A sensing grip, a push tool, and a control method thereof

Abstract

This application relates to the field of cleaning equipment, and discloses a sensing grip, a push tool, and a control method thereof. The sensing grip includes a connecting rod, a gripping part, a sensing module, a transmission module, a reset module, and a control system. The gripping part is connected to the connecting rod to the main body of the push tool. The gripping part includes a sensing area and a non-sensing area. The sensing module is installed within the sensing area of ​​the gripping part, sensing the user's gripping operation in the radial direction of the gripping part and outputting a sensing signal. In the radial direction of the gripping part, at least a portion of the transmission module is disposed on the second side of the sensing module. The reset module is installed on the sensing grip, allowing the transmission module to move away from the sensing module. The control system controls the walking speed of the main body based on the sensing signal. The sensing grip, push tool, and control method provided by this application can solve the problems of poor control stability and inaccurate operation feedback that are common in existing push tools.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment, and in particular to a sensing grip, a push tool, and a control method thereof. Background Technology

[0002] A lawnmower is a hand-operated tool used for trimming lawns, vegetation, etc., which users can push while standing behind it. Currently, some lawnmowers on the market have self-propelled functions, with user-controlled walking speed. For example, the lawnmower disclosed in utility model patent CN215601945U has a pressure sensing device installed at the connection between the linkage and the handle. The user pushes the handle to change its position on the linkage, causing deformation of the pressure sensing device and generating detection data. To achieve the required deformation when pressing the handle, existing designs maintain a certain deformation gap between the handle and the linkage. However, this gap causes the handle to wobble during use, requiring users to pay extra attention to maintain stability. This not only reduces operational precision but may also cause fatigue and a decreased user experience. Furthermore, this design is more pronounced on uneven or rugged surfaces. Bumps in the road create brief but frequent impacts on the handle, which are amplified by the deformation gap, causing the hand-operated tool's walking speed to become unstable and prone to unexpected acceleration or deceleration. This not only reduces work efficiency but also poses a potential threat to user safety. There is an urgent need for a new technology or structural design that can effectively eliminate grip wobbling, improve control precision and comfort, thereby improving work efficiency and safety and enhancing the user experience. Summary of the Invention

[0003] The purpose of this application is to provide a sensing grip, a push tool and its control method, which aims to solve the problems of poor control stability and inaccurate operation feedback that existing push tools are prone to have.

[0004] To address the aforementioned technical problems, embodiments of this application provide a sensing grip for hand-operated tools, the sensing grip comprising:

[0005] Linkage section;

[0006] A grip portion is connected to the linkage portion to be connected to the body of the hand-operated tool via the linkage portion; the grip portion includes a sensing area and a non-sensing area;

[0007] A sensing module is installed within the sensing area of ​​the grip portion. The sensing module has a first side close to the grip portion and a second side away from the grip portion. The sensing module senses the user's gripping operation in the radial direction of the grip portion and outputs a sensing signal.

[0008] A conductive module, at least a portion of which is disposed on the second side of the sensing module in the radial direction of the grip portion;

[0009] A reset module is mounted on the sensing grip, and at least part of the reset module allows the conductive module to be located away from the sensing module;

[0010] A control system that controls the walking speed of the main body based on the sensing signals.

[0011] Compared to existing technologies where the pressure sensing device is installed at the connection between the linkage and the grip, and the user's movement of the grip changes the position of the linkage, causing deformation of the pressure sensing device and generating detection data, this application directly mounts the sensing module on the grip. This allows for precise capture of the force and direction of the user's actions, such as pushing, pulling, and gripping. This refined sensing capability effectively improves the accuracy of signals during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. Furthermore, the user's gripping force is applied radially along the grip and directly to the sensing module, resulting in a short and clear signal transmission path, reducing signal interference and errors, significantly improving signal accuracy during operation, and mitigating data instability caused by overall structural sway. This achieves smooth, direct, and precise operation adjustment, providing accurate and real-time operational data. This allows the system to respond quickly and adjust the walking speed of the tool body precisely, improving control performance. Through the reset module, the sensing module can effectively detect and improve user operation perception. Compared with the prior art, this application can more accurately reflect the user's operation intention, improve work efficiency and safety, and also enhance user operation perception and overall experience satisfaction.

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

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

[0014] Optionally, the non-sensing area has a non-sensing surface, and the operating part has an operating surface that the user contacts when performing a gripping operation. The operating surface is made of 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, and the operating part has an operating surface that the user can contact when holding the part. The operating surface is made of 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 profile that matches the subject applying the gripping operation.

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

[0019] In the radial direction of the grip, the middle part of the operating surface is convex relative to both ends.

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

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

[0022] The sensing module is mounted on the second grip portion.

[0023] Optionally, the length of the first grip portion is no greater than 20 cm, and the sensing module on the first grip portion is mounted along the axial direction of the first grip portion, with a length not less than one-tenth of the length of the first grip portion; and / or,

[0024] The length of the second grip portion is no more than 20 cm, and the sensing module on the second grip portion is installed along the axial direction of the second grip portion, and its length is no less than one-tenth of the length of the second grip portion.

[0025] Optionally, the sensing module is installed within a region of 0°~60° and 180°~360° around the central axis of the first grip, with 0° defined as the horizontal line to the left of the intersection point of the horizontal line and the central axis of the first grip; and / or,

[0026] The sensing module is installed within a 120°~360° area of ​​the central axis of the second grip, with the left horizontal line of the intersection point of the horizontal line and the central axis of the second grip as 0°.

[0027] Optionally, when the first gripping part is equipped with one of the sensing modules, the horizontal line to the left of the intersection of the horizontal line and the central axis of the first gripping part is defined as 0°, wherein:

[0028] The sensing module is installed within a 180°~360° area of ​​the central axis of the first grip; or,

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

[0030] Optionally, when the second grip is equipped with one of the aforementioned sensing modules, the horizontal line to the left of the intersection of the horizontal line and the central axis of the second grip is defined as 0°, wherein:

[0031] The sensing module is installed within a 180°~360° area of ​​the central axis of the second grip; or,

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

[0033] Optionally, the gripping part has an opening and a cavity communicating with the opening, the sensing module is fixed in the cavity, at least a portion of the conducting module is fixed in the cavity and stacked on the side of the sensing module near the opening.

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

[0035] Optionally, the buffer portion has a conductive surface, which is a region that can be moved 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 sensor.

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

[0037] Embodiments of this application also provide a sensing grip for a hand-operated tool, the sensing grip comprising:

[0038] Linkage section;

[0039] A grip portion is connected to the linkage portion to be connected to the body of the hand-operated tool via the linkage portion; the grip portion includes a sensing area and a non-sensing area, the non-sensing area having a non-sensing surface;

[0040] A sensing module is installed within the sensing area of ​​the grip portion. The sensing module has a first side close to the grip portion and a second side away from the grip portion. The sensing module senses the user's gripping operation in the radial direction of the grip portion and outputs a sensing signal.

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

[0042] A control system that controls the walking speed of the main body based on the sensing signals.

[0043] Compared to existing technologies where the pressure sensing device is installed at the connection between the linkage and the grip, and the user's movement of the grip changes the position of the linkage, causing deformation of the pressure sensing device and generating detection data, this application directly mounts the sensing module on the grip. This allows for precise capture of the force and direction of the user's actions, such as pushing, pulling, and gripping. This refined sensing capability effectively improves the accuracy of signals during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. Furthermore, the user's gripping force is applied radially along the grip and directly to the sensing module, resulting in a short and clear signal transmission path, reducing signal interference and errors, significantly improving signal accuracy during operation, and mitigating data instability caused by overall structural sway. This achieves smooth, direct, and precise operation adjustment, providing accurate and real-time operational data. This allows the system to respond quickly and adjust the walking speed of the tool body precisely, improving control performance. By setting the Shore hardness of the operating surface to be different from that of the non-sensing surface, users can perceive the functions of different areas through tactile sensation when holding the grip, enhancing the naturalness and intuitiveness of human-computer interaction. Users can adjust the operation themselves by gripping force and position, increasing the comfort of use. Compared with the prior art, this application can more accurately reflect the user's operating intentions, improve work efficiency and safety, and also enhance the user's operating perception and overall experience satisfaction.

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

[0045] Optionally, the conduction module has an operating part and a buffer part, the buffer part is disposed on the side of the operating part near the sensing module, and the buffer part is made of a flexible material.

[0046] Embodiments of this application also provide a sensing grip for a hand-operated tool, the sensing grip comprising:

[0047] Linkage section;

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

[0049] A sensing module is installed within the sensing area of ​​the grip portion. The sensing module has a first side close to the grip portion and a second side away from the grip portion. The sensing module senses the user's gripping operation in the radial direction of the grip portion and outputs a sensing signal.

[0050] A conductive module, at least a portion of which is disposed on the second side of the sensing module in the radial direction of the grip portion;

[0051] A control system that controls the walking speed of the main body based on the sensing signals.

[0052] Compared to existing technologies where the pressure sensing device is installed at the connection between the linkage and the grip, and the user's movement of the grip changes the position of the linkage, causing deformation of the pressure sensing device and generating detection data, this application directly mounts the sensing module on the grip. This allows for precise capture of the force and direction of the user's actions, such as pushing, pulling, and gripping. This refined sensing capability effectively improves the accuracy of signals during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. Furthermore, the user's gripping force is applied radially along the grip and directly to the sensing module, resulting in a short and clear signal transmission path, reducing signal interference and errors, significantly improving signal accuracy during operation, and mitigating data instability caused by overall structural sway. This achieves smooth, direct, and precise operation adjustment, providing accurate and real-time operational data. This allows the system to respond quickly and precisely adjust the walking speed of the tool body, improving maneuverability. By setting a range of angles between the grip plane and the linkage plane, the system helps users maintain a comfortable grip position relative to their body, which is more ergonomic and reduces fatigue during prolonged use. It also allows users to better control the grip pressure, maintain a stable grip even on bumpy surfaces, and more easily control the tool's walking speed. Compared to existing technologies, this application more accurately reflects the user's operational intentions, improving work efficiency and safety, while also enhancing user perception and overall experience satisfaction.

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

[0054] Embodiments of this application also provide a hand-operated tool, including the aforementioned sensing grip.

[0055] This application directly mounts the sensing module on the grip, enabling precise capture of the force and direction of the user's movements during pushing, pulling, and gripping. This refined sensing capability effectively improves signal accuracy during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. Furthermore, the user's grip force is applied radially along the grip and directly to the sensing module, resulting in a short and clear signal transmission path, reducing signal interference and errors, significantly improving signal accuracy during operation, and mitigating data instability caused by overall structural sway. This achieves smooth, direct, and precise operation adjustments, providing accurate and real-time operational data. Compared to existing technologies, this application more accurately reflects the user's operational intentions, improving work efficiency and safety, while also enhancing user perception and overall experience satisfaction.

[0056] Embodiments of this application also provide a control method for a hand-operated tool. The hand-operated tool has a sensing grip with a gripping portion including a first gripping portion and a second gripping portion. At least one sensing module is mounted on the first gripping portion and / or the second gripping portion. The sensing module has at least two sensing points. The control method for the hand-operated tool includes:

[0057] The sensor module receives the sensing signal output by the sensing module; wherein the sensing point of the sensing module senses the user's gripping operation in the radial direction of the grip and outputs the sensing signal, and each sensing point outputs one sensing signal;

[0058] According to a preset detection strategy, valid signals are identified from the received sensing signals;

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

[0060] This application directly mounts the sensing module on the grip, enabling precise capture of the force and direction of the user's movements during pushing, pulling, and gripping. This refined sensing capability effectively improves signal accuracy during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. Furthermore, the user's grip force is applied radially along the grip and directly to the sensing module, resulting in a short and clear signal transmission path, reducing signal interference and errors, significantly improving signal accuracy during operation, and mitigating data instability caused by overall structural sway. This achieves smooth, direct, and precise operation adjustments, providing accurate and real-time operational data. Compared to existing technologies, this application more accurately reflects the user's operational intentions, improving work efficiency and safety, while also enhancing user perception and overall experience satisfaction.

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

[0062] Specify a valid sensing point; the sensing signal output by the valid sensing point is a valid signal.

[0063] A preset signal processing and filtering rule is established. The received sensing signal is processed and a valid signal is filtered out according to the preset signal processing and filtering rule. The signal processing and filtering rule is to determine whether the sensing signal output by the sensing point is greater than or equal to the valid threshold by setting a valid threshold. If so, the sensing signal that is greater than or equal to the valid threshold is confirmed as a valid signal by the preset processing rule.

[0064] An embodiment of this application also provides a push tool. The gripping part of the sensing handle of the push tool includes a first gripping part and a second gripping part. When a sensing module is installed on the first gripping part and the second gripping part, the sensing module senses the user's gripping operation in the radial direction of the first gripping part and the second gripping part, and outputs a corresponding first sensing signal and a second sensing signal.

[0065] The control system of the sensing grip controls the walking speed of the main body of the hand-pushing tool based on either the first sensing signal or the second sensing signal.

[0066] This application directly mounts the sensing module on the grip, enabling precise capture of the force and direction of the user's movements during pushing, pulling, and gripping. This refined sensing capability effectively improves signal accuracy during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. Furthermore, the user's grip force is applied radially along the grip and directly to the sensing module, resulting in a short and clear signal transmission path, reducing signal interference and errors, significantly improving signal accuracy during operation, and mitigating data instability caused by overall structural sway. This achieves smooth, direct, and precise operation adjustments, providing accurate and real-time operational data. Compared to existing technologies, this application more accurately reflects the user's operational intentions, improving work efficiency and safety, while also enhancing user perception and overall experience satisfaction.

[0067] Optionally, the hand-pushing tool further 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 output by the sensing module installed on the first gripping part and any one of the sensing modules installed on the second gripping part as the output sensing signal to control the walking speed of the main body.

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

[0069] An embodiment of this application also provides a hand-operated tool. The gripping part of the sensing handle of the hand-operated tool includes a first gripping part and a second gripping part. When at least two sensing modules are installed on the first gripping part and the second gripping part, the at least two sensing modules installed on the first gripping part output a first sensing signal, and the at least two sensing modules installed on the second gripping part output a second sensing signal.

[0070] This application directly mounts the sensing module on the grip, enabling precise capture of the force and direction of the user's movements during pushing, pulling, and gripping. This refined sensing capability effectively improves signal accuracy during operation, reduces speed fluctuations caused by misoperation, and thus enhances the control stability of the device. Simultaneously, the user's grip force is applied radially along the grip and directly to the sensing module, resulting in a short and clear signal transmission path, reducing signal interference and errors, significantly improving signal accuracy during operation, and mitigating data instability caused by overall structural sway. This achieves smooth, direct, and precise operation adjustment, providing accurate and real-time operation data. Compared to existing technologies, this application more accurately reflects the user's operational intentions, improving work efficiency and safety, while also enhancing user perception and overall experience satisfaction. At least two sensing modules mounted on the first grip and at least two sensing modules on the second grip can respectively collect the user's left and right hand grip information. This allows the control system to independently perceive and analyze the operational state of each hand based on the collected grip information, providing more precise feedback and speed control to adapt to different user gesture habits or device usage habits. Furthermore, by setting more sensing modules on the first and second grip parts, the area of ​​the sensing area on the grip parts can be increased, thereby expanding the gripping range of the user on the grip parts.

[0071] The control system of the sensing grip controls the walking speed of the main body of the hand-pushing tool based on either the first sensing signal or the second sensing signal.

[0072] Optionally, the hand-push tool further 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 output by the sensing module installed on the first grip and any one of the sensing modules installed on the second grip as the sensing signal for output to control the walking speed of the main body of the hand-push tool.

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

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

[0075] The at least two sensing modules mounted on the first grip portion output a first sensing signal, which is then fitted to the first sensing signal by the second fitting sensing signal module based on the corresponding sensing signals output by the at least two sensing modules mounted on the first grip portion; and / or,

[0076] The second sensing signal is obtained by fitting the corresponding sensing signals output by the at least two sensing modules mounted on the second grip portion to the second sensing signal through the second fitting sensing signal module.

[0077] Optionally, the hand-pushing tool further includes a second selected sensing signal module, wherein:

[0078] The at least two sensing modules mounted on the first grip portion output a first sensing signal, which is selected by the second selected sensing signal module, and the sensing signal output by any one of the at least two sensing modules on the first grip portion is selected as the first sensing signal; and / or,

[0079] The second sensing signal is output by at least two sensing modules installed on the second grip portion. The sensing signal output by any one of the at least two sensing modules on the second grip portion is selected as the second sensing signal. Attached Figure Description

[0080] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, and these illustrative descriptions do not constitute a limitation on the embodiments.

[0081] Figure 1 This is a schematic diagram of a sensing grip provided in an embodiment of this application;

[0082] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

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

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

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

[0086] Figure 6 This is a schematic diagram of another sensing grip provided in an embodiment of this application;

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

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

[0089] Figure 9 This is a schematic diagram of the structure of a hand-operated tool provided in an embodiment of this application. Detailed Implementation

[0090] As the background technology shows, the pressure sensing device of existing push tools is installed at the connection between the linkage and the grip. The user pushes the grip to change its position on the linkage, causing deformation of the pressure sensing device and generating detection data. To achieve the required deformation when pressing the grip, existing designs maintain a certain deformation gap between the grip and the linkage. However, this gap causes the grip to wobble during use, requiring the user to pay extra attention to maintain stability. This not only reduces operational precision but may also cause fatigue and a degraded user experience. Furthermore, this design is more pronounced on uneven or rugged surfaces. Bumps on the road create brief but frequent impacts on the grip, which are amplified by the deformation gap, causing instability in the push tool's speed and making it prone to unexpected acceleration or deceleration. This not only reduces work efficiency but also poses a potential threat to user safety. There is an urgent need for a new technology or structural design that can effectively eliminate grip wobble, improve operational precision and comfort, thereby improving work efficiency and safety, and enhancing the user experience.

[0091] Through detailed research on the speed control of hand-operated tools in the prior art, the inventors of this application discovered defects and analyzed their causes. They then cleverly overcame the problems of poor control stability and inaccurate operation feedback that occur after long-term use of hand-operated tools by adjusting the installation position of the sensing module.

[0092] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this application to help readers better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the various embodiments below is for the convenience of description and should not constitute any limitation on the specific implementation of this application. The various embodiments can be combined with and referenced by each other without contradiction.

[0093] Figures 1 to 8The diagram shows the structure of various sensing grips provided in the embodiments of this application.

[0094] Please see Figures 1 to 3 In some embodiments, the sensing grip 100 includes a connecting rod 1, a gripping part 2, a sensing module 3, a transmission module 4, and a control system 6. The gripping part 2 is connected to the connecting rod 1 to be connected to the main body 200 of the push tool 1000 via the connecting rod 1. The gripping part 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 gripping part 2. The sensing module 3 has a first side close to the gripping part 2 and a second side away from the gripping part 2. The sensing module 3 senses the user's gripping operation in the radial direction of the gripping part 2 and outputs a sensing signal. The transmission module 4 is located in the radial direction of the gripping part 2, and at least part of the transmission module 4 is disposed 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, please refer to Figure 9 The sensing grip 100 can be used in a push tool 1000, which includes the sensing grip 100 and a main body 200. The main body 200 includes a body 210, a walking component 220, and a power component 230. The walking component 220 is mounted on the body 210, and the power component 230 is mounted inside the body 210 and is power-coupled to the walking component 220 to drive the walking component 220 to move.

[0096] The connecting rod 1 is connected to the gripping part 2 and the main body 200 at its two ends in the axial direction. The gripping part 2 is for the user to hold, so that when the user uses the hand-operated tool 1000, the user can push the hand-operated tool 1000 by holding the gripping part 2. Based on the actual shape and size of the gripping part 2, a gripping area is formed on the gripping part 2 to facilitate the user's gripping. By holding the gripping area of ​​the gripping part 2, the user can not only conform to the ergonomic design, but also push the hand-operated tool 1000 with less effort and convenience. The gripping part 2 includes a sensing area 21 and a non-sensing area 22. The sensing area 21 is the gripping area where the hand holds the gripping part 2 and can simultaneously contact the gripping area where the sensing module 3 is installed, while the non-sensing area 22 is the gripping area where the hand holds the gripping part 2 and cannot simultaneously contact the gripping area where the sensing module 3 is installed.

[0097] The grip portion 2 has a limiting position for mounting the sensing module 3. The limiting position includes, but is not limited to, a groove and a mounting surface with a height difference from the surface layer of the grip portion 2. 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 that is close to the grip 2 in the radial direction of the grip 2, that is, the side where the sensing module 3 is installed on the grip 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 that is far away from the grip 2 in the radial direction of the grip 2, that is, the other side of the sensing module 3 opposite to the side where the sensing module 3 is in contact or close to the grip 2. By directly installing the sensing module 3 on the grip 2, the force and direction of the user in different operations such as pushing, pulling, and gripping 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 gripping force is applied directly to the sensing module 3 along the radial direction of the grip 2, which not only makes the sensing signal transmission path short and clear, reducing signal interference and errors, and significantly improving the accuracy of the sensing signal during operation, but also reduces the data instability caused by the overall structural shaking, realizing smooth, direct and fine operation adjustment, and providing accurate and real-time operation data.

[0098] The conductive module 4 is movably mounted on the grip portion 2, and the conductive module 4 has a travel distance in the radial direction of the grip portion 2. At least a portion of the conductive module 4 is opposite to the sensing module 3 in the radial direction of the grip portion 2 and located on the second side of the sensing module 3, such that the portion of the conductive module 4 opposite to the sensing module 3 is also located within the sensing area 21 of the grip portion 2. During the travel distance of the conductive module 4, the portion of the conductive module 4 opposite to the sensing module 3 can abut and separate from the sensing module 3.

[0099] When the user grips the gripping part 2, the transmission module 4 receives a gripping force in the radial direction of the gripping part 2, causing the transmission module 4 to move closer to the sensing module 3, thereby bringing the transmission module 4 into contact with the sensing module 3. This allows the transmission module 4 to transmit the gripping force received by the transmission module 4 to the sensing module 3, enabling the sensing module 3 to sense the user's gripping operation in the radial direction of the gripping part 2 and output a sensing signal. With the sensing module 3 mounted on the gripping part 2, the user's gripping force is applied to the sensing module 3 in the radial direction of the gripping part 2. When the impact force generated by road bumps is transmitted upwards along the connecting rod 1 and impacts the gripping part 2, the gripping part 2, as a whole, is relatively stable and not easily deformed relative to the connection position between the connecting rod 1 and the gripping part 2. Therefore, it has virtually no impact on the sensing accuracy of the sensing module 3 mounted on the gripping part 2. Consequently, even after prolonged use, the push tool 1000 will not exhibit problems such as poor control stability or inaccurate operation feedback.

[0100] The control system 6 can be installed at any location on the hand-operated tool 1000, for example, see [link to relevant documentation]. Figure 1 The control system 6 can be mounted on the linkage 1 or the grip 2; please refer to Figure 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 component 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 component 230, and the controller can control the walking speed of the main body 200 according to the sensing signals output by the sensing module 3. The control panel is the human-machine interface platform of the push tool 1000. The control panel typically includes an input section and / or a display section. The input section is used to receive control commands from the user and request the push tool 1000 to execute the control commands. The display section is used to display the usage status of the push tool 1000 and the information input by the input section.

[0102] Compared to existing technologies where the pressure sensing device is installed at the connection between the linkage and the grip, and the user pushes the grip to change its position on the linkage, causing deformation of the pressure sensing device and generating detection data, this application directly mounts the sensing module 3 on the grip 2. This allows for precise capture of the force and direction of the user's push, pull, and grip operations. This refined sensing capability effectively improves the accuracy of signals during operation, reduces speed fluctuations caused by misoperation, and enhances the control stability of the device. Furthermore, the user's gripping force is applied radially along the grip 2 and directly to the sensing module 3, resulting in a short and clear signal transmission path, reducing signal interference and errors, significantly improving signal accuracy during operation, and mitigating data instability caused by overall structural sway. This achieves smooth, direct, and precise operation adjustment, providing accurate and real-time operation data. This allows the system to quickly respond and accurately adjust the travel speed of the tool body 200, improving operational performance. Compared to existing technologies, this application more accurately reflects the user's operational intentions, improving work efficiency and safety, while also enhancing user perception and overall experience satisfaction.

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

[0104] The sensing module 3 is typically a pressure sensor, and its specific type can be set according to actual conditions. Optionally, in some embodiments, the sensing module 3 is one of the following types: resistive sensor, capacitive sensor, or ceramic piezoelectric sensor. Setting the sensing module 3 as a resistive sensor, capacitive sensor, or ceramic piezoelectric sensor can reduce the installation 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 the actual situation. For example, the sensing module 3 can be set in the shape of a sheet, plate, or film. Optionally, please refer to Figure 3 and Figure 7 In some embodiments, the sensing module 3 is a plate-shaped sensor. The plate-shaped arrangement of the sensing module 3 increases its structural strength and extends its service life. The following description uses the plate-shaped sensing module 3 as an example.

[0106] The sensing module 3 is mounted on the grip 2. The sensing module 3 is typically embedded inside the grip 2 and is covered by the conduction module 4 to prevent it from being directly exposed on the outer surface of the hand-operated tool 1000, thus protecting the sensing module 3. Optionally, please refer to... Figures 1 to 3 In some embodiments, the gripping part 2 has an opening 25 and a cavity 26 communicating with the opening 25. The sensing module 3 is fixed in the cavity 26, and at least part of the conducting module 4 is fixed in the cavity 26 and stacked on the side of the sensing module 3 near the opening 25.

[0107] Specifically, the gripping part 2 has a cavity 26 inside, and an opening 25 communicating with the cavity 26 is formed on the surface layer of the gripping part 2. Supporting structures such as support ribs, support columns, or support steps can be provided on the inner surface of the cavity 26. The sensing module 3 can be fixedly installed on the bottom surface of the inner cavity of the cavity 26 by means of adhesive bonding, snap-fit ​​fixing, or screw fixing, thereby fixing the sensing module 3 inside the cavity 26. The bottom surface of the inner cavity of the cavity 26 is the inner surface of the cavity 26 away from the opening 25, and the opening 25 and the bottom surface of the inner cavity of the cavity 26 are spaced apart in a direction perpendicular to the opening 25. The conductive module 4 is installed at the opening 25, and at least a portion of the conductive module 4 extends into the cavity 26 from the opening 25, so that the portion of the conductive module 4 inside the cavity 26 can abut against the sensing module 3. Installing the sensing module 3 inside the cavity 26 of the gripping part 2 in this way can protect the sensing module 3.

[0108] Further, please refer to Figures 1 to 3 In some embodiments, the shape and size of the conduction module 4 are adapted to the shape and size of the opening 25.

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

[0110] The grip area of ​​the grip unit 2 typically includes a left-hand grip area for the user's left hand and a right-hand grip area for the user's right hand. The sensing module 3 is mounted on the grip unit 2, and it may be installed only in the left-hand grip area or the right-hand grip area; or it may be installed in both the left-hand grip area and the right-hand grip area.

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

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

[0113] Further, please refer to Figures 1 to 3 In some embodiments, a sensing module 3 is mounted on the first grip portion 23; and / or, a sensing module 3 is mounted on the second grip portion 24.

[0114] Specifically, a sensing module 3 is installed on the first grip portion 23 and / or the second grip portion 24. The sensing module 3 can be installed on only the first grip portion 23 or the second grip portion 24; alternatively, it can 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, it can sense the user's left-hand gripping operation on the grip portion 2. When the sensing module 3 is installed on the second grip portion 24, it can sense the user's left-hand gripping operation on the grip portion 2.

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

[0116] Specifically, the grip portion 2 is generally U-shaped, with the connection points of the first grip portion 23 and the third grip portion 27, and the connection points of the second grip portion 24 and the third grip portion 27 forming two corners 28 of the U-shaped grip portion 2. The included angles between the first grip portion 23 and the third grip portion 27, and between the second grip portion 24 and the third grip portion 27, can be set according to actual conditions. These included angles can be obtuse, right, or acute. For example, in this embodiment, the included angles between the first grip portion 23 and the third grip portion 27, and between the second grip portion 24 and the third grip portion 27, are obtuse angles, and these obtuse angles are less than or equal to 135°, to conform to the gripping habits of most users and facilitate user gripping and operation.

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

[0118] Specifically, the axes of the first gripping part 23 and the second gripping part 24 are basically located in the same plane, and the plane containing the axes of the first gripping part 23 and the second gripping part 24 is called the gripping part plane; the axes of the two connecting rod parts 1 that connect the first gripping part 23 and the second gripping part 24 are also basically located in the same plane, and the plane containing the two connecting rod parts 1 is called the connecting rod part plane; the angle between the gripping part plane and the connecting rod part plane is in the range of 80° to 135°, and further, it can be in the range of 90° to 120°. This setting of the angle range between the gripping part plane and the connecting rod part plane helps the user to present a relatively comfortable position with the body when holding the gripping part 2, which is more in line with ergonomic design, and it is not easy to get tired when operating the push tool 1000 for a long time; at the same time, it helps the user to better control the gripping force, making it easier to maintain a stable gripping operation in bumpy conditions, and making it easier to control the walking speed of the main body 200.

[0119] The axis of the third gripping part 27 may lie within the plane of the gripping part; the axis of the third gripping part 27 may also be parallel to or intersect with the plane of the gripping part. Optionally, please refer to Figure 1 and Figure 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. Since the axes of the first grip portion 23, the second grip portion 24, and the third grip portion 27 are substantially in the same plane, that is, the axis of the third grip portion 27 is located within the grip portion plane, the user can achieve a relatively comfortable position with their body when gripping the first grip portion 23, the second grip portion 24, and the third grip portion 27, and can better control the gripping force.

[0120] Optionally, please refer to Figure 1 and Figure 6 In some embodiments, the length of the first grip portion 23 is no more than 20 centimeters, and the sensing module 3 on the first grip portion 23 is installed along the axial direction of the first grip portion 23, and its length is no less than one-tenth of the length of the first grip portion 23.

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

[0122] Optionally, please refer to Figure 1 and Figure 6 In some embodiments, the length of the second grip portion 24 is no more than 20 cm, and the sensing module 3 on the second grip portion 24 is installed along the axial direction of the second grip portion 24, and its length is no 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, and the higher the rigidity requirement of the connection structure between the second grip 24 and the connecting rod 1. Therefore, the length of the second grip 24 is set to be no more than 20 cm, which helps to reduce the rigidity requirement of 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 helps to sense the user's gripping operation of the second grip 24 through the sensing module 3 installed on the second grip 24.

[0124] If a 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 placement position of the sensing module 3 on the first grip portion 23 can be set according to the actual situation.

[0125] Optionally, please refer to Figure 1 , Figure 4 and Figure 5 In some embodiments, in the cross-section of the grip portion 2, the left horizontal line at the intersection of the horizontal line and the central axis of the first grip portion 23 is defined as 0°. When a sensing module 3 is installed on the first grip portion 23, the sensing module 3 can be installed within a region of 180° to 360° of the central axis of the first grip portion 23; the sensing module 3 can also be installed within a region of 0° to 60° or 300° to 360° of the central axis of the first grip portion 23. Installing a sensing module 3 within a region of 180° to 360° or 0° to 60° or 300° to 360° of the central axis of the first grip portion 23 in this way allows for more comprehensive sensing of the user's gripping operation on the first grip portion 23, minimizing costs. The cross-section of the grip portion 2 is a surface on the grip portion 2 perpendicular to its axial direction.

[0126] Optionally, please refer to Figure 6 and Figure 8 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 first grip portion 23 is defined as 0°. When at least two sensing modules 3 are installed on the first grip portion 23, for example, if two sensing modules 3 are installed on the first grip portion 23, the left horizontal line of the intersection of the horizontal line and the central axis of the first grip portion 23 is defined as 0°. Sensing modules 3 are installed within the 0°~60° and 180°~360° range of the central axis of the first grip portion 23. By installing at least two sensing modules 3 within the 0°~60° and 180°~360° range of the central axis of the first grip portion 23, when the user applies a pushing force forward and upward to the first grip portion 23, the at least two sensing modules 3 installed on the first grip portion 23 can comprehensively sense the user's gripping operation on the first grip portion 23 as much as possible, reducing the adverse effects of road bumps.

[0127] If a sensing module 3 is installed on the second grip portion 24, one sensing module 3 may be installed on the second grip portion 24, or multiple sensing modules 3 may be installed at intervals along the circumference of the second grip portion 24. The specific placement position of the sensing module 3 on the second grip portion 24 can be set according to the actual situation.

[0128] Optionally, please refer to Figure 1 , Figure 4 and Figure 5 In some embodiments, in the cross-section of the grip portion 2, the left horizontal line at the intersection of the horizontal line and the central axis of the second grip portion 24 is defined as 0°. When a sensing module 3 is installed on the second grip portion 24, the sensing module 3 can be installed within a region of 180° to 360° of the central axis of the second grip portion 24; the sensing module 3 can also be installed within a region of 120° to 240° of the central axis of the second grip portion 24. Installing a sensing module 3 within either a region of 180° to 360° or a region of 120° to 240° of the central axis of the second grip portion 24 allows for more comprehensive sensing of the user's gripping operation on the second grip portion 24 through a single sensing module 3, thereby minimizing costs.

[0129] Optionally, please refer to Figure 6 and Figure 8 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 defined as 0°. When at least two sensing modules 3 are installed on the second grip portion 24, for example, if two sensing modules 3 are installed on the second grip portion 24, the left horizontal line of the intersection of the horizontal line and the central axis of the second grip portion 24 is defined as 0°, and the sensing modules 3 are installed within a 120° to 360° area of ​​the central axis of the second grip portion 24. By installing at least two sensing modules 3 within this 120° to 360° area of ​​the central axis of the second grip portion 24, when the user applies a pushing force forward and upward to the second grip portion 24, the at least two sensing modules 3 installed on the second grip portion 24 can comprehensively sense the user's gripping operation on the second grip portion 24 as much as possible, reducing the adverse effects of road bumps.

[0130] When the user holds the gripping part 2, the gripping force applied by the user to the gripping part 2 is transmitted to the sensing module 3 through the transmission module 4. The transmission module 4 has an operating surface 411 that the user contacts during the gripping operation. Optionally, please refer to Figure 1 and Figure 2 In some embodiments, the non-sensing region 22 has a non-sensing surface 221, and the conduction module 4 has an operating surface 411. The Shore hardness of the operating surface 411 of the conduction module 4 may be different from the Shore hardness of the non-sensing surface 221 of the non-sensing region 22 of the gripping part 2; the Shore hardness of the operating surface 411 of the conduction module 4 may also be equal to the Shore hardness of the material of the non-sensing surface 221 of the non-sensing region 22.

[0131] Specifically, the operating surface 411 can be the surface of the conduction module 4 away from the sensing module 3; the operating surface 411 can also be the portion of the conduction module 4 away from the sensing module 3, which will come into contact with the operating surface 411 when the user performs a gripping operation. The non-sensing surface 221 can be the outer peripheral side of the non-sensing area 22 of the grip 2; the non-sensing surface 221 can also be the portion of the outer peripheral side of the non-sensing area 22 of the grip 2 close to the sensing area 21, so that the user will come into contact with at least a portion of the non-sensing surface 221 when performing a gripping operation. The Shore hardness of the operating surface 411 is different from that of the non-sensing surface 221, allowing the user to perceive the function of different areas through tactile sensation when gripping the grip 2, enhancing the naturalness and intuitiveness of human-computer interaction. The user can adjust the operation by adjusting the grip strength and position, increasing the comfort of use. The Shore hardness of the operating surface 411 of the conduction module 4 is different from the Shore hardness of the non-sensing surface 221 of the non-sensing area 22 of the grip 2. It can be that the Shore hardness of the operating surface 411 of the conduction module 4 is greater than the Shore hardness of the non-sensing surface 221 of the non-sensing area 22 of the grip 2; or it can be that the Shore hardness of the operating surface 411 of the conduction module 4 is less than the Shore hardness of the non-sensing surface 221 of the non-sensing area 22 of the grip 2.

[0132] The conduction module 4 can be a single component; alternatively, it can be an assembly composed of multiple components. See also: Figure 3 and Figure 7 In some embodiments, the conduction module 4 has an operation part 41 and a buffer part 42. The buffer part 42 is disposed on the side of the operation part 41 close to the sensing module 3, and the buffer part 42 is made of a flexible material.

[0133] Specifically, the end of the transmission module 4 furthest from the sensing module 3 has an operating part 41, which comes into contact with the user during gripping. The end of the transmission module 4 closest to the sensing module 3 has a buffer part 42, which abuts against the sensing module 3 during gripping. Because the buffer part 42 is made of flexible material, it forms a controllable buffer layer, allowing the gripping force applied to the operating part 41 to be transmitted relatively evenly to the sensing module 3 through the buffer part 42. This effectively compresses the sensing module 3 while absorbing and dispersing mechanical stress, thereby reducing physical wear directly applied to the sensing module 3. This not only effectively protects the potentially vulnerable component (i.e., the sensing module 3) but also helps maintain the sensing module 3 in good working condition over a long period, reducing maintenance needs and lowering the failure rate.

[0134] In other embodiments, the transmission module 4 can be an operation unit 41, that is, the transmission module 4 includes only one component, the operation unit 41; the transmission module 4 may also include other components besides the operation unit 41 and the buffer unit 42, for example, please refer to Figure 7 The transmission module 4 also includes a skeleton part 43, which is installed at one end of the operation part 41 near the sensing module 3. The skeleton part 43 includes, but is not limited to, being sleeved on the periphery of the buffer part 42, or being wholly or partially embedded in the buffer part 42, so as to realize the connection between the buffer part 42 and the operation part 41.

[0135] The operating surface 411 is provided on the operating part 41, that is, the operating part 41 has an operating surface 411 that the user contacts when holding the device. 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. Optionally, please refer to Figures 1 to 3 In some embodiments, the operating surface 411 is made of a soft material.

[0136] Specifically, the Shore hardness of the soft material of the operating surface 411 can be greater than that 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 less than that 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 to be different from that of the non-sensing surface 221 of the non-sensing area 22, the function of easily distinguishing different areas of the gripping part 2 can be realized, and the user experience can be optimized.

[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-shaped surface. Optionally, please refer to... Figures 1 to 3 In some embodiments, the operating surface 411 has a profile that matches the subject of the gripping operation.

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

[0139] Further, please refer to Figures 1 to 3 In some embodiments, the middle portion of the operating surface 411 protrudes from both ends in the axial direction of the grip portion 2; and / or, the middle portion of the operating surface 411 protrudes from both ends in the radial direction of the grip portion 2.

[0140] Specifically, in the axial and / or radial directions of the grip portion 2, the middle part of the operation surface 411 protrudes away from the sensing module 3 from both ends. This not only makes the operation surface 411 more compatible with the user's hand, allowing it to better fit the user's hand when gripping, thus providing better sensing capabilities, but also allows the operation surface 411 to have an arc that matches the outer contour of the grip portion 2, maintaining the consistency of the product's appearance.

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

[0142] Specifically, the conductive surface 421 is the surface of the conductive module 4 near the sensing module 3, and the surface of the sensing module 3 near the conductive surface 421 is the sensing surface of the sensing module 3. When the user performs a gripping operation, the conductive surface 421 of the operating part 41 comes into contact with the sensing surface of the sensing module 3 to trigger the sensing module 3 to output a sensing signal. By 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 sensor (i.e., the sensing module 3), a sufficiently stable sensing area between the conductive module 4 and the sensing module 3 can be ensured, avoiding the problem of insufficient sensing area affecting sensing accuracy.

[0143] As described above, the Shore hardness of the operating part 41 of the transmission module 4 and the Shore hardness of the grip part 2 can be the same or different. Similarly, the Shore hardness of the grip part 2 and the Shore hardness of the connecting rod part 1 can also be the same or different. Optionally, please refer to... Figure 1 In some embodiments, the Shore hardness of the grip portion 2 is greater than that of the connecting rod portion 1. As the direct force-bearing component when the user pushes the push tool 1000, increasing the Shore hardness of the grip portion 2 relative to the connecting rod portion 1 can improve the structural strength of the grip portion 2, ensure the structural stability of the grip portion 2 when subjected to pushing force, and thus ensure stable and accurate sensing of the user's grip operation.

[0144] Optionally, please refer to Figure 3 In some embodiments, the sensing grip 100 further includes a reset module 5 mounted on the sensing grip 100, at least partially reset module 5 so that the conduction module 4 can be moved away from the sensing module 3.

[0145] Specifically, the reset module 5 has good elastic deformation capability and can be a spring, elastic sheet, elastic pad, or elastic column, etc. When the user grips the grip part 2, the gripping force applied to the transmission module 4 can be transmitted to the reset module 5 and the sensing module 3, so that the transmission module 4 can not only resist the sensing signal output by the sensing module 3, but also compress the reset module 5. When the user releases the grip part 2, the transmission module 4 can automatically move and reset under the action of the reset module 5, so that the transmission module 4 can move away from the sensing module 3, and completely separate the transmission module 4 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 transmission module 4 and act on the grip part 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 transmission module 4; the reset module 5 can also be installed on the grip part 2 and act on the transmission module 4.

[0146] When the conduction module 4 is provided with a buffer section 42, the reset module 5 allows the buffer section 42 to be moved away from the sensing module 3, and the conduction surface 421 provided on the buffer section 42 is the area that can be moved away from the sensing module 3 through the reset module 5. Optionally, please refer to Figures 1 to 3 In some embodiments, the maximum compression distance of the reset module 5 is greater than the distance between the buffer part 42 and the sensing module 3. The maximum compression distance of the reset module 5 is equal to or approximately equal to the maximum range of motion of the conduction module 4 in the radial direction of the grip part 2. By setting the maximum compression distance of the reset module 5 to be greater than the distance between the buffer part 42 and the sensing module 3, the maximum range of motion of the conduction module 4 in the radial direction of the grip part 2 is greater than the distance between the buffer part 42 and the sensing module 3, thereby ensuring that the conduction module 4 and the sensing module 3 can come into contact when the user performs a gripping operation, thus achieving effective pressing of the sensing module 3.

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

[0148] Figure 9 This is a schematic diagram of the structure of the hand-operated tool provided in an embodiment of this application.

[0149] Please see Figure 1 and Figure 9In some embodiments, the gripping part 2 of the sensing handle 100 of the push tool 1000 includes a first gripping part 23 and a second gripping part 24. When a sensing module 3 is installed on the first gripping part 23 and the second gripping part 24, the sensing module 3 senses the user's gripping operation in the radial direction of the first gripping part 23 and the second gripping part 24, and outputs a corresponding first sensing signal and a second sensing signal. The control system 6 of the sensing handle 100 controls the walking speed of the body 200 of the push tool 1000 according to any one of the first sensing signal and the second sensing signal.

[0150] Specifically, a sensing module 3 installed on the first grip 23 senses the user's left-hand grip operation and outputs a first sensing signal; a sensing module 3 installed on the second grip 24 senses the user's right-hand grip operation and outputs a second sensing signal. Thus, by using one sensing module 3 on the first grip 23 and one sensing module 3 on the second grip 24, the user's left and right hand grip information can be collected respectively. This allows the control system 6 to independently perceive and analyze the operating state of each hand based on the collected grip information, thereby providing more precise feedback and speed control to adapt to different user gesture habits or device usage habits.

[0151] When a sensing module 3 is installed on both the first gripping part 23 and the second gripping part 24, the control system 6 can control the walking speed of the main body 200 according to any one of the first sensing signal and the second sensing signal in various ways. For example, the control system 6 can control the walking speed of the main body 200 according to any one of the first sensing signal and the second sensing signal in various ways, including mode 1 and mode 2.

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

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

[0154] The selected sensing signal module can be a sensing module 3 installed on the first grip 23, or a sensing module 3 installed on the second grip 24, or a sensing module 3 installed on the first grip 23 and the second grip 24, and the sensing signal output by the selected effective sensing module 3 is sent 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 electrical connection. It can also be an embedded module in the control system 6, and the selection operation is realized through operation settings.

[0156] Method 2: The hand-pushed tool 1000 also includes a fitting sensing signal module, which is used to fit a third sensing signal based on the first sensing signal and the second sensing signal and provide it to the control system 6 as a sensing signal for the walking speed of the control 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 the effective sensing signal, and send the effective sensing signal to the control system 6 so that the control system 6 can control the walking speed of the main body 200 based on the effective sensing signal.

[0158] The fitting sensing signal module is an embedded module in control system 6, and the fitting operation is achieved through the running settings.

[0159] Please see Figure 6 and Figure 9 In some embodiments, the gripping part 2 of the sensing handle 100 of the push tool 1000 includes a first gripping part 23 and a second gripping part 24. When at least two sensing modules 3 are installed on the first gripping part 23 and the second gripping part 24, the at least two sensing modules 3 installed on the first gripping part 23 output a first sensing signal, and the at least two sensing modules 3 installed on the second gripping part 24 output a second sensing signal. The control system 6 of the sensing handle 100 controls the walking speed of the body 200 of the 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 grip portion 23 are used to sense the user's left-hand grip operation and output a first sensing signal; at least two sensing modules 3 installed on the second grip portion 24 are used to sense the user's right-hand grip operation and output a second sensing signal. Thus, by using at least two sensing modules 3 on the first grip portion 23 and at least two sensing modules 3 on the second grip portion 24, the user's left and right hand grip information can be collected respectively. This allows the control system 6 to independently sense and analyze the operating state of each hand based on the collected grip information, thereby providing more precise feedback and speed control to adapt to different user gesture operation habits or device usage habits. Furthermore, by setting more sensing modules 3 on the first grip portion 23 and the second grip portion 24, the area of ​​the sensing region 21 on the grip portion 2 can be increased, thereby expanding the user's grip range on the grip portion 2.

[0161] When at least two sensing modules 3 are installed on both the first gripping part 23 and the second gripping part 24, the control system 6 can control the walking speed of the main body 200 according to any one of the first sensing signal and the second sensing signal in various ways. For example, the control system 6 can control the walking speed of the main body 200 according to any one of the first sensing signal and the second sensing signal in ways including mode 3 and mode 4.

[0162] Method 3: The hand-push tool 1000 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 6 to control the walking speed of the main body 200, and / or select the sensing signal output by any one of the sensing modules 3 installed on the first grip 23 and the second grip 24, as the sensing signal for output to control the walking speed of the main body 200 of the hand-push tool 1000.

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

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

[0165] Method 4: The hand-pushed tool 1000 also includes a first fitting sensing signal module, which is used to fit a third sensing signal based on the first sensing signal and the second sensing signal to the control system 6 as a sensing signal for the walking speed of the control 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 the effective sensing signal, and send the effective sensing signal to the control system 6 so that the control system 6 can control the walking speed of the main body 200 based on the effective sensing signal.

[0167] There are various ways to implement the output of the first sensing signal by at least two sensing modules 3 installed on the first grip 23 and the output of the second sensing signal by at least two sensing modules 3 installed on the second grip 24. For example, the specific implementation of outputting the first sensing signal and the second sensing signal may include mode 5 and mode 6.

[0168] Method 5: The push tool 1000 further includes a second fitting sensing signal module, wherein: at least two sensing modules 3 mounted on the first grip 23 output a first sensing signal, which is then fitted into a first sensing signal by the second fitting sensing signal module based on the corresponding sensing signals output by the at least two sensing modules 3 mounted on the first grip 23; and / or, at least two sensing modules 3 mounted on the second grip 24 output a second sensing signal, which is then fitted into a second sensing signal by the second fitting sensing signal module based on the corresponding sensing signals output by the at least two sensing modules 3 mounted on the second grip 24.

[0169] Specifically, the second fitting sensing signal module can fit the first sensing signal based on the sensing signals output by at least two sensing modules 3 mounted on the first grip 23.

[0170] Similarly, the second fitting sensing signal module can also fit the second sensing signal based on the sensing signals output by at least two sensing modules 3 mounted on the second grip 24.

[0171] Method 6: The push tool 1000 further includes a second selected sensing signal module, wherein: at least two sensing modules 3 mounted on the first grip 23 output a first sensing signal, and the second selected sensing signal module selects the sensing signal output by any one of the at least two sensing modules 3 on the first grip 23 as the first sensing signal; and / or; at least two sensing modules 3 mounted on the second grip 24 output a second sensing signal, and the selected sensing signal module selects the sensing signal output by any one of the at least two sensing modules 3 on the second grip 24 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 part 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 grip 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] Accordingly, another embodiment of this application also provides a control method for a hand-push tool, which can be implemented based on the hand-push tool provided in the above embodiments. The control method for a hand-push tool provided in another embodiment of this application will be described in detail below. For the parts that are the same as or corresponding to the previous embodiment, please refer to the corresponding descriptions of the foregoing embodiments, which will not be described in detail below.

[0175] In some embodiments, the control method for a hand-operated tool includes the following steps:

[0176] Step S610: Receive the sensing signal output by the sensing module.

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

[0178] Step S620: Identify valid signals from the received sensing signals according to the preset detection strategy.

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

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

[0181] Strategy 1: Specify valid sensing points. The sensing signal output by a valid sensing point is a valid signal.

[0182] Specifically, the user pre-specifies valid sensing points, and the sensing signals output by valid sensing points are valid signals. That is, the user can select one or more sensing points as valid sensing points according to their grip habits, thus activating the device. For example, if the user primarily uses their right hand for gripping, then the sensing points of the sensing module 3 installed on the second grip part 24 are selected as valid sensing points; if the user primarily uses their left hand for gripping, then the sensing points of the sensing module 3 installed on the first grip part 23 are selected as valid sensing points; if the user uses both hands for control, then the sensing points of the sensing modules 3 installed on both the first grip part 23 and the second grip part 24 are valid sensing points. Alternatively, the user can also select one or more sensing points as valid sensing points according to their preferred grip force direction.

[0183] Strategy 2: Preset signal processing and filtering rules, process the received sensing signals according to the signal processing and filtering rules, and filter out the valid signals.

[0184] Specifically, Strategy 2 can be implemented in various ways. For example, the signal processing and filtering rules can be set to determine whether the output sensing signal of 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 by a preset processing rule. Another example is that the signal processing and filtering rules can be obtained by obtaining the difference between the maximum sensing value and each other sensing value. When any set of differences exceeds the trigger threshold, the sensing module with the low sensing value in the difference group that exceeds the trigger threshold is determined as an invalid sensing module, and the others are valid sensing modules. The final signal is confirmed by the judgment logic 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 valid sensing point, the sensing value corresponding to the sensing signal is determined by at least one of the following methods: mean, maximum value, minimum value, removal of maximum and minimum mean, sorting median value, standard deviation or mode, and a control signal is generated based on 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 valid signal.

[0187] Specifically, after the control system 6 identifies a valid signal, the control system 6 can control the walking speed of the main body 200 of the hand-pushing tool 1000 according to the identified valid signal.

[0188] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split 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 or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0189] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing this application, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of this application.

Claims

1. A sensing grip for a hand-operated tool, characterized in that, The sensing grip includes: a connecting rod portion; a grip portion connected to the connecting rod portion for connection to the main body of the push tool via the connecting rod portion; the grip portion includes a sensing area and a non-sensing area; a sensing module installed within the sensing area of ​​the grip portion, the sensing module having a first side near the grip portion and a second side away from the grip portion, the sensing module sensing the user's gripping operation in the radial direction of the grip portion and outputting a sensing signal; a transmission module, at least a portion of the transmission module being disposed on the second side of the sensing module in the radial direction of the grip portion; a reset module installed on the sensing grip, at least a portion of the reset module allowing the transmission module to move away from the sensing module; and a control system controlling the walking speed of the main body according to the sensing signal, the transmission module having an operating portion and a buffer portion, the buffer portion being disposed on the side of the operating portion near the sensing module, the reset module allowing the buffer portion to move away from the sensing module, and the buffer portion being made of a flexible material.

2. The sensing grip bar according to claim 1, characterized in that, The maximum compression distance of the reset module is greater than the distance between the buffer and the sensing module.

3. The sensing grip bar according to claim 1, characterized in that, The non-sensing area has a non-sensing surface, and the operating part has an operating surface that the user can contact when holding the part. The operating surface is made of a soft material, wherein: 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.

4. The sensing grip bar according to claim 1, characterized in that, The non-sensing area has a non-sensing surface, and the operating part has an operating surface that the user can contact when holding the part. The operating surface is made of 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.

5. The sensing grip bar according to claim 3 or 4, characterized in that, The operating surface has a profile that matches the subject applying the gripping operation.

6. The sensing grip bar according to claim 5, characterized in that, In the axial direction of the grip, the middle portion of the operating surface protrudes relative to both ends; and / or, in the radial direction of the grip, the middle portion of the operating surface protrudes relative to both ends.

7. The sensing grip bar according to claim 1, characterized in that, The grip portion includes a first grip portion and a second grip portion; the first grip portion and the second grip portion are respectively connected to the connecting rod portion; wherein: the sensing module is installed on the first grip portion; and / or, the sensing module is installed on the second grip portion.

8. The sensing grip bar according to claim 7, characterized in that, The length of the first grip portion is no greater than 20 cm, and the sensing module on the first grip portion is mounted along the axial direction of the first grip portion and its length is no less than one-tenth of the length of the first grip portion; and / or, the length of the second grip portion is no greater than 20 cm, and the sensing module on the second grip portion is mounted along the axial direction of the second grip portion and its length is no less than one-tenth of the length of the second grip portion.

9. The sensing grip bar according to claim 7, characterized in that, The sensing module is installed in the area of ​​0°~60° and 180°~360° of the central axis of the first grip, with the horizontal line to the left of the intersection of the horizontal line and the central axis of the first grip as 0°. And / or, with the horizontal line to the left of the intersection of the horizontal line and the central axis of the second grip as 0°, the sensing module is installed in a region of 120°~360° of the central axis of the second grip.

10. The sensing grip bar according to claim 7, characterized in that, When the first gripping part is equipped with one of the sensing modules, the left horizontal line of the intersection point of the horizontal line and the central axis of the first gripping part is defined as 0°, wherein: the sensing module is installed in the region of 180°~360° of the central axis of the first gripping part; or, the sensing module is installed in the region of 0°~60° and 300°~360° of the central axis of the first gripping part.

11. The sensing grip bar according to claim 7, characterized in that, When the second grip is equipped with one of the sensing modules, the left horizontal line of the intersection point of the horizontal line and the central axis of the second grip is defined as 0°, wherein: the sensing module is installed in the region of 180° to 360° of the central axis of the second grip; or, the sensing module is installed in the region of 120° to 240° of the central axis of the second grip.

12. The sensing grip bar according to claim 1, characterized in that, The grip portion has an opening and a cavity communicating with the opening. The sensing module is fixed in the cavity, and at least a portion of the conductive module is fixed in the cavity and stacked on the side of the sensing module near the opening.

13. The sensing grip bar according to claim 1, characterized in that, The sensing module is a plate-shaped sensor.

14. The sensing grip bar according to claim 13, characterized in that, The buffer portion has a conductive surface, which is a region that can be moved away from the sensing module through the reset module. The area of ​​the conductive surface is greater than or equal to half the area of ​​the sensing surface of the plate sensor.

15. The sensing grip bar according to claim 1, characterized in that, The sensing module is one of the following types: resistive sensor, capacitive sensor, or ceramic piezoelectric sensor.

16. A sensing grip for a hand-operated tool, characterized in that, The sensing grip includes: a connecting rod portion; a grip portion connected to the connecting rod portion for connection to the body of the push tool via the connecting rod portion; the grip portion includes a sensing area and a non-sensing area, the non-sensing area having a non-sensing surface; a sensing module installed within the sensing area of ​​the grip portion, the sensing module having a first side near the grip portion and a second side away from the grip portion, the sensing module sensing the user's gripping operation in the radial direction of the grip portion and outputting a sensing signal; a transmission module having an operating surface, at least a portion of the transmission module being disposed on the second side of the sensing module in the radial direction of the grip portion; the Shore hardness of the operating surface of the transmission module being different from the Shore hardness of the non-sensing surface of the non-sensing area of ​​the grip portion; and a control system controlling the walking speed of the body according to the sensing signal, the transmission module having an operating part and a buffer part, the buffer part being disposed on the side of the operating part near the sensing module, and the buffer part being made of a flexible material.

17. The sensing grip bar according to claim 16, characterized in that, The Shore hardness of the grip portion is greater than that of the connecting rod portion.

18. A sensing grip for a hand-operated tool, characterized in that, The sensing grip includes: a connecting rod portion; a grip portion connected to the connecting rod portion for connection to the body of the push tool via the connecting rod portion; the grip portion includes a sensing area and a non-sensing area; the grip portion includes a first grip portion and a second grip portion, the axes of the first grip portion and the second grip portion being located in the plane of the grip portion; the first grip portion and the second grip portion are respectively connected to two of the connecting rod portions, the axes of the two connecting rod portions being located in the plane of the connecting rod portion; the angle between the plane of the grip portion and the plane of the connecting rod portion is 80°~135°; a sensing module installed in the 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 the user's gripping operation in the radial direction of the grip portion and outputting a sensing signal; A conduction module, at least a portion of which is disposed on the second side of the sensing module in the radial direction of the grip portion; a control system, which controls the walking speed of the main body according to the sensing signal; the conduction module having an operating part and a buffer part, the buffer part being disposed on the side of the operating part near the sensing module; and a reset module, mounted on the sensing grip, the reset module enabling the buffer part to move away from the sensing module, and the buffer part being made of a flexible material.

19. The sensing grip bar according to claim 18, characterized in that... The angle between the plane of the gripping part and the plane of the connecting rod part is 90°~120°.

20. A hand-operated tool, characterized in that, Includes the sensing grip as described in any one of claims 1-19.

21. A control method for a hand-operated tool, characterized in that, The gripping part of the sensing handle of the hand-push tool includes a first gripping part and a second gripping part, and at least one sensing module is installed on the first gripping part and / or the second gripping part. The sensing module has at least two sensing points. The control method of the hand-pushing tool includes: receiving sensing signals 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 part and output the sensing signals, with each sensing point outputting one sensing signal; identifying valid signals from the received sensing signals according to a preset detection strategy; controlling the walking speed of the main body of the hand-pushing tool according to the valid signals, wherein the detection strategy is one or any combination of the following: specifying valid sensing points, and the sensing signals output by valid sensing points are valid signals; preset signal processing and filtering rules, processing the received sensing signals and filtering out valid signals according to the signal processing and filtering rules; wherein the signal processing and filtering rules are based on setting a valid threshold, determining that the sensing signals output by the sensing points are greater than or equal to the valid threshold, and if so, confirming the sensing signals greater than or equal to the valid threshold as valid signals by the preset processing rules.

22. A hand-operated tool, characterized in that, The hand-held tool's sensing grip includes a first grip and a second grip. When a sensing module is installed on each of the first and second grips, the sensing module senses the user's gripping operation in the radial direction of the first and second grips and outputs corresponding first and second sensing signals. The control system of the sensing grip controls the walking speed of the hand-held tool's main body based on either the first or second sensing signal. It also includes either a selected sensing signal module or a fitted sensing signal module. The selected sensing signal module is used to select either the first sensing signal or the second sensing signal used by the control system to control the walking speed of the main body, as the output sensing signal to control the walking speed of the main body. And / or, select the sensing signal output by any one of the sensing modules in the first gripping part and the second gripping part as the sensing signal for outputting control of the walking speed of the main body; The fitting sensing signal module is used to fit a third sensing signal based on the first sensing signal and the second sensing signal and provide it to the control system as a sensing signal for controlling the walking speed of the main body.

23. A hand-operated tool, characterized in that, The hand-operated tool's sensing grip includes a first grip and a second grip. When at least two sensing modules are installed on the first grip and the second grip respectively, the at least two sensing modules installed on the first grip output a first sensing signal, and the at least two sensing modules installed on the second grip output a second sensing signal. The control system of the sensing grip controls the walking speed of the main body of the hand-operated tool based on at least one of the first and second sensing signals. The hand-operated tool also includes either a first selected sensing signal module or a fitted sensing signal module. The first selected sensing signal module is used to select at least one of the first and second sensing signals for the control system to control the walking speed of the main body. And / or, select a sensing signal output by at least one of the sensing modules in the first gripping part and the second gripping part as a sensing signal for controlling the walking speed of the main body of the hand-operated tool; the fitting sensing signal module includes any one of a first fitting sensing signal module and a second fitting sensing signal module; the first fitting sensing signal module 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; The second fitting sensing signal module is used to fit the sensing signals output by at least two of the sensing modules on the first grip portion into the first sensing signal; And / or, the sensing signals output by at least two of the sensing modules on the second grip portion are fitted to form the second sensing signal.

24. The hand-operated tool according to claim 23, characterized in that, The hand-operated tool further includes a second selected sensing signal module, wherein: the sensing signal output by any one of the sensing modules on the first grip is selected as the first sensing signal; and / or, the sensing signal output by any one of the sensing modules on the second grip is selected as the second sensing signal.

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