sensing signal output by the sensing module; wherein the sensing points of the sensing module sense the user's gripping operation in the radial direction of the gripping portion and output the sensing signal, and each sensing point outputs one sensing signal;

[0058] According to a preset detection strategy, identifying a valid signal from the received sensing signal;

[0059] The walking speed of the main body of the hand push tool is controlled according to the effective signal.

[0060] The present application sets the sensing module directly on the grip, which can accurately capture the strength and direction of the user in different operations such as pushing, pulling, and holding. This refined sensing capability effectively improves the accuracy of the signal during the operation process, reduces the speed fluctuation caused by misoperation, and thus enhances the control stability of the device. At the same time, the user's gripping force is applied directly to the sensing module along the radial direction of the grip, which not only makes the signal transmission path short and clear, reduces signal interference and errors, and significantly improves the accuracy of the signal during the operation process, but also reduces the data instability problem caused by the overall shaking of the structure, achieving smooth, direct and fine operation adjustment, and providing accurate and real-time operation data. Compared with the prior art, the present application can more accurately reflect the user's operating intentions, improve work efficiency and safety of use, and also enhance the user's operating perception and overall experience satisfaction.

[0061] Optionally, the detection strategy is one of the following or any combination thereof:

[0062] Specifying a valid sensing point, wherein a sensing signal output by the valid sensing point is a valid signal;

[0063] Preset signal processing and screening rules, according to which the received sensing signals are processed and valid signals are screened out; the signal processing and screening rules are to set a valid threshold, determine whether the sensing signal output by the sensing point is greater than or equal to the valid threshold, and if so, perform the preset processing rules on the sensing signal that is greater than or equal to the valid threshold to confirm it as a valid signal.

[0064] The embodiment of the present application further provides a hand push tool, wherein the gripping portion of the sensing grip of the hand push tool comprises a first gripping portion and a second gripping portion, and when a sensing module is installed on the first gripping portion and the second gripping portion, the sensing module senses the gripping operation of the user in the radial direction of the first gripping portion and the second gripping portion, and outputs corresponding first sensing signals and second sensing signals;

[0065] The control system of the sensing grip controls the walking speed of the main body of the hand push tool according to any one of the first sensing signal and the second sensing signal.

[0066] The present application sets the sensing module directly on the grip, which can accurately capture the strength and direction of the user in different operations such as pushing, pulling, and holding. This refined sensing capability effectively improves the accuracy of the signal during the operation process, reduces the speed fluctuation caused by misoperation, and thus enhances the control stability of the device. At the same time, the user's gripping force is applied directly to the sensing module along the radial direction of the grip, which not only makes the signal transmission path short and clear, reduces signal interference and errors, and significantly improves the accuracy of the signal during the operation process, but also reduces the data instability problem caused by the overall shaking of the structure, achieving smooth, direct and fine operation adjustment, and providing accurate and real-time operation data. Compared with the prior art, the present application can more accurately reflect the user's operating intentions, improve work efficiency and safety of use, and also enhance the user's operating perception and overall experience satisfaction.

[0067] Optionally, the hand push tool also includes a selected sensing signal module, which is used to select any one of the first sensing signal and the second sensing signal for the control system to control the walking speed of the main body, and / or select the sensing signal corresponding to the output of the sensing module installed on the first grip part and any one of the sensing modules installed on the second grip part as the output sensing signal for controlling the walking speed of the main body.

[0068] Optionally, the hand push tool further includes a fitting sensing signal module, and the fitting sensing signal module is used to fit a third sensing signal to the control system according to the first sensing signal and the second sensing signal as a sensing signal for controlling the walking speed of the main body.

[0069] The embodiment of the present application further provides a hand push tool, wherein the gripping portion of the sensing gripping rod of the hand push tool comprises a first gripping portion and a second gripping portion, and when at least two sensing modules are installed on the first gripping portion and the second gripping portion, the at least two sensing modules installed on the first gripping portion output a first sensing signal, and the at least two sensing modules installed on the second gripping portion output a second sensing signal;

[0070] The present application sets the sensing module directly on the gripping part, which can accurately capture the strength and direction of the user in different operations such as pushing, pulling, and holding. This refined sensing capability effectively improves the accuracy of the signal during the operation process, reduces the speed fluctuation caused by misoperation, and thus enhances the control stability of the device. At the same time, the user's gripping force is directly applied to the sensing module along the radial direction of the gripping part, which not only makes the signal transmission path short and clear, reduces signal interference and errors, significantly improves the accuracy of the signal during the control process, but also reduces the data instability caused by the overall shaking of the structure, realizes smooth, direct and fine operation adjustment, and provides accurate and real-time operation data. Compared with the prior art, the present application can more accurately reflect the user's operation intention, improve work efficiency and use safety, and also improve the user's operation perception and overall experience satisfaction. At least two sensing modules installed on the first gripping part and at least two sensing modules installed on the second gripping part can respectively collect the gripping information of the user's left and right hands, so that the control system can independently perceive and analyze the operation state of each hand according to the collected gripping information of the user's left and right hands, thereby providing more accurate feedback and speed control to adapt to the user's different gesture operation habits or device usage habits. Furthermore, by providing more sensing modules on the first grip portion and the second grip portion, the area of ​​the sensing region on the grip portion can be increased, thereby expanding the gripping range of the user on the grip portion.

[0071] The control system of the sensing grip controls the walking speed of the main body of the hand push tool according to any one of the first sensing signal and the second sensing signal.

[0072] Optionally, the hand push tool also includes a first selected sensing signal module, which is used to select any one of the first sensing signal and the second sensing signal for the control system to control the walking speed of the main body, and / or select the sensing signal corresponding to the output of the sensing module installed on the first grip part and any one of the sensing modules installed on the second grip part as the output sensing signal for controlling the walking speed of the main body of the hand push tool.

[0073] Optionally, the hand push tool also includes a first fitting sensing signal module, which is used to fit a third sensing signal to the control system based on the first sensing signal and the second sensing signal as a sensing signal for controlling the walking speed of the main body.

[0074] Optionally, the hand push tool further includes a second fitting sensing signal module, wherein:

[0075] The first sensing signal output by at least two sensing modules installed on the first grip portion is fitted into the first sensing signal by the second fitting sensing signal module according to the sensing signals correspondingly output by at least two sensing modules installed on the first grip portion; and / or,

[0076] The second sensing signal output by at least two sensing modules installed on the second gripping portion is fitted into the second sensing signal according to the sensing signals correspondingly output by at least two sensing modules installed on the second gripping portion through the second fitting sensing signal module.

[0077] Optionally, the hand push tool further comprises a second selected sensing signal module, wherein:

[0078] At least two of the sensing modules installed on the first gripping part output a first sensing signal through the second selected sensing signal module, and a sensing signal output by any one of the at least two sensing modules on the first gripping part is selected as the first sensing signal; and / or,

[0079] The second sensing signal output by at least two sensing modules installed on the second gripping part is passed through the selected sensing signal module, and the sensing signal output by any one of the at least two sensing modules on the second gripping part is selected as the second sensing signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0081] Figure 1 A schematic diagram of the structure of a sensing grip provided in an embodiment of the present application;

[0082] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0083] Figure 3 for Figure 1 A cross-sectional view of the middle conduction module;

[0084] Figure 4 for Figure 1 One of the schematic diagrams of the installation area of ​​the sensing module on the middle grip;

[0085] Figure 5 for Figure 1 Schematic diagram 2 of the installation area of ​​the sensing module on the middle grip;

[0086] Figure 6 A schematic diagram of the structure of another sensing grip provided in an embodiment of the present application;

[0087] Figure 7 for Figure 6 A cross-sectional view of the middle conduction module;

[0088] Figure 8 for Figure 6 A schematic diagram of the installation area of ​​the sensing module on the middle grip;

[0089] Fig. 9 A schematic structural diagram of a hand-pushing tool provided in an embodiment of the present application. DETAILED DESCRIPTION

[0090] As can be seen from the background technology, the pressure sensing device of the existing hand-push tool is installed at the connection between the connecting rod part and the grip part. The position change of the grip part on the connecting rod part caused by the user pushing the grip part causes deformation of the pressure sensing device, thereby forming detection data. In order to achieve the deformation required for pressing the grip part, the existing design retains a certain deformation gap between the grip part and the connecting rod part. However, this gap causes the grip part to shake during use, so that the user needs to pay extra attention to keep the device stable, which not only reduces the control accuracy, but also may cause fatigue and reduced experience. In addition, this design is more obvious on uneven or rugged roads. The bumps of the road surface produce short and frequent impacts on the grip part, which are further amplified under the action of the deformation gap, causing the walking speed of the hand-push tool to become unstable and prone to accidental acceleration or deceleration. This not only reduces work efficiency, but also poses a potential threat to the safety of users. Now there is an urgent need for a new technology or structural design that can effectively eliminate the shaking of the grip part, improve the control accuracy and comfort, so as to improve work efficiency and safety and improve the user experience.

[0091] The inventor of the present application conducted a detailed study on the speed control of hand tools in the prior art, discovered defects and analyzed the causes of the defects, and thus cleverly overcame the problems of poor control stability and inaccurate operation feedback of hand tools after long-term use by adjusting the installation position of the sensing module.

[0092] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0093] Figures 1 to 8A schematic diagram of the structures of various sensing grips provided in embodiments of the present application.

[0094] See also Figures 1 to 3 In some embodiments, the sensing grip 100 includes a connecting rod portion 1, a grip portion 2, a sensing module 3, a conducting module 4 and a control system 6. The grip portion 2 is connected to the connecting rod portion 1 to be connected to the main body 200 of the hand push tool 1000 through the connecting rod portion 1; the grip portion 2 includes a sensing area 21 and a non-sensing area 22; the sensing module 3 is installed in the sensing area 21 of the grip portion 2, and the sensing module 3 has a first side close to the grip portion 2 and a second side away from the grip portion 2. The sensing module 3 senses the user's gripping operation in the radial direction of the grip portion 2 and outputs a sensing signal; the conducting module 4 is in the radial direction of the grip portion 2, and at least part of the conducting module 4 is arranged on the second side of the sensing module 3; the control system 6 controls the walking speed of the main body 200 according to the sensing signal.

[0095] Specifically, see Fig. 9 The sensing handle 100 can be used for a hand-pushing tool 1000, which includes the sensing handle 100 and a main body 200. The main body 200 includes a body 210, a walking assembly 220, and a power assembly 230; the walking assembly 220 is installed on the body 210, and the power assembly 230 is installed in the body 210 and is coupled to the walking assembly 220 for driving the walking assembly 220 to walk.

[0096] The two ends of the connecting rod 1 in the axial direction of the connecting rod 1 are connected to the gripping portion 2 and the main body 200, respectively. The gripping portion 2 is used for the user to hold, so that when the user holds the gripping portion 2 during the use of the hand-push tool 1000, the user can push the hand-push tool 1000 to walk. Based on the actual shape and size of the gripping portion 2, a gripping area that is convenient for the user to hold the gripping portion 2 is formed on the gripping portion 2. By holding the gripping area of ​​the gripping portion 2, the user is not only more ergonomically designed, but also helps the user to push the hand-push tool 1000 to walk effortlessly and conveniently. The gripping portion 2 includes a sensing area 21 and a non-sensing area 22. The sensing area 21 is a gripping area where a human hand holds the gripping portion 2 and can simultaneously contact the gripping area where the sensing module 3 is installed, while the non-sensing area 22 is a gripping area where a human hand holds the gripping portion 2 and cannot simultaneously contact the gripping area where the sensing module 3 is installed.

[0097] The grip portion 2 has a limit position for assembling the sensing module 3 , which includes but is not limited to a groove and a mounting surface having a height difference with the surface layer of the grip portion 2 , and the sensing module 3 is mounted on the mounting surface of the grip portion 2 . The first side of the sensing module 3 is the side of the sensing module 3 close to the holding part 2 in the radial direction of the holding part 2, that is, the sensing module 3 is installed on the holding part 2, and the two are in contact or close to each other. The second side of the sensing module 3 is the side of the sensing module 3 away from the holding part 2 in the radial direction of the holding part 2, that is, the other side of the sensing module 3 relative to the side where the sensing module 3 is in contact or close to the holding part 2. By directly installing the sensing module 3 on the holding part 2, the strength and direction of the user in different operations such as pushing, pulling, and holding can be accurately captured. This refined sensing capability effectively improves the accuracy of the sensing signal during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. At the same time, the user's holding force is along the radial direction of the holding part 2 and is directly applied to the sensing module 3, which not only makes the sensing signal transmission path short and clear, reduces signal interference and errors, and significantly improves the accuracy of the sensing signal during operation, but also reduces the data instability problem caused by the overall shaking of the structure, realizing smooth, direct and fine operation adjustment, and providing accurate and real-time operation data.

[0098] The conducting module 4 can be movably mounted on the grip portion 2, and the conducting module 4 has a movable stroke in the radial direction of the grip portion 2. At least part of the conducting module 4 is opposite to the sensing module 3 in the radial direction of the grip portion 2 and is located on the second side of the sensing module 3, so that the part of the conducting module 4 opposite to the sensing module 3 is also located in the sensing area 21 of the grip portion 2. Within the movable stroke of the conducting module 4, the part of the conducting module 4 opposite to the sensing module 3 can abut against and separate from the sensing module 3.

[0099] When the user holds the gripping portion 2, the conducting module 4 is subjected to a holding force in the radial direction of the gripping portion 2, so that the conducting module 4 moves in a direction close to the sensing module 3, and then the conducting module 4 abuts against the sensing module 3 to transmit the holding force received by the conducting module 4 to the sensing module 3, so that the sensing module 3 can sense the user's holding operation in the radial direction of the gripping portion 2 and output a sensing signal. The sensing module 3 is installed on the gripping portion 2, and the holding force of the user's holding operation is applied to the sensing module 3 in the radial direction of the gripping portion 2. When the impact force generated by the bumpy road is transmitted upward along the connecting rod portion 1 and impacts the gripping portion 2, the gripping portion 2 as a whole is relatively stable and not easy to deform relative to the connection position between the connecting rod portion 1 and the gripping portion 2, so it will basically not affect the sensing accuracy of the sensing module 3 installed on the gripping portion 2, so that the hand push tool 1000 will not have problems such as poor control stability and inaccurate operation feedback even after long-term use.

[0100] The control system 6 can be installed at any position on the hand push tool 1000, for example, see Figure 1 , the control system 6 can be installed on the connecting rod part 1 or the grip part 2; please refer to Fig. 9 The control system 6 can also be installed on the main body 200. The control system 6 is electrically connected to the sensing module 3 and the power assembly 230, so that the control system 6 can control the walking speed of the main body 200 according to the sensing signal output by the sensing module 3.

[0101] Optionally, in some embodiments, the control system 6 includes a controller and / or a control panel. The controller is electrically connected to the sensing module 3 and the power assembly 230, and the controller can control the walking speed of the main body 200 according to the sensing signal output by the sensing module 3. The control panel is a human-computer interaction platform for the hand push tool 1000, and the control panel generally includes an input unit and / or a display unit, the input unit is used to receive the user's control instructions and request the hand push tool 1000 to execute the control instructions, and the display unit is used to display the use status of the hand push tool 1000 and the information input by the input unit.

[0102] Compared with the prior art in which the pressure sensing device is installed at the connection between the connecting rod and the gripping part, the user pushes the gripping part to change its position on the connecting rod, which causes the deformation of the pressure sensing device, thereby forming detection data. In this application, the sensing module 3 is directly set on the gripping part 2, which can accurately capture the force and direction of the user in different operations such as pushing, pulling, and holding. This refined sensing capability effectively improves the accuracy of the signal during the operation process, reduces the speed fluctuation caused by misoperation, thereby enhancing the control stability of the device. At the same time, the user's gripping force is directly applied to the sensing module 3 along the radial direction of the gripping part 2, which not only makes the signal transmission path short and clear, reduces signal interference and errors, significantly improves the accuracy of the signal during the operation, but also reduces the data instability caused by the overall shaking of the structure, realizes smooth, direct and fine operation adjustment, and provides accurate and real-time operation data. This allows the system to respond quickly and accurately adjust the walking speed of the tool body 200, improve the control performance, and compared with the prior art, the present application can more accurately reflect the user's operation intention, improve work efficiency and use safety, and also improve the user's operation perception and overall experience satisfaction.

[0103] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings.

[0104] The sensing module 3 is usually a pressure sensor, and the specific type of the sensing module 3 can be set according to the actual situation. Optionally, in some embodiments, the sensing module 3 is one of the following types: a resistive sensor, a capacitive sensor, or a ceramic piezoelectric sensor. Setting the sensing module 3 as a resistive sensor, a capacitive sensor, or a ceramic piezoelectric sensor can reduce the setting cost of the sensing module 3 and improve the accuracy of data sensing.

[0105] The specific shape of the sensing module 3 can also be set according to actual conditions. For example, the sensing module 3 can be set in a sheet, plate or film shape. Figure 3 and Figure 7 In some embodiments, the sensing module 3 is a plate-shaped sensor. The sensing module 3 is arranged in a plate shape, so that the sensing module 3 is a plate-shaped sensor, which can increase the structural strength of the sensing module 3, thereby extending the service life of the sensing module 3. The following will take the sensing module 3 as an example of a plate-shaped sensor for introduction.

[0106] The sensing module 3 is mounted on the grip 2. The sensing module 3 is usually embedded in the grip 2 and covered by the conductive module 4 to prevent the sensing module 3 from being directly exposed on the outer surface of the hand tool 1000, thereby protecting the sensing module 3. Figures 1 to 3 In some embodiments, the grip portion 2 has an opening 25 and a cavity 26 connected to the opening 25 , the sensing module 3 is fixed in the cavity 26 , and at least part of the conduction module 4 is fixed in the cavity 26 and stacked on a side of the sensing module 3 close to the opening 25 .

[0107] Specifically, a cavity 26 is provided inside the grip portion 2, and an opening 25 communicating with the cavity 26 is provided on the surface layer of the grip portion 2. Support structures such as support ribs, support columns or support step surfaces may be provided on the inner cavity surface of the cavity 26, and the sensing module 3 may be fixedly installed on the inner cavity bottom surface of the cavity 26 by bonding, clamping or screwing, so as to fix the sensing module 3 in the cavity 26, wherein the inner cavity bottom surface of the cavity 26 is the inner cavity surface of the cavity 26 away from the opening 25, and the opening 25 and the inner cavity bottom surface of the cavity 26 are spaced and opposite in a direction perpendicular to the opening 25. The conduction module 4 is installed at the opening 25, and at least part of the conduction module 4 extends into the cavity 26 from the opening 25, so that the part of the conduction module 4 located in the cavity 26 can abut against the sensing module 3. In this way, the sensing module 3 is installed in the cavity 26 of the grip portion 2, which can protect the sensing module 3.

[0108] For further information, see Figures 1 to 3 In some embodiments, the shape and size of the conductive module 4 are adapted to the shape and size of the opening 25 .

[0109] Specifically, the outer contour of the conductive module 4 is adapted to the contour of the opening 25, and the size of the conductive module 4 is equal to or slightly smaller than the size of the opening 25, so that the conductive module 4 can completely block the opening 25 on the gripping portion 2. In this way, not only can the conductive module 4 provide better protection for the sensing module 3, but it is also beneficial for the conductive module 4 to receive the gripping force applied by the user to the gripping portion 2, while also maintaining the consistency of the product appearance.

[0110] The gripping area of ​​the gripping portion 2 generally includes a left gripping area for the user's left hand to grip, and a right gripping area for the user's right hand to grip. The sensing module 3 is mounted on the gripping portion 2, and the sensing module 3 may be mounted only in the left gripping area or the right gripping area; or the sensing module 3 may be mounted in both the left gripping area and the right gripping area.

[0111] Optionally, see Figures 1 to 3 In some embodiments, the gripping portion 2 includes a first gripping portion 23 and a second gripping portion 24; the first gripping portion 23 and the second gripping portion 24 are connected to the two connecting rod portions 1 respectively.

[0112] Specifically, the first grip portion 23 may be a left hand grip area or a portion of the left hand grip area, and the second grip portion 24 may be a right hand grip area or a portion of the left hand grip area. The first grip portion 23 and the second grip portion 24 are connected to the main body 200 through two connecting rod portions 1 respectively.

[0113] For further information, see Figures 1 to 3 In some embodiments, the first grip portion 23 is provided with a sensing module 3 ; and / or the second grip portion 24 is provided with a sensing module 3 .

[0114] Specifically, the sensing module 3 is installed on the first grip portion 23 and / or the second grip portion 24. The sensing module 3 may be installed only on the first grip portion 23 or the second grip portion 24; or the sensing module 3 may be installed on both the first grip portion 23 and the second grip portion 24. When the sensing module 3 is installed on the first grip portion 23, the gripping operation of the user's left hand gripping the grip portion 2 can be sensed by the sensing module 3 installed on the first grip portion 23. When the sensing module 3 is installed on the second grip portion 24, the gripping operation of the user's left hand gripping the grip portion 2 can be sensed by the sensing module 3 installed on the second grip portion 24.

[0115] The specific shape of the grip portion 2 can be set according to actual conditions. Figure 1 and Figure 6In some embodiments, the first gripping portion 23 and the second gripping portion 24 are arranged at intervals on the left and right, and the front ends of the first gripping portion 23 and the second gripping portion 24 are respectively connected to the rear ends of the two connecting rod portions 1, and the gripping portion 2 also includes a third gripping portion 27 extending along the left and right directions, and the left end and the right end of the third gripping portion 27 are respectively connected to the rear ends of the first gripping portion 23 and the second gripping portion 24.

[0116] Specifically, the grip portion 2 is generally U-shaped, and the connection between the first grip portion 23 and the third grip portion 27, and the connection between the second grip portion 24 and the third grip portion 27 respectively form two corners 28 of the U-shaped grip portion 2. The angle between the first grip portion 23 and the third grip portion 27, and the angle between the second grip portion 24 and the third grip portion 27 can be set according to actual conditions, and the angle between the first grip portion 23 and the third grip portion 27, and the angle between the second grip portion 24 and the third grip portion 27 are obtuse angles, right angles, or acute angles. For example, in this embodiment, the angle between the first grip portion 23 and the third grip portion 27, and the angle between the second grip portion 24 and the third grip portion 27 are obtuse angles, and the obtuse angles are less than or equal to 135°, so as to meet the holding habits of most users and facilitate the user's holding operation and grasping.

[0117] Optionally, see Figure 1 and Fig. 9 In some embodiments, the axes of the first gripping portion 23 and the second gripping portion 24 are located in the gripping portion plane; the axes of the two connecting rod portions 1 are located in the connecting rod portion plane, and the angle between the gripping portion plane and the connecting rod portion plane is 80°~135°.

[0118] Specifically, the axes of the first grip 23 and the second grip 24 are basically located in the same plane, and the plane where the axes of the first grip 23 and the second grip 24 are located is called the grip plane; the axes of the two connecting rods 1 connecting the first grip 23 and the second grip 24 are also basically located in the same plane, and the plane where the two connecting rods 1 are located is called the connecting rod plane; the angle between the grip plane and the connecting rod plane is in the range of 80°~135°, and further, it can be in the range of 90°~120°. Setting the angle range between the grip plane and the connecting rod plane in this way is conducive to the user holding the grip 2 in a relatively comfortable position with the body, which is more ergonomically designed, and it is not easy to get tired after operating the hand push tool 1000 for a long time; at the same time, it is conducive to the user to better grasp the strength of the grip operation, and it is easier to maintain a stable grip operation in a bumpy situation, and it is easier to stably control the walking speed of the main body 200.

[0119] The axis of the third grip portion 27 may be located in the grip portion plane; the axis of the third grip portion 27 may also be parallel to or intersect the grip portion plane. Figure 1 and Fig. 9 In some embodiments, the axes of the first grip portion 23, the second grip portion 24, and the third grip portion 27 are in the same plane. The axes of the first grip portion 23, the second grip portion 24, and the third grip portion 27 are basically in the same plane, that is, the axis of the third grip portion 27 is in the grip portion plane, so that when the user holds the first grip portion 23, the second grip portion 24, and the third grip portion 27, they can all be in a relatively comfortable position with the body, and the strength of the gripping operation can be better controlled.

[0120] Optionally, see Figure 1 and Figure 6 In some embodiments, the length of the first grip portion 23 is not greater than 20 cm, the sensing module 3 on the first grip portion 23 is installed along the axial direction of the first grip portion 23, and the length is not less than one tenth of the length of the first grip portion 23.

[0121] Specifically, the front end of the first grip portion 23 is connected to the rear end of the connecting rod portion 1. The longer the length of the first grip portion 23 is, the greater the torque is, and the higher the rigidity requirement for the connection structure between the first grip portion 23 and the connecting rod portion 1 is. Therefore, the length of the first grip portion 23 is set to be no more than 20 cm, which is conducive to reducing the rigidity requirement for the connection structure between the first grip portion 23 and the connecting rod portion 1. The length of the sensing module 3 is set to be no less than one tenth of the length of the first grip portion 23, which is conducive to sensing the user's gripping operation of the first grip portion 23 through the sensing module 3 installed on the first grip portion 23.

[0122] Optionally, see Figure 1 and Figure 6 In some embodiments, the length of the second grip portion 24 is not greater than 20 cm, the sensing module 3 on the second grip portion 24 is installed along the axial direction of the second grip portion 24 , and the length is not less than one tenth of the length of the second grip portion 24 .

[0123] Specifically, the front end of the second grip 24 is connected to the rear end of the connecting rod 1. The longer the second grip 24 is, the greater the torque is, and the higher the rigidity requirement for the connection structure between the second grip 24 and the connecting rod 1 is. Therefore, the length of the second grip 24 is set to be no more than 20 cm, which is conducive to reducing the rigidity requirement for the connection structure between the second grip 24 and the connecting rod 1. The length of the sensing module 3 is set to be no less than one tenth of the length of the second grip 24, which is conducive to sensing the gripping operation of the user gripping the second grip 24 through the sensing module 3 installed on the second grip 24.

[0124] If the sensing module 3 is installed on the first grip portion 23, one sensing module 3 may be installed on the first grip portion 23 or multiple sensing modules 3 may be installed at intervals along the circumference of the first grip portion 23. The specific location of the sensing module 3 on the first grip portion 23 may be set according to actual conditions.

[0125] Optionally, see Figure 1 , Figure 4 and Figure 5 In some embodiments, in the cross section of the grip portion 2, the horizontal line on the left side of the intersection of the horizontal line and the central axis of the first grip portion 23 is 0°. When a sensing module 3 is installed on the first grip portion 23, the sensing module 3 can be installed in the area of ​​180°~360° of the central axis of the first grip portion 23; the sensing module 3 can also be installed in the area of ​​0°~60°, 300°~360° of the central axis of the first grip portion 23. In this way, installing a sensing module 3 in the area of ​​180°~360° or in the area of ​​0°~60°, 300°~360° of the central axis of the first grip portion 23 is conducive to as comprehensive as possible sensing of the user's gripping operation on the first grip portion 23 through a sensing module 3, thereby minimizing costs. Among them, the cross section of the grip portion 2 is a surface on the grip portion 2 that is perpendicular to the axial direction of the grip portion 2.

[0126] Optionally, see Figure 6 and Figure 8 In some embodiments, in the cross section of the grip portion 2, the horizontal line on the left side of the intersection point where the horizontal line intersects the central axis of the first grip portion 23 is 0°. In the case where at least two sensing modules 3 are installed on the first grip portion 23, for example, the first grip portion 23 is installed with two sensing modules 3, the horizontal line on the left side of the intersection point where the horizontal line intersects the central axis of the first grip portion 23 is 0°, and the sensing modules 3 are installed in the area of ​​0°~60° and 180°~360° of the central axis of the first grip portion 23. In this way, at least two sensing modules 3 are installed in the area of ​​0°~60° and 180°~360° of the central axis of the first grip portion 23, so that when the user applies a pushing force to the first grip portion 23 forward and upward, the at least two sensing modules 3 installed on the first grip portion 23 can sense the user's gripping operation on the first grip portion 23 as comprehensively as possible, thereby reducing the adverse effects caused by road bumps.

[0127] If the second grip portion 24 is provided with a sensing module 3, one sensing module 3 may be provided on the second grip portion 24, or a plurality of sensing modules 3 may be provided at intervals along the circumference of the second grip portion 24. The specific location of the sensing module 3 on the second grip portion 24 may be set according to actual conditions.

[0128] Optionally, see Figure 1 , Figure 4 and Figure 5 In some embodiments, in the cross section of the grip portion 2, the left horizontal line of the intersection of the horizontal line and the central axis of the second grip portion 24 is 0°. When the second grip portion 24 is equipped with a sensing module 3, the sensing module 3 can be installed in the area of ​​180° to 360° of the central axis of the second grip portion 24; the sensing module 3 can also be installed in the area of ​​120° to 240° of the central axis of the second grip portion 24. In this way, installing a sensing module 3 in the area of ​​180° to 360° or in the area of ​​120° to 240° of the central axis of the second grip portion 24 is conducive to as comprehensive as possible sensing of the user's gripping operation on the second grip portion 24 through a sensing module 3, thereby minimizing costs.

[0129] Optionally, see Figure 6 and Figure 8 In some embodiments, in the cross section of the grip portion 2, the horizontal line on the left side of the intersection point where the horizontal line intersects the central axis of the second grip portion 24 is 0°, and in the case where at least two sensing modules 3 are installed on the second grip portion 24, for example, the second grip portion 24 is installed with two sensing modules 3, the horizontal line on the left side of the intersection point where the horizontal line intersects the central axis of the second grip portion 24 is 0°, and the sensing module 3 is installed in the area of ​​120° to 360° of the central axis of the second grip portion 24. In this way, at least two sensing modules 3 are installed in the area of ​​120° to 360° of the central axis of the second grip portion 24, so that when the user applies a pushing force to the second grip portion 24 forward and upward, the at least two sensing modules 3 installed on the second grip portion 24 can sense the user's gripping operation on the second grip portion 24 as comprehensively as possible, thereby reducing the adverse effects caused by road bumps.

[0130] When the user holds the grip portion 2, the gripping force applied by the user to the grip portion 2 is transmitted to the sensing module 3 through the conducting module 4. The conducting module 4 has an operating surface 411 for the user to contact when performing a gripping operation. Figure 1 and Figure 2 In some embodiments, the non-sensing area 22 has a non-sensing surface 221, and the conductive module 4 has an operating surface 411. The Shore hardness of the operating surface 411 of the conductive module 4 may be different from the Shore hardness of the non-sensing surface 221 of the non-sensing area 22 of the grip 2; the Shore hardness of the operating surface 411 of the conductive module 4 may also be equal to the Shore hardness of the material of the non-sensing surface 221 of the non-sensing area 22.

[0131] Specifically, the operation surface 411 may be the surface of the conduction module 4 away from the sensing module 3; the operation surface 411 may also be the part of the surface of the conduction module 4 away from the sensing module 3, which will contact the operation surface 411 when the user performs a gripping operation. The non-sensing surface 221 may be the outer peripheral side of the non-sensing area 22 of the gripping portion 2; the non-sensing surface 221 may also be the part of the outer peripheral side of the non-sensing area 22 of the gripping portion 2 close to the sensing area 21, so that the user will contact at least part of the non-sensing surface 221 when the user performs a gripping operation. The Shore hardness of the operation surface 411 is set to be different from the Shore hardness of the non-sensing surface 221, so that the user can perceive the functions of different areas through the tactile sense when holding the gripping portion 2, thereby enhancing the naturalness and intuitiveness of human-computer interaction. The user can adjust the operation by the gripping strength and position, which increases the comfort of use. Among them, the Shore hardness of the operating surface 411 of the conductive module 4 is different from the Shore hardness of the non-sensing surface 221 of the non-sensing area 22 of the gripping part 2. The Shore hardness of the operating surface 411 of the conductive module 4 can be greater than the Shore hardness of the non-sensing surface 221 of the non-sensing area 22 of the gripping part 2; or the Shore hardness of the operating surface 411 of the conductive module 4 can be less than the Shore hardness of the non-sensing surface 221 of the non-sensing area 22 of the gripping part 2.

[0132] The conduction module 4 may be a component; the conduction module 4 may also be a component assembled from multiple components. Figure 3 and Figure 7 In some embodiments, the conducting module 4 has an operating portion 41 and a buffer portion 42 . The buffer portion 42 is disposed on a side of the operating portion 41 close to the sensing module 3 , and the buffer portion 42 is made of a flexible material.

[0133] Specifically, an operating portion 41 is provided at one end of the conducting module 4 away from the sensing module 3, and the conducting module 4 will contact the operating portion 41 when the user performs a gripping operation. A buffer portion 42 is provided at one end of the conducting module 4 close to the sensing module 3, and the conducting module 4 abuts against the sensing module 3 through the buffer portion 42 when the user performs a gripping operation. Since the buffer portion 42 is made of a flexible material, the buffer portion 42 forms a controllable buffer layer, so that when the user applies force to the operating portion 41, the gripping force applied to the operating portion 41 can be transmitted to the sensing module 3 more evenly through the buffer portion 42, thereby effectively squeezing the sensing module 3, while absorbing and dispersing the mechanical stress, thereby reducing the physical wear directly applied to the sensing module 3. This not only effectively protects the potentially fragile components (i.e., the sensing module 3), but also helps to maintain the good working condition of the sensing module 3 for a long time, reduce maintenance requirements, and reduce the failure rate.

[0134] In other embodiments, the conduction module 4 may be the operating portion 41, that is, the conduction module 4 includes only one component, the operating portion 41; the conduction module 4 may also include other components in addition to the operating portion 41 and the buffer portion 42, for example, see Figure 7 The conducting module 4 also includes a skeleton part 43, which is installed at one end of the operating part 41 close to the sensing module 3. The skeleton part 43 includes but is not limited to being sleeved on the periphery of the buffer part 42, being fully or partially embedded in the buffer part 42, etc., to achieve the connection between the buffer part 42 and the operating part 41.

[0135] The operating surface 411 is disposed on the operating portion 41, that is, the operating portion 41 has the operating surface 411 for the user to touch when holding the operating portion 411, and the Shore hardness of the soft material of the operating surface 411 is different from the Shore hardness of the material of the non-sensing surface 221 of the non-sensing area 22. Figures 1 to 3 In some embodiments, the operating surface 411 is made of soft material.

[0136] Specifically, the Shore hardness of the soft material of the operating surface 411 can be greater than the Shore hardness of the material of the non-sensing surface 221 of the non-sensing area 22; the Shore hardness of the soft material of the operating surface 411 can also be smaller than the Shore hardness of the material of the non-sensing surface 221 of the non-sensing area 22. By setting the Shore hardness of the operating surface 411 of the operating part 41 and the non-sensing surface 221 of the non-sensing area 22 to be different, the function of conveniently distinguishing different areas of the gripping part 2 and optimizing the user experience can be achieved.

[0137] The specific shape of the operating surface 411 can be set according to actual conditions. For example, the operating surface 411 can be a plane, an arc surface, or a wave surface. Figures 1 to 3 In some embodiments, the operating surface 411 has a contour that matches the application body of the gripping operation.

[0138] Specifically, the shape and size of the operation surface 411 are adapted to the shape and size of the user's hand when performing a gripping operation, and the operation surface 411 is a contoured surface adapted to the user's hand. In this way, when the user performs a gripping operation, the user's hand can fit the operation surface 411 as completely as possible, so that the gripping force applied to the operation surface 411 can be transmitted to the sensing module 3 more evenly, thereby achieving effective squeezing of the sensing module 3.

[0139] For further information, see Figures 1 to 3 In some embodiments, in the axial direction of the gripping portion 2, the middle portion of the operating surface 411 is protruding relative to the two ends; and / or, in the radial direction of the gripping portion 2, the middle portion of the operating surface 411 is protruding relative to the two ends.

[0140] Specifically, in the axial direction and / or radial direction of the grip portion 2, the middle portion of the operating surface 411 is arranged to protrude in a direction away from the sensing module 3 relative to the two ends. This not only makes the operating surface 411 have a high degree of matching with the user's hand, so that the operating surface 411 can better fit the user's hand when the user performs a gripping operation, thereby having better sensing capabilities, but the operating surface 411 can also have a curvature that matches the outer contour of the grip portion 2, so as to maintain the consistency of the product appearance.

[0141] Optionally, see Figure 3 In some embodiments, the buffer portion 42 has a conductive surface 421 , and the area of ​​the conductive surface 421 is greater than or equal to half the area of ​​the sensing surface of the plate-shaped sensor.

[0142] Specifically, the conductive surface 421 is the surface of the conductive module 4 close to the sensing module 3, and the surface of the sensing module 3 close to the conductive surface 421 is the sensing surface of the sensing module 3. When the user performs a grip operation, the conductive surface 421 of the operating portion 41 abuts against the sensing surface of the sensing module 3 to trigger the sensing module 3 to output a sensing signal. Setting the area of ​​the conductive surface 421 to be greater than or equal to half the area of ​​the sensing surface of the plate-shaped sensor (i.e., the sensing module 3) can ensure that there is a sufficiently stable sensing area between the conductive module 4 and the sensing module 3, thereby avoiding the problem of affecting the sensing accuracy due to insufficient sensing area.

[0143] As described above, the Shore hardness of the operating portion 41 of the conducting module 4 may be the same as or different from the Shore hardness of the grip portion 2. Similarly, the Shore hardness of the grip portion 2 may be the same as or different from the Shore hardness of the connecting rod portion 1. Figure 1 In some embodiments, the Shore hardness of the grip 2 is greater than the Shore hardness of the connecting rod 1. The grip 2 is the direct force-bearing component when the user pushes the hand-push tool 1000. Increasing the Shore hardness of the grip 2 relative to the connecting rod 1 can improve the structural strength of the grip 2 and ensure the structural stability of the grip 2 when it is subjected to a pushing force, thereby ensuring that the user's gripping operation can be stably and accurately sensed.

[0144] Optionally, see Figure 3 In some embodiments, the sensing handle 100 further includes a reset module 5 installed on the sensing handle 100 , and at least a portion of the reset module 5 enables the conduction module 4 to be away from the sensing module 3 .

[0145] Specifically, the reset module 5 has good elastic deformation ability, and the reset module 5 can be a spring, an elastic sheet, an elastic pad or an elastic column. When the user holds the grip 2, the holding force applied to the conduction module 4 can be transmitted to the reset module 5 and the sensing module 3, so that the conduction module 4 can not only contact the sensing module 3 to output the sensing signal, but also compress the reset module 5. When the user releases the grip 2, the conduction module 4 can automatically move and reset under the action of the reset module 5, so that the conduction module 4 can be away from the sensing module 3, so that the conduction module 4 is completely separated from the sensing module 3. In this way, the reset module 5 can realize the effective detection of the sensing module 3 and improve the user's operation perception. Among them, the reset module 5 can be installed on the conduction module 4 and act on the grip 2; the reset module 5 can also be installed in the area of ​​the sensing module 3 other than the sensing surface, and act on the conduction module 4; the reset module 5 can also be installed on the grip 2 and act on the conduction module 4.

[0146] When the conductive module 4 is provided with a buffer portion 42, the reset module 5 enables the buffer portion 42 to be away from the sensing module 3, and the conductive surface 421 provided on the buffer portion 42 is an area that can be away from the sensing module 3 through the reset module 5. Figures 1 to 3 In some embodiments, the maximum compression distance of the reset module 5 is greater than the distance between the buffer portion 42 and the sensing module 3. The maximum compression distance of the reset module 5 is equal to or approximately equal to the maximum amount of movement of the conduction module 4 in the radial direction of the grip portion 2, and the maximum compression distance of the reset module 5 is set to be greater than the distance between the buffer portion 42 and the sensing module 3, so that the maximum amount of movement of the conduction module 4 in the radial direction of the grip portion 2 is greater than the distance between the buffer portion 42 and the sensing module 3, thereby ensuring that the conduction module 4 and the sensing module 3 can abut when the user performs a gripping operation, thereby achieving effective pressing of the sensing module 3.

[0147] Correspondingly, another embodiment of the present application further provides a hand-pushing tool, which includes a sensing grip rod. Since the sensing grip rod adopts the technical solution of any of the above embodiments, it has the beneficial effects brought by the technical solution of any of the above embodiments. The hand-pushing tool provided by another embodiment of the present application will be described in detail below in conjunction with the accompanying drawings. For the parts that are the same or corresponding to the previous embodiment, refer to the corresponding description of the previous embodiment, and will not be described in detail below.

[0148] Fig. 9 A schematic diagram of the structure of a hand push tool provided in an embodiment of the present application.

[0149] See also Figure 1 and Fig. 9In some embodiments, the gripping portion 2 of the sensing grip 100 of the hand push tool 1000 includes a first gripping portion 23 and a second gripping portion 24. When a sensing module 3 is installed on the first gripping portion 23 and the second gripping portion 24, the sensing module 3 senses the user's gripping operation in the radial direction of the first gripping portion 23 and the second gripping portion 24, and outputs corresponding first sensing signals and second sensing signals; the control system 6 of the sensing grip 100 controls the walking speed of the main body 200 of the hand push tool 1000 according to any one of the first sensing signals and the second sensing signals.

[0150] Specifically, one sensing module 3 installed on the first gripping portion 23 is used to sense the gripping operation of the user's left hand and output a first sensing signal; one sensing module 3 installed on the second gripping portion 24 is used to sense the gripping operation of the user's right hand and output a second sensing signal. In this way, the gripping information of the user's left and right hands can be collected respectively by one sensing module 3 installed on the first gripping portion 23 and one sensing module 3 installed on the second gripping portion 24, so that the control system 6 can independently sense and analyze the operation state of each hand according to the collected gripping information of the user's left and right hands, thereby providing more accurate feedback and speed control to adapt to the user's different gesture operation habits or device usage habits.

[0151] When a sensing module 3 is installed on each of the first grip part 23 and the second grip part 24, there may be many specific implementation methods for the control system 6 to control the walking speed of the main body 200 according to either the first sensing signal or the second sensing signal. For example, the specific implementation methods for the control system 6 to control the walking speed of the main body 200 according to either the first sensing signal or the second sensing signal may include method 1 and method 2.

[0152] Method 1: The hand push tool 1000 also includes a selected sensing signal module, which is used to select a first sensing signal or a second sensing signal for controlling the walking speed of the main body 200 to the control system 6, and / or select a sensing signal outputted corresponding to the sensing module 3 installed on the first grip 23 and the sensing module 3 installed on the second grip 24 as a sensing signal for outputting the walking speed of the main body 200.

[0153] Specifically, the selected sensing signal module can select the first sensing signal, or the second sensing signal, or the first sensing signal and the second sensing signal as the effective sensing signal, and send the selected effective sensing signal to the control system 6 so that the control system 6 controls the walking speed of the main body 200 according to the effective sensing signal.

[0154] The selected sensing signal module can also select the sensing module 3 installed on the first grip part 23, or the sensing module 3 installed on the second grip part 24, or the sensing module 3 installed on the first grip part 23 and the second grip part 24 as the effective sensing module 3, and send the sensing signal output by the selected effective sensing module 3 to the control system 6, so that the control system 6 controls the walking speed of the main body 200 according to the sensing signal output by the effective sensing module 3.

[0155] The selected sensing signal module includes but is not limited to mechanical modules in the form of buttons, knobs, levers, etc. The mechanical module is connected to the control system 6 through an electrical connection. It can also be an embedded module in the control system 6, and the selected operation is realized through the operation setting form.

[0156] Mode 2: The hand push tool 1000 also includes a fitting sensing signal module, which is used to fit a third sensing signal to the control system 6 according to the first sensing signal and the second sensing signal as a sensing signal for controlling the walking speed of the main body 200 .

[0157] Specifically, the fitting sensing signal module can fit a third sensing signal based on the first sensing signal and the second sensing signal, use the fitted third sensing signal as a valid sensing signal, and send the valid sensing signal to the control system 6, so that the control system 6 controls the walking speed of the main body 200 according to the valid sensing signal.

[0158] The fitting sensing signal module is an embedded module in the control system 6, and the fitting operation is realized by running the setting form.

[0159] See also Figure 6 and Fig. 9 In some embodiments, the gripping portion 2 of the sensing grip 100 of the hand push tool 1000 includes a first gripping portion 23 and a second gripping portion 24. When at least two sensing modules 3 are installed on the first gripping portion 23 and the second gripping portion 24, at least two sensing modules 3 installed on the first gripping portion 23 output a first sensing signal, and at least two sensing modules 3 installed on the second gripping portion 24 output a second sensing signal; the control system 6 of the sensing grip 100 controls the walking speed of the main body 200 of the hand push tool 1000 according to any one of the first sensing signal and the second sensing signal.

[0160] Specifically, at least two sensing modules 3 installed on the first gripping portion 23 are used to sense the gripping operation of the user's left hand and output a first sensing signal; at least two sensing modules 3 installed on the second gripping portion 24 are used to sense the gripping operation of the user's right hand and output a second sensing signal. In this way, the gripping information of the user's left and right hands can be collected respectively by at least two sensing modules 3 installed on the first gripping portion 23 and at least two sensing modules 3 installed on the second gripping portion 24, so that the control system 6 can independently sense and analyze the operation state of each hand according to the collected gripping information of the user's left and right hands, thereby providing more accurate feedback and speed control to adapt to the user's different gesture operation habits or device usage habits. And by setting more sensing modules 3 on the first gripping portion 23 and the second gripping portion 24, the area of ​​the sensing area 21 on the gripping portion 2 can be increased, thereby expanding the user's gripping range on the gripping portion 2.

[0161] When at least two sensing modules 3 are installed on the first grip part 23 and the second grip part 24, there can be many specific implementation methods for the control system 6 to control the walking speed of the main body 200 according to either the first sensing signal or the second sensing signal. For example, the specific implementation methods for the control system 6 to control the walking speed of the main body 200 according to either the first sensing signal or the second sensing signal may include method 3 and method 4.

[0162] Method 3: The hand push tool 1000 also includes a first selected sensing signal module, which is used to select a first sensing signal or a second sensing signal for controlling the walking speed of the main body 200 to the control system 6, and / or select a sensing signal corresponding to the output of the sensing module 3 installed on the first grip 23 or any sensing module 3 installed on the second grip 24 as the output sensing signal for controlling the walking speed of the main body 200 of the hand push tool 1000.

[0163] Specifically, the first selected sensing signal module can select the first sensing signal, or the second sensing signal, or the first sensing signal and the second sensing signal as the effective sensing signal, and send the selected effective sensing signal to the control system 6 so that the control system 6 controls the walking speed of the main body 200 according to the effective sensing signal.

[0164] The first selected sensing signal module can also select one or more sensing modules 3 as effective sensing modules 3 from the sensing modules 3 installed on the first grip part 23, or from the sensing modules 3 installed on the second grip part 24, or from the sensing modules 3 installed on the first grip part 23 and the second grip part 24, and send the sensing signal output by the selected effective sensing module 3 to the control system 6, so that the control system 6 controls the walking speed of the main body 200 according to the sensing signal output by the effective sensing module 3.

[0165] Mode 4: The hand push tool 1000 also includes a first fitting sensing signal module, which is used to fit a third sensing signal to the control system 6 according to the first sensing signal and the second sensing signal as a sensing signal for controlling the walking speed of the main body 200.

[0166] Specifically, the first fitting sensing signal module can fit a third sensing signal based on the first sensing signal and the second sensing signal, use the fitted third sensing signal as a valid sensing signal, and send the valid sensing signal to the control system 6, so that the control system 6 controls the walking speed of the main body 200 according to the valid sensing signal.

[0167] There may be many specific implementation methods for outputting the first sensing signal by at least two sensing modules 3 installed on the first grip portion 23 and outputting the second sensing signal by at least two sensing modules 3 installed on the second grip portion 24. For example, the specific implementation methods for outputting the first sensing signal and the second sensing signal may include Method 5 and Method 6.

[0168] Method 5: The hand push tool 1000 also includes a second fitting sensing signal module, wherein: at least two sensing modules 3 installed on the first grip portion 23 output a first sensing signal through the second fitting sensing signal module, and the sensing signals correspondingly output by the at least two sensing modules 3 installed on the first grip portion 23 are fitted as the first sensing signal; and / or, at least two sensing modules 3 installed on the second grip portion 24 output a second sensing signal through the second fitting sensing signal module, and the sensing signals correspondingly output by the at least two sensing modules 3 installed on the second grip portion 24 are fitted as the second sensing signal.

[0169] Specifically, the second fitting sensing signal module can fit the first sensing signal according to the sensing signals output by at least two sensing modules 3 installed on the first gripping portion 23 .

[0170] Similarly, the second fitting sensing signal module may also fit the second sensing signal according to the sensing signals output by at least two sensing modules 3 installed on the second gripping portion 24 .

[0171] Method 6: The hand push tool 1000 also includes a second selected sensing signal module, wherein: at least two sensing modules 3 installed on the first gripping portion 23 output a first sensing signal through the second selected sensing signal module, and the sensing signal output by any one of the at least two sensing modules 3 on the first gripping portion 23 is selected as the first sensing signal; and / or; at least two sensing modules 3 installed on the second gripping portion 24 output a second sensing signal through the selected sensing signal module, and the sensing signal output by any one of the at least two sensing modules 3 on the second gripping portion 24 is selected as the second sensing signal.

[0172] Specifically, the second selected sensing signal module can select one or more sensing modules 3 from the sensing modules 3 installed on the first gripping portion 23 as the first effective sensing module 3, and use the sensing signal output by the selected first effective sensing module 3 as the first sensing signal.

[0173] Similarly, the second selected sensing signal module may also select one or more sensing modules 3 from the sensing modules 3 installed on the second gripping portion 24 as the second effective sensing module 3, and use the sensing signal output by the selected second effective sensing module 3 as the second sensing signal.

[0174] Correspondingly, another embodiment of the present application further provides a control method for a hand-push tool, which can be implemented based on the hand-push tool provided in the above embodiment. The control method for a hand-push tool provided in another embodiment of the present application will be described in detail below. For the parts that are the same or corresponding to the previous embodiment, please refer to the corresponding description of the above embodiment, and will not be described in detail below.

[0175] In some embodiments, the control method of the hand push tool includes the following steps:

[0176] Step S610: receiving a sensing signal output by a sensing module.

[0177] Specifically, the gripping portion 2 of the sensing gripping rod 100 of the hand push tool 1000 includes a first gripping portion 23 and a second gripping portion 24, and at least one sensing module 3 is installed on the first gripping portion 23 and / or the second gripping portion 24; the number of sensing points arranged on the sensing module 3 is at least 2. The sensing points of the sensing module 3 sense the user's gripping operation in the radial direction of the gripping portion 2 and output a sensing signal, and each sensing point outputs a sensing signal. The control system 6 is capable of receiving the sensing signal output by the sensing module 3.

[0178] Step S620: According to a preset detection strategy, a valid signal is identified from the received sensing signal.

[0179] Specifically, the control system 6 can identify valid signals from received sensing signals according to a preset detection strategy, wherein the detection strategy can be set according to actual conditions.

[0180] Optionally, in some embodiments, the detection strategy is one of the following (ie, strategy 1, strategy 2, and strategy 3) or any combination thereof.

[0181] Strategy 1: Specify valid sensing points. The sensing signals output by valid sensing points are valid signals.

[0182] Specifically, the user pre-specifies valid sensing points, and the sensing signals output by the valid sensing points are valid signals. That is, the user can select one or more sensing points as valid sensing points according to his or her holding habits, so that they enter the working state. For example, if the user mainly holds the device with his or her right hand, the sensing points of the sensing module 3 installed on the second holding portion 24 are selected as valid sensing points; if the user mainly holds the device with his or her left hand, the sensing points of the sensing module 3 installed on the first holding portion 23 are selected as valid sensing points; if the user uses both hands to control the device, the sensing points of the sensing module 3 installed on the first holding portion 23 and the second holding portion 24 are selected as valid sensing points. Alternatively, the user can also select one or more sensing points as valid sensing points according to the direction of holding force application that the user is accustomed to.

[0183] Strategy 2: preset signal processing and screening rules, process the received sensing signals according to the signal processing and screening rules and screen out valid signals.

[0184] Specifically, Strategy 2 can be implemented in a variety of ways. For example, the signal processing and screening rules are to set an effective threshold to determine whether the sensing signal output by the sensing point is greater than or equal to the effective threshold. If so, the sensing signal greater than or equal to the effective threshold is confirmed as a valid signal according to the preset processing rules. For another example, the signal processing and screening rules are to obtain the difference between the maximum value sensing value and each other sensing value. When any group of differences exceeds the trigger threshold, the sensing module with a low sensing value in the difference group that exceeds the trigger threshold is determined to be an invalid sensing module, and the others are valid sensing modules. The final signal is determined based on the electrical signal of the valid sensing module.

[0185] The judgment logic mentioned above can also be designed as needed. For example, after determining the effective sensing point, the sensing value corresponding to the sensing signal is averaged, the maximum value is taken, the minimum value is taken, the maximum and minimum mean values ​​are eliminated, the middle value is sorted, the standard deviation or the mode is used to determine the final sensing value, and a control signal is generated according to the final sensing value and transmitted to the control system 6.

[0186] Step S630: Control the walking speed of the main body of the hand push tool according to the effective signal.

[0187] Specifically, after the control system 6 recognizes a valid signal, the control system 6 can control the walking speed of the main body 200 of the hand push tool 1000 according to the recognized valid signal.

[0188] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0189] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A sensing handle for a hand-pushing tool, characterized in that: The sensing grip comprises: Connecting rod; A gripping portion connected to the connecting rod portion so as to be connected to the main body of the hand push tool through the connecting rod portion; the gripping portion includes a sensing area and a non-sensing area; a sensing module, the sensing module being installed in a sensing area of ​​the grip portion, the sensing module having a first side close to the grip portion and a second side away from the grip portion, the sensing module sensing a user's gripping operation in a radial direction of the grip portion and outputting a sensing signal; A conducting module, at least part of which is arranged on a second side of the sensing module in a radial direction of the gripping portion; A reset module, mounted on the sensing handle, at least part of which enables the conduction module to be away from the sensing module; A control system is provided, wherein the control system controls the walking speed of the main body according to the sensing signal.

2. The sensing grip according to claim 1, characterized in that: The conducting module has an operating portion and a buffer portion. The buffer portion is arranged on a side of the operating portion close to the sensing module. The resetting module enables the buffer portion to be away from the sensing module, and the buffer portion is made of a flexible material.

3. A sensing handle for a hand-pushing tool, characterized in that: The sensing grip comprises: Connecting rod; A gripping portion connected to the connecting rod portion to be connected to the main body of the hand push tool through the connecting rod portion; the gripping portion includes a sensing area and a non-sensing area, and the non-sensing area has a non-sensing surface; a sensing module, the sensing module being installed in a sensing area of ​​the grip portion, the sensing module having a first side close to the grip portion and a second side away from the grip portion, the sensing module sensing a user's gripping operation in a radial direction of the grip portion and outputting a sensing signal; A conducting module, wherein the conducting module has an operating surface, and in the radial direction of the gripping portion, at least a portion of the conducting module is disposed on the second side of the sensing module; the Shore hardness of the operating surface of the conducting module is different from the Shore hardness of the non-sensing surface of the non-sensing area of ​​the gripping portion; A control system is provided, wherein the control system controls the walking speed of the main body according to the sensing signal.

4. The sensing grip according to claim 3, characterized in that: The Shore hardness of the gripping portion is greater than the Shore hardness of the connecting rod portion.

5. A sensing grip for a hand-pushing tool, characterized in that: The sensing grip comprises: Connecting rod; A gripping portion connected to the connecting rod portion so as to be connected to the main body of the hand push tool through the connecting rod portion; the gripping portion includes a sensing area and a non-sensing area; the gripping portion includes a first gripping portion and a second gripping portion, and the axes of the first gripping portion and the second gripping portion are located in a gripping portion plane; the first gripping portion and the second gripping portion are respectively connected to two connecting rod portions, and the axes of the two connecting rod portions are located in a connecting rod portion plane; the angle between the gripping portion plane and the connecting rod portion plane is 80°~135°; a sensing module, the sensing module being installed in a sensing area of ​​the grip portion, the sensing module having a first side close to the grip portion and a second side away from the grip portion, the sensing module sensing a user's gripping operation in a radial direction of the grip portion and outputting a sensing signal; A conducting module, at least part of which is arranged on a second side of the sensing module in a radial direction of the gripping portion; A control system is provided, wherein the control system controls the walking speed of the main body according to the sensing signal.

6. A hand push tool, characterized in that: Comprising a sensing grip as claimed in any one of claims 1-5.

7. A control method for a hand-push tool, characterized in that: The gripping portion of the sensing gripping rod of the hand tool comprises a first gripping portion and a second gripping portion, and at least one sensing module is installed on the first gripping portion and / or the second gripping portion; The number of sensing points arranged on the sensing module is at least 2, and the control method of the hand push tool comprises: receiving a sensing signal output by the sensing module; wherein the sensing points of the sensing module sense the user's gripping operation in the radial direction of the gripping portion and output the sensing signal, and each sensing point outputs one sensing signal; According to a preset detection strategy, identifying a valid signal from the received sensing signal; The walking speed of the main body of the hand push tool is controlled according to the effective signal.

8. The control method of the hand push tool according to claim 7, characterized in that: The detection strategy is one of the following or any combination thereof: Specifying a valid sensing point, wherein a sensing signal output by the valid sensing point is a valid signal; Preset signal processing and screening rules, according to which the received sensing signals are processed and valid signals are screened out; the signal processing and screening rules are to set a valid threshold, determine whether the sensing signal output by the sensing point is greater than or equal to the valid threshold, and if so, perform the preset processing rules on the sensing signal that is greater than or equal to the valid threshold to confirm it as a valid signal.

9. A hand push tool, characterized in that: The gripping portion of the sensing gripping rod of the hand push tool comprises a first gripping portion and a second gripping portion. When a sensing module is installed on the first gripping portion and the second gripping portion, the sensing module senses the user's gripping operation in the radial direction of the first gripping portion and the second gripping portion, and outputs corresponding first sensing signals and second sensing signals. The control system of the sensing grip controls the walking speed of the main body of the hand push tool according to any one of the first sensing signal and the second sensing signal.

10. A hand push tool, characterized in that: The gripping portion of the sensing gripping rod of the hand push tool comprises a first gripping portion and a second gripping portion. When at least two sensing modules are installed on the first gripping portion and the second gripping portion, the at least two sensing modules installed on the first gripping portion output a first sensing signal, and the at least two sensing modules installed on the second gripping portion output a second sensing signal. The control system of the sensing grip controls the walking speed of the main body of the hand push tool according to any one of the first sensing signal and the second sensing signal.

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