Electric trolley and control method thereof

Abstract

The invention relates to an electric trolley and a control method thereof. The electric trolley comprises a trolley body and a grip connected with the trolley body. The vehicle body comprises a vehicle frame, wheels and wheel driving parts used for driving the wheels to move. The grip comprises a speed control assembly, and the speed control assembly is used for sensing force applied to the grip when a user pushes and pulls the grip to obtain a first sensing result and controlling the wheel driving part to drive the wheel to correspondingly move according to the first sensing result so as to control the moving direction and speed of the vehicle body in the front-back direction of the vehicle body. Therefore, the intelligent electric trolley can sense the intention of a user in real time and automatically control the movement direction and speed of the trolley according to the intention of the user, the trolley adapts to the action and speed intention of the user, people do not need to adapt to the speed of the trolley, the burden of the user is relieved, and the user experience is improved. Therefore, a user can operate the electric trolley more naturally, comfortably and conveniently, and the use requirements of the user can be better met.

Description

Technical Field

[0001] The present application relates to the technical field of transportation tools, and in particular to an electric trolley and a control method thereof. Background Art

[0002] With the increase of outdoor exploration, scientific investigation and field construction, the demand for vehicles that can assist in transporting heavy materials and equipment is increasing. Among them, wheelbarrows are widely used because of their small size and flexible use. However, when the wheelbarrows are actually used, when the goods loaded in the wheelbarrows are heavy, it is often more laborious for users to push them.

[0003] However, traditional trolleys cannot provide electric drive and rely entirely on manpower. When used for a long time or long distance, especially on complex terrain, it is easy to cause fatigue to the user. Although ordinary electric trolleys provide electric drive, the control logic is simple and it is not easy to operate on some complex roads.

[0004] Therefore, there is an urgent need to develop an electric trolley that can reduce the burden on users and is more convenient to operate, so as to better meet the usage needs of users. Summary of the invention

[0005] The purpose of the present application is to provide an electric trolley and a control method thereof, so as to provide an electric trolley that can reduce the burden on users and is more convenient to operate, thereby better meeting the user's usage needs.

[0006] An embodiment of the present application provides an electric trolley, which includes a body and a handle, wherein the handle is connected to the body; the body includes a frame, wheels and wheel drivers, wherein the wheels are arranged at the bottom of the frame, and the wheel drivers are used to drive the wheels to move; the handle includes a speed control component, and the speed control component is used to sense the force applied to the handle when the user pushes and pulls the handle to obtain a first perception result, and control the wheel driver to drive the wheel to move accordingly according to the first perception result, so as to control the direction and speed of the movement of the body along its front and rear directions.

[0007] Among them, the handle also includes a handle body, the handle body is arranged parallel to the front-to-back direction of the vehicle body and is fixed on the vehicle body; the speed control component includes a handle sleeve, a displacement sensor and a first spring; wherein the handle sleeve is slidably mounted on the handle body along the front-to-back direction of the vehicle body; the displacement sensor is configured to detect the direction and displacement of the handle sleeve sliding relative to the handle body along the front-to-back direction of the vehicle body, so as to sense the force applied to the handle by the user when pushing and pulling the handle to obtain a first sensing result; one end of the first spring is fixed to the handle sleeve, and the other end is fixed to the handle body; and, when the user pushes and pulls the handle sleeve, the handle sleeve slides accordingly relative to the handle body along the front-to-back direction of the vehicle body, so that the first spring stores energy accordingly; when the user stops pushing and pulling the handle sleeve, the first spring releases the stored energy, so that the handle sleeve slides along the front-to-back direction of the vehicle body to return to its initial position.

[0008] Among them, the handle also includes a steering control component, which is used to sense the force applied to the handle by the user when the handle is turned to obtain a second perception result, and control the wheel drive member to drive the wheel to move accordingly according to the second perception result, so as to control the direction and angle of the vehicle steering.

[0009] Among them, the handle also includes a handle body, the handle body is arranged parallel to the front-to-back direction of the vehicle body and is fixed on the vehicle body; the steering control component includes a steering handle, an angle sensor and a second spring; wherein the steering handle is connected to the handle body in a manner that it can rotate around the front-to-back direction of the vehicle body; the angle sensor is configured to detect the direction and angle of rotation of the steering handle around the front-to-back direction of the vehicle body, so as to sense the force applied to the handle by the user when the handle is turned to obtain a second perception result; one end of the second spring is fixed to the steering handle, and the other end is fixed to the handle body; and, when the user turns the steering handle, the steering handle rotates accordingly around the front-to-back direction of the vehicle body, so that the second spring stores energy accordingly; when the user stops steering the steering handle, the second spring releases the stored energy, so that the steering handle rotates around the front-to-back direction of the vehicle body and returns to its initial position.

[0010] Among them, the vehicle body also includes a load-bearing platform, a center of gravity horizontal adjustment mechanism and a horizontal detection unit; wherein the load-bearing platform is connected to the top of the frame in a manner that it can slide along the front and rear direction of the vehicle body, and is used to bear the load; the center of gravity horizontal adjustment mechanism is used to drive the load-bearing platform to slide along the front and rear direction of the vehicle body relative to the frame; the horizontal detection unit is used to detect whether the load-bearing platform is in a horizontal state to obtain a third perception result, and when the third perception result indicates that the load-bearing platform is not in a horizontal state, the center of gravity horizontal adjustment mechanism is controlled to drive the load-bearing platform to slide relative to the frame along the front and rear direction of the vehicle body until the load-bearing platform is in a horizontal state.

[0011] Among them, the center of gravity horizontal adjustment mechanism is arranged between the bearing platform and the frame, and includes a guide rail, a slider and a driving assembly; wherein the guide rail is installed on the top of the frame, the slider is slidably connected to the guide rail, the bearing platform is connected to the slider, and the length direction of the guide rail is parallel to the front and rear direction of the vehicle body; the driving assembly is used to drive the slider to slide on the linear guide rail along the length direction of the linear guide rail, so as to drive the bearing platform to slide relative to the frame along the front and rear direction of the vehicle body.

[0012] Among them, the vehicle body also includes a road condition detection unit, which is used to detect the road condition information of the road on which the vehicle body is located, obtain a fourth perception result, and control the wheel drive component to drive the wheel to move accordingly according to the fourth perception result, so as to control the speed of the vehicle body moving along its front and rear directions.

[0013] Among them, in the electric trolley, the number of wheels is two, and the two wheels are symmetrically arranged on both sides of the bottom of the frame, the number of handles is four, and the vehicle body also includes a load-bearing platform and four push-pull rods. The load-bearing platform is arranged on the top of the frame, and the four push-pull rods are divided into two groups. The two groups of push-pull rods are respectively connected to the front and rear edges of the load-bearing platform, and the four handles are connected to the four push-pull rods one by one.

[0014] An embodiment of the present application also provides a control method for an electric trolley, which is applied to any of the above-mentioned electric trolleys and includes: sensing, through a speed control component, the force applied to the handle by the user when the handle is pushed or pulled to obtain a first perception result; and controlling the wheel drive member to drive the wheel to perform corresponding movement according to the first perception result, so as to control the direction and speed of the movement of the vehicle body along the front and rear directions.

[0015] Among them, the electric trolley also includes a control module, which is installed on the vehicle body and communicates with the speed control component; according to the first perception result, the wheel driving member is controlled to drive the wheel to perform corresponding movement, so as to control the direction and speed of the vehicle body moving along the front and rear directions, including: through the control module, according to the first perception result transmitted by the speed control component, the wheel driving member is controlled to drive the wheel to perform corresponding movement, so as to control the direction and speed of the vehicle body moving along the front and rear directions.

[0016] The beneficial effects of the present application are as follows: the electric trolley and control method thereof provided by the present application, the electric trolley comprises a body and a handle connected to the body, wherein the body comprises a frame, wheels arranged at the bottom of the frame and a wheel driving member for driving the wheel to move, the handle comprises a speed control component, the speed control component is used to sense the force applied to the handle by the user when pushing and pulling the handle to obtain a first sensing result, and control the wheel driving member to drive the wheel to move accordingly according to the first sensing result, so as to control the direction and speed of movement of the body along its front and rear directions, thereby providing an intelligent electric trolley that can sense the user's intention in real time and automatically control the movement direction and speed of the trolley according to the user's intention, so as to realize that the trolley adapts to the user's action and speed intention without the need for people to adapt to the speed of the trolley, thereby reducing the burden on the user, so that the user can operate the electric trolley more naturally, comfortably and conveniently, so as to better meet the user's usage needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The technical solution and other beneficial effects of the present application will be made apparent by describing in detail the specific implementation methods of the present application in conjunction with the accompanying drawings.

[0018] Figure 1 A schematic diagram of the three-dimensional structure of the electric trolley provided in an embodiment of the present application at one viewing angle;

[0019] Figure 2 A schematic diagram of the three-dimensional structure of the electric trolley provided in an embodiment of the present application from another perspective;

[0020] Figure 3 A schematic diagram of the structure of a control module provided in an embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the vehicle body provided by the embodiment of the present application after the bearing platform is removed;

[0022] Figure 5 is a schematic diagram of the three-dimensional structure of the target grip provided by an embodiment of the present application at a certain viewing angle;

[0023] Figure 6 is a schematic diagram of the three-dimensional structure of the target grip provided by an embodiment of the present application at another viewing angle;

[0024] Figure 7 is a schematic diagram of the three-dimensional structure of the target handle after being cut off provided by an embodiment of the present application;

[0025] Figure 8 is a schematic diagram of the three-dimensional structure of the target grip provided by the embodiment of the present application after the grip cylinder is removed;

[0026] Fig. 9is a flow chart of a control method of an electric trolley provided in an embodiment of the present application;

[0027] Reference numerals:

[0028] 100-Electric trolley;

[0029] 10-body; 11-frame; 111-wheel connecting rod; 12-wheel; 13-carrying platform; 14-push-pull rod; 15-connecting rod; 16-center of gravity horizontal adjustment mechanism; 161-guide rail / linear guide rail; 162-slider; 163-drive assembly; 1631-ball screw; 1631A-nut of ball screw (or slider); 1632-servo motor; 1633-synchronous belt; 17-horizontal detection unit / inertia measurement unit; 18-road condition detection unit / radar;

[0030] 20-handle; 20A-target grip;

[0031] 21-speed control assembly; 211-handle sleeve; 212-displacement sensor; 2121-fixing part of displacement sensor; 2122-detection probe of displacement sensor; 213-first spring; 214-limiting ring; 215-copper sleeve; 216-connecting piece;

[0032] 22-steering control assembly; 221-steering handle; 2211-surrounding portion; 2212-connecting portion; 22121-mounting hole; protruding portion 2213; 222-angle sensor; 2221-rotating portion of the angle sensor; 2222-fixing portion of the angle sensor; 223-second spring / torsion spring;

[0033] 23-handle body / cylindrical structure; 231-first through hole; 232-second through hole;

[0034] 30 - control module; 31 - processor; 32 - memory. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0037] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0039] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0040] The following is a detailed description with reference to specific embodiments. It should be noted that the serial numbers of the following embodiments are not intended to limit the preferred order of the embodiments.

[0041] See also Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the three-dimensional structure of the electric trolley provided in an embodiment of the present application at one viewing angle. Figure 2 This is a schematic diagram of the three-dimensional structure of the electric trolley provided in the embodiment of the present application from another perspective. Figure 1 and Figure 2 As shown, the electric trolley 100 includes a body 10 and a handle 20 connected to the body 10. The body 10 includes a frame 11, a wheel 12 disposed at the bottom of the frame 11, and a wheel drive member (not shown in the figure) for driving the wheel 12 to move. The handle 20 includes a speed control component 21, which is used to sense the force applied to the handle 20 by the user when pushing or pulling the handle 20 to obtain a first sensing result, and control the wheel drive member to drive the wheel 12 to move accordingly according to the first sensing result, so as to control the direction and speed of the movement of the body 10 along its front and rear directions.

[0042] The user pushing and pulling the handle 20 may include: the user holds the handle 20 with his hands and applies a forward or backward force of a certain magnitude to the handle 20 .

[0043] Among them, controlling the wheel driving component to drive the wheel 12 to perform corresponding movement according to the first perception result to control the direction and speed of the movement of the vehicle body 10 along the front and rear directions thereof may include: when the first perception result indicates that the force applied to the handle 20 when the user pushes or pulls the handle 20 is a backward force, controlling the wheel driving component to drive the wheel 12 to move backward, and the speed of the backward movement of the electric trolley 100 may be positively correlated (for example, directly proportional) with the magnitude of the backward force; when the first perception result indicates that the force applied to the handle 20 when the user pushes or pulls the handle 20 is a forward force, controlling the wheel driving component to drive the wheel 12 to move forward, and the speed of the forward movement of the electric trolley 100 may be positively correlated (for example, directly proportional) with the magnitude of the forward force.

[0044] Furthermore, it should be noted that, in the embodiment of the present application, the front-to-back direction of the vehicle body 10 is the front-to-back direction of the electric trolley 100, and may refer to the longitudinal direction of the electric trolley 100, and forward may refer to the direction pointing to the front of the electric trolley 100 along the front-to-back direction of the electric trolley 100, and backward may refer to the direction pointing to the rear of the electric trolley 100 along the front-to-back direction of the electric trolley 100. Specifically, the front and rear of the electric trolley 100 may be relative to the user, for example, the front of the electric trolley 100 may refer to the direction facing the user, and the rear may refer to the direction facing the user's back.

[0045] In this way, by directly integrating the speed control component 21 into the handle 20 of the electric trolley 100, it can be achieved that: when the user pushes the electric trolley 100 forward by holding the handle 20, the electric trolley 100 can automatically control the wheel driving member to drive the wheel 12 to move forward at a speed value that is positively correlated with the thrust of the user pushing the electric trolley 100 forward by holding the handle 20; when the user pulls the electric trolley 100 backward by holding the handle 20, the electric trolley 100 can automatically control the wheel driving member to drive the wheel 12 to move backward at a speed value that is positively correlated with the pulling force of the user pulling the electric trolley 100 backward by holding the handle 20, thereby achieving that the electric trolley 100 can sense the user's pushing and pulling actions in real time, and the trolley can adapt to the user's pushing and pulling intentions, so that the user can operate the electric trolley 100 naturally, comfortably and conveniently.

[0046] Moreover, compared with the solution of controlling the vehicle speed by pressing a button adopted by the traditional electric trolley, since the solution can only control the vehicle speed at a fixed speed, the user needs to adapt to the speed of the vehicle, and when encountering climbing and crossing obstacles during the use of the vehicle, the vehicle may suddenly rush over, which will cause the user to be unable to control the vehicle on some complex roads, affecting the user's experience. The electric trolley 100 in the embodiment of the present application senses the user's push and pull actions in real time through the speed control component 21 integrated in the handle 20, and the vehicle can adapt to the user's push and pull intentions without the need for people to adapt to the speed of the vehicle, thereby reducing the burden on the user, and helping the user to operate the electric trolley 100 more naturally, comfortably and conveniently, and can better meet the user's use needs, and has a stronger ability to adapt to various complex roads or extreme working conditions.

[0047] In some embodiments, Figure 2 As shown, the electric trolley 100 may further include a control module 30, which is in communication connection with the speed control component 21 and may be installed on the vehicle body 10, for example, may be installed on the frame 11 of the vehicle body 10. Specifically, the control module 30 may be used to control the wheel drive member to drive the wheel 12 to perform corresponding movement according to the first perception result transmitted by the speed control component 21, so as to control the direction and speed of the vehicle body 10 moving along the front-rear direction. Moreover, in the specific implementation, in the electric trolley 100, the speed control component 21 may be used to sense the force applied to the handle 20 by the user when the handle 20 is pushed or pulled to obtain the first perception result, and transmit the first perception result to the control module 30, so as to trigger the control module 30 to control the wheel drive member to drive the wheel 12 to perform corresponding movement according to the first perception result transmitted by the speed control component 21, so as to control the direction and speed of the vehicle body 10 moving along the front-rear direction.

[0048] In some examples, the control module 30 may be a microcontroller unit (MCU) or a digital signal processing (DSP) controller.

[0049] For example, Figure 3 As shown, the control module 30 may include at least one processor 31 and a memory 32 .

[0050] The memory 32 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs, and modules. The memory 32 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function, and the data storage area may store data created according to the use of the electric trolley 100. In addition, the memory 32 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0051] The processor 31 performs various functions and processes data of the electric trolley 100 by running or executing software programs and / or modules stored in the memory 32, and calling data stored in the memory 32, thereby monitoring the electric trolley 100 as a whole, for example, implementing the control method described in any embodiment of the present application.

[0052] In the above control module 30, the processor 31 may be one or more processors. Figure 3 A processor 31 is taken as an example. The processor 31 and the memory 32 may be connected via a bus or other means. The processor 31 may include a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a controller, a field programmable gate array (FPGA) device, etc. The processor 31 may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.

[0053] Please refer back to Figure 1 and Figure 2 The handle 20 may further include a steering control component 22, which is used to sense the force applied to the handle 20 by the user when the user performs a steering action on the handle 20 to obtain a second perception result, and control the wheel drive member to drive the wheel 12 to perform corresponding movement according to the second perception result, so as to control the steering direction and angle of the vehicle body 10.

[0054] The user's steering action on the handle 20 may include: the user holds the handle 20 with his hand and applies a certain amount of leftward or rightward force to the handle 20 .

[0055] Among them, controlling the wheel driving component to drive the wheel 12 to perform corresponding movement according to the second perception result to achieve control of the direction and angle of the steering of the vehicle body 10 may include: when the second perception result indicates that the force applied to the handle 20 by the user when performing a steering action on the handle 20 is a left force, controlling the wheel driving component to drive the wheel 12 to perform corresponding movement, so that the above-mentioned electric trolley 100 performs a leftward steering movement, and the angle of the above-mentioned electric trolley 100 turning to the left and the magnitude of the leftward force may be positively correlated (for example, a directly proportional relationship); when the second perception result indicates that the force applied to the handle 20 by the user when performing a steering action on the handle 20 is a rightward force, controlling the wheel driving component to drive the wheel 12 to perform corresponding movement, so that the above-mentioned electric trolley 100 performs a rightward steering movement, and the angle of the above-mentioned electric trolley 100 turning to the right and the magnitude of the rightward force may be positively correlated (for example, a directly proportional relationship).

[0056] Furthermore, it should be noted that, in the embodiment of the present application, the left-right direction of the vehicle body 10 is the left-right direction of the electric trolley 100, and may refer to the lateral direction of the electric trolley 100, and leftward may refer to the direction pointing to the left side of the electric trolley 100 along the left-right direction of the electric trolley 100, and rightward may refer to the direction pointing to the right side of the electric trolley 100 along the left-right direction of the electric trolley 100. Specifically, the left and right sides of the electric trolley 100 may be relative to the user, for example, when the user faces the electric trolley 100, the side of the electric trolley 100 located on the left side of the user is the left side of the electric trolley 100, and the side of the electric trolley 100 located on the right side of the user is the right side of the electric trolley 100.

[0057] In this way, by directly integrating the steering control component 22 into the handle 20 of the electric trolley 100, it can be achieved that: when the user holds the handle 20 by hand and applies a leftward force to the handle 20, the electric trolley 100 can automatically turn left, and the angle of the leftward turning movement is positively correlated with the leftward force; when the user holds the handle 20 by hand and applies a rightward force to the handle 20, the electric trolley 100 can automatically turn right, and the angle of the rightward turning movement is positively correlated with the rightward force, thereby achieving that the electric trolley 100 can sense the user's steering action in real time, and the vehicle can adapt to the user's steering intention, so as to make it more convenient for the user to operate the electric trolley 100 naturally, comfortably and conveniently.

[0058] Specifically, in the above embodiment where the electric trolley 100 further includes a control module 30, Figure 2As shown, the steering control component 22 and the control module 30 can be communicatively connected. Specifically, the control module 30 can also be used to control the wheel drive member to drive the wheel 12 to perform corresponding movements according to the second perception result transmitted by the steering control component 22, so as to control the direction and angle of the steering of the vehicle body 10. Moreover, in specific implementation, in the electric trolley 100, the steering control component 22 can be specifically used to sense the force applied to the handle 20 by the user when the handle 20 performs a steering action to obtain a second perception result, and transmit the second perception result to the control module 30, so as to trigger the control module 30 to control the wheel drive member to drive the wheel 12 to perform corresponding movements according to the second perception result transmitted by the steering control component 22, so as to control the direction and angle of the steering of the vehicle body 10.

[0059] Please refer back to Figure 1 and Figure 2 In the electric trolley 100, the number of wheels 12 may be at least one, and each wheel 12 may correspond to an independent wheel driving member for driving the movement thereof, so that the movement of each wheel 12 in the electric trolley 100 can be independently controlled. The frame 11 may be a steel frame. The wheel 12 may adopt a rubber tire with an anti-skid texture. The wheel driving member may be specifically used to drive the corresponding wheel 12 forward or backward, and may be specifically a motor.

[0060] In some examples, such as Figure 1 and Figure 2 As shown, in the above-mentioned electric trolley 100, the number of wheels 12 can be specifically two, and the two wheels 12 can be symmetrically arranged on both sides of the bottom of the frame 11. Specifically, the two wheels 12 can be a left wheel and a right wheel, respectively, and the left wheel and the right wheel can be arranged on both sides (i.e., the left side and the right side) of the bottom of the frame 11 along the left-right direction of the vehicle body 10, and are driven by different wheel driving members, for example, they can be driven by the left wheel driving member and the right wheel driving member, respectively.

[0061] Furthermore, in a specific implementation, the above-mentioned controlling the wheel driving member to drive the wheel 12 to perform corresponding movement according to the second sensing result to realize the control of the steering direction and angle of the vehicle body 10 may include:

[0062] When the second perception result indicates that the force applied to the handle 20 by the user when performing a steering action on the handle 20 is a leftward force, the left wheel driving member is controlled to reduce the torque output, and / or the right wheel driving member is controlled to increase the torque output, so that a speed difference is formed between the left wheel and the right wheel, and the speed of the left wheel is less than that of the right wheel, and the speed difference between the left wheel and the right wheel can be positively correlated with the magnitude of the leftward force, thereby realizing the leftward steering movement of the above-mentioned electric trolley 100, and the angle of the leftward steering movement of the above-mentioned electric trolley 100 is positively correlated with the magnitude of the leftward force;

[0063] When the second perception result indicates that the force applied to the handle 20 by the user when turning the handle 20 is a rightward force, the right wheel drive is controlled to reduce the torque output, and / or the left wheel drive is controlled to increase the torque output, so that a speed difference is formed between the right wheel and the left wheel, and the speed of the right wheel is less than that of the left wheel, and the speed difference between the right wheel and the left wheel can be positively correlated with the magnitude of the rightward force, thereby realizing the above-mentioned electric trolley 100 turning to the right, and the angle of the above-mentioned electric trolley 100 turning to the right is positively correlated with the magnitude of the rightward force.

[0064] Furthermore, in a specific implementation, the above-mentioned controlling the wheel driving member to drive the wheel 12 to perform corresponding movement according to the first perception result to realize controlling the direction and speed of the movement of the vehicle body 10 along the front-rear direction thereof may include: when the first perception result indicates that the force applied to the handle 20 by the user when pushing or pulling the handle 20 is a backward force, controlling the torque output by the left wheel driving member and the right wheel driving member to be a backward torque of equal magnitude, so that the speeds of the right wheel and the left wheel are the same, and the speeds of the right wheel and the left wheel may be positively correlated with the magnitude of the backward force, thereby realizing the backward movement of the above-mentioned electric trolley 100, and the magnitude of the backward movement speed of the above-mentioned electric trolley 100 may be positively correlated with the backward force (for example, a positive proportional relationship);

[0065] When the first perception result indicates that the force applied to the handle 20 by the user when pushing or pulling the handle 20 is a forward force, the torque output by the left wheel drive member and the right wheel drive member is controlled to be a forward torque of equal magnitude, so that the speeds of the right wheel and the left wheel are the same, and the speeds of the right wheel and the left wheel can be positively correlated with the magnitude of the forward force, thereby realizing the forward movement of the above-mentioned electric trolley 100, and the magnitude of the forward movement speed of the above-mentioned electric trolley 100 is positively correlated with the magnitude of the forward force (for example, a positive proportional relationship).

[0066] In some embodiments, in the electric trolley 100, the number of the handles 20 may be at least one, for example, one, two, three or four.

[0067] In some examples, such as Figure 1 and Figure 2 As shown, in the above-mentioned electric trolley 100, the number of handles 20 can be specifically four, and the four wheels 12 can be divided into two groups. The two groups of wheels 12 can be respectively connected to the two sides (i.e., the front side and the rear side) of the vehicle body 10 along the front and rear directions of the vehicle body 10, so that the user can push and pull the vehicle body 10 in front and behind the vehicle body 10 through the corresponding handles 20.

[0068] In other examples, in the electric trolley 100, the number of handles 20 may be specifically two, and the two wheels 12 may both be connected to the front side of the vehicle body 10, or may both be connected to the rear side of the vehicle body 10, so that the user can push and pull the vehicle body 10 at the front or rear side of the vehicle body 10 through the corresponding handles 20.

[0069] In some embodiments, Figure 1 and Figure 2 As shown, the vehicle body 10 may further include a load platform 13, which is disposed on the top of the vehicle frame 11 and is used to carry a load. The load platform 13 may be a plate-shaped structure, and the load may refer to items (such as materials, equipment, etc.) transported by the user using the electric trolley 100.

[0070] Specifically, the vehicle body 10 may further include a push-pull rod 14, which may be connected to the front edge or the rear edge of the support platform 13. In addition, in the electric trolley 100, the number of the push-pull rods 14 may be the same as the number of the handles 20, and the push-pull rods 14 and the handles 20 may be connected one-to-one, so that the handles 20 are connected to the front or rear side of the vehicle body 10 through their corresponding push-pull rods 14.

[0071] In some examples, such as Figure 1 and Figure 2 As shown, in the above-mentioned electric trolley 100, the number of handles 20 can be specifically four, and the number of push-pull rods 14 can be specifically four, the four handles 20 are connected to the four push-pull rods 14 one by one, and the four push-pull rods 14 can be divided into two groups, and the two groups of push-pull rods 14 can be respectively connected to the front and rear side edges of the supporting platform 13, wherein each group of push-pull rods 14 can include two push-pull rods 14.

[0072] And, in specific implementation, Figure 1 and Figure 2As shown, each push-pull rod 14 can be arranged vertically, and the bottom of each push-pull rod 14 can be vertically connected to the front edge or the rear edge of the supporting platform 13, the top of each push-pull rod 14 can be vertically connected to one end of the corresponding handle 20 along the front-to-back direction of the vehicle body 10, and the other end of the handle 20 corresponding to each push-pull rod 14 along the front-to-back direction of the vehicle body 10 can extend in the direction away from the supporting platform 13, so as to facilitate the user to push and pull the handle 20 in front of or behind the supporting platform 13.

[0073] For example, Figure 1 and Figure 2 As shown, the vehicle body 10 may further include a connecting rod 15, which is arranged parallel to the front-rear direction of the vehicle body 10, and the connecting rod 15 may be a cylindrical structure. In addition, in the electric trolley 100, the number of connecting rods 15 may be the same as the number of handles 20, and the connecting rods 15 and the handles 20 may be connected one by one. Specifically, as Figure 1 and Figure 2 As shown, for each handle 20, one end of the connecting rod 15 corresponding to the handle 20 can be connected to one end of the handle 20 along the front-to-back direction of the vehicle body 10, and the other end of the connecting rod 15 corresponding to the handle 20 can be vertically connected to the top of the push-pull rod 14 corresponding to the handle 20, thereby realizing that one end of the handle 20 along the front-to-back direction of the vehicle body 10 is vertically connected to the top of the push-pull rod 14 corresponding to the handle 20 through its corresponding connecting rod 15.

[0074] In some specific embodiments, Figure 1 and Figure 2 As shown, in the above-mentioned electric trolley 100, the load-bearing platform 13 can be connected to the top of the frame 11 in a manner that it can slide along the front-to-back direction of the vehicle body 10. In addition, the above-mentioned vehicle body 10 may further include a center of gravity horizontal adjustment mechanism 16 and a horizontal detection unit 17. Among them, the center of gravity horizontal adjustment mechanism 16 is used to drive the load-bearing platform 13 to slide along the front-to-back direction of the vehicle body 10 relative to the frame 11. The horizontal detection unit 17 is used to detect whether the load-bearing platform 13 is in a horizontal state to obtain a third perception result, and when the third perception result indicates that the load-bearing platform 13 is not in a horizontal state, the center of gravity horizontal adjustment mechanism 16 is controlled to drive the load-bearing platform 13 to slide along the front-to-back direction of the frame 11 relative to the frame 11 until the load-bearing platform 13 is in a horizontal state. In this way, when the user uses the above-mentioned electric trolley 100 to transport loads, the above-mentioned electric trolley 100 can automatically adjust the center of gravity of the load-bearing platform 13 so that the load-bearing platform 13 is always in a horizontal state, thereby not only avoiding the problem of overturning due to the load-bearing platform 13 not being in a horizontal state, but also allowing the user to achieve the balance of the above-mentioned electric trolley with minimal force. During use, the user can hardly feel the bumps caused by uneven road surface, which greatly improves the user experience.

[0075] Specifically, Figure 1 and Figure 2 Taking the electric trolley 100 shown as an example, when the third perception result indicates that the load-bearing platform 13 is not in a horizontal state, the center of gravity horizontal adjustment mechanism 16 is controlled to drive the load-bearing platform 13 to slide relative to the frame 11 along the front and rear direction of the frame 11 until the load-bearing platform 13 is in a horizontal state. It may include: when the third perception result indicates that the load-bearing platform 13 is not in a horizontal state, the center of gravity horizontal adjustment mechanism 16 is controlled to drive the load-bearing platform 13 to slide relative to the frame 11 along the front and rear direction of the vehicle body 10, so as to adjust the center of gravity of the load-bearing platform 13 to be directly above the central axis of the two wheels (i.e., the left wheel and the right wheel), thereby ensuring the balance of the above-mentioned electric trolley 100, avoiding the problem of the above-mentioned electric trolley 100 tipping forward or backward, and making the load-bearing platform 13 in a horizontal state.

[0076] Furthermore, in the above embodiment where the electric trolley 100 further includes a control module 30, Figure 2 As shown, the horizontal detection unit 17 and the control module 30 can be communicatively connected. Specifically, the control module 30 can also be used to control the center of gravity horizontal adjustment mechanism 16 to drive the load-bearing platform 13 to slide along the front-rear direction of the frame 11 relative to the frame 11 until the load-bearing platform 13 is in a horizontal state when the third perception result transmitted by the horizontal detection unit 17 indicates that the load-bearing platform 13 is not in a horizontal state, until the load-bearing platform 13 is in a horizontal state. And, in a specific implementation, in the above-mentioned electric trolley 100, the horizontal detection unit 17 can be specifically used to detect whether the load-bearing platform 13 is in a horizontal state to obtain a third perception result, and transmit the third perception result to the control module 30, so as to trigger the control module 30 to control the center of gravity horizontal adjustment mechanism 16 to drive the load-bearing platform 13 to slide along the front-rear direction of the frame 11 relative to the frame 11 until the load-bearing platform 13 is in a horizontal state when the third perception result transmitted by the horizontal detection unit 17 indicates that the load-bearing platform 13 is not in a horizontal state.

[0077] In some embodiments, the level detection unit 17 may be specifically an inertial measurement unit (IMU) 17. Figure 1 and Figure 2Taking the electric trolley 100 shown as an example, the bottom of the frame 11 may have a wheel connecting rod 111, which is arranged parallel to the support platform 13, and the two wheels (i.e., the left wheel and the right wheel) of the electric trolley 100 may be respectively fixed at the opposite ends of the wheel connecting rod 111, and the inertia measurement unit 17 may be installed in the middle position of the wheel connecting rod 111, so that the inertia measurement unit 17 can detect whether the wheel connecting rod 111 is tilted, so as to indirectly detect whether the support platform 13 is in a horizontal state. Moreover, when the wheel connecting rod 111 is tilted, it can be considered that the support platform 13 is not in a horizontal state; when the wheel connecting rod 111 is not tilted, it can be considered that the support platform 13 is in a horizontal state.

[0078] In some embodiments, Figure 2 and Figure 4 As shown, the center of gravity horizontal adjustment mechanism 16 can be arranged between the carrier 13 and the frame 11, and can include a guide rail 161, a slider 162 and a driving assembly 163. The guide rail 161 is installed on the top of the frame 11, the slider 162 is slidably connected to the guide rail 161, the carrier 13 is connected to the slider 162, and the length direction of the guide rail 161 is parallel to the front-to-back direction of the vehicle body 10. Specifically, the slider 162 can slide the slider 162 back and forth along the length direction of the guide rail 161 to realize the slider 162 sliding along the front-to-back direction of the vehicle body 10, thereby driving the carrier 13 to move along the front-to-back direction of the vehicle body 10.

[0079] The driving assembly 163 is used to drive the slider 162 to slide on the guide rail 161 along the length direction of the guide rail 161, so as to drive the bearing platform 13 to slide relative to the frame 11 along the front-rear direction of the vehicle body 10. Specifically, the driving assembly 163 may include a ball screw 1631, a servo motor 1632 and a synchronous belt 1633, wherein the ball screw 1631 is installed on the top of the frame 11, the servo motor 1632 is connected to the ball screw 1631 through the synchronous belt 1633, and the length direction of the ball screw 1631 is parallel to the length direction of the guide rail 161, and the bearing platform 13 is connected to the nut (or slider) 1631A of the ball screw 1631, so that the bearing platform 13 can be driven by the nut (or slider) 1631A of the ball screw 1631 to move along the length direction of the guide rail 161.

[0080] In some examples, the guide rail 161 may be specifically a linear guide rail 161. The number of the guide rails 161 may be two, which are referred to as a first guide rail and a second guide rail. Specifically, the first guide rail and the second guide rail may be arranged oppositely and parallel to each other. The ball screw 1631 included in the drive assembly 163 may be located between the first guide rail and the second guide rail, and may be arranged oppositely and parallel to each other. Exemplarily, the first guide rail and the second guide rail may be respectively installed at the opposite side edge positions of the top of the frame 11 along the left-right direction of the vehicle body 10, and the ball screw 1631 included in the drive assembly 163 may be installed at the middle position of the top of the frame 11 along the left-right direction of the vehicle body 10, thereby improving the stability of the electric trolley 100.

[0081] Please refer back to Figure 1 and Figure 2 In the above-mentioned electric trolley 100, the vehicle body 10 may also include a road condition detection unit 18, which is used to detect road condition information of the road on which the vehicle body 10 is located, obtain a fourth perception result, and control the wheel driving member to drive the wheel 12 to move accordingly according to the fourth perception result, so as to control the speed of the vehicle body 10 moving along its front and rear directions.

[0082] Specifically, the above-mentioned control of the wheel driving component to drive the wheel 12 to perform corresponding movement according to the fourth perception result to achieve control of the speed of the vehicle body 10 moving along the front and rear directions thereof may include: when the fourth perception result indicates that there is an uphill slope and / or an obstacle in front of the vehicle body 10, controlling the wheel driving component to increase the torque output to increase the forward movement speed of the wheel 12, thereby further reducing the burden on the user, which is beneficial to improving the user experience, and the adaptability to various complex road surfaces or extreme working conditions can be further enhanced.

[0083] Furthermore, in the above embodiment where the electric trolley 100 further includes a control module 30, Figure 2 As shown, the road condition detection unit 18 and the control module 30 can be communicatively connected. Specifically, the control module 30 can also be used to control the wheel drive member to drive the wheel 12 to perform corresponding movements according to the fourth perception result transmitted by the road condition detection unit 18, so as to control the speed of the vehicle body 10 moving along the front-rear direction. Moreover, during specific implementation, in the electric trolley 100, the road condition detection unit 18 can be specifically used to detect the road condition information of the road where the vehicle body 10 is located, obtain the fourth perception result, and transmit the fourth perception result to the control module 30, so as to trigger the control module 30 to control the wheel drive member to drive the wheel 12 to perform corresponding movements according to the fourth perception result transmitted by the road condition detection unit 18, so as to control the speed of the vehicle body 10 moving along the front-rear direction.

[0084] Exemplarily, the road condition detection unit 18 may be a radar 18 or other device capable of sensing road conditions in real time.

[0085] Exemplarily, the road condition detection unit 18 may be mounted on the vehicle frame 11. Figure 2 As shown, in the above-mentioned electric trolley 100 , the number of the road condition detection units 18 can be two, and the two road condition detection units 18 can be respectively installed at the two side edge positions of the frame 11 opposite to each other along the front-rear direction of the vehicle body 10 .

[0086] In the above embodiment, the number of the handles 20 included in the electric trolley 100 may be one or more. Moreover, when there are multiple handles 20 in the electric trolley 100, the structures of the multiple handles 20 may be the same, and the multiple handles 20 may be connected to the vehicle body 20 in the same connection manner.

[0087] In addition, for ease of understanding, one of the handles 20 (ie, the target handle 20A) included in the electric trolley 100 is specifically described below. Figures 5 to 8 As shown, the target handle 20A may include a handle body 23 , which is arranged parallel to the front-rear direction of the vehicle body 10 and fixed on the vehicle body 10 , for example, specifically, may be fixed on the front side or the rear side of the supporting platform 13 .

[0088] Specifically, in the above-mentioned embodiment where the vehicle body 10 also includes a push-pull rod 14, one end of the handle body 23 along the front-to-back direction of the vehicle body 10 can be vertically connected to the top of the corresponding push-pull rod 14, for example, it can be vertically connected to the top of the corresponding push-pull rod 14 through its corresponding connecting rod 15, and the other end of the handle body 23 along the front-to-back direction of the vehicle body 10 can extend in a direction away from the supporting platform 13.

[0089] Specifically, Figures 5 to 8 As shown, in the target grip 20A, the speed control assembly 21 may include a grip sleeve 211, a displacement sensor 212 and a first spring 213. The grip sleeve 211 is sleeved on the grip body 23 in a manner that it can slide along the front-rear direction of the vehicle body 10, so that when the grip sleeve 211 is subjected to a backward force from the user, the grip body 23 will slide backward relative to the grip body 23, and when the grip sleeve 211 is subjected to a forward force from the user, the grip body 23 will slide forward relative to the grip body 23.

[0090] The displacement sensor 212 is configured to detect the direction and displacement of the grip sleeve 211 sliding relative to the grip body 23 along the front-to-back direction of the vehicle body 10, so as to sense the force applied to the grip 20 by the user when the user pushes or pulls the grip 20 to obtain a first sensing result. The user pushing or pulling the grip 20 may be specifically the user pushing or pulling the grip sleeve 211, and may include: the user holding the grip sleeve 211 by hand and applying a forward or backward force of a certain magnitude to the grip sleeve 211. Moreover, the greater the force applied to the grip sleeve 211 by the user when the user pushes or pulls the grip sleeve 211, the greater the displacement of the grip sleeve 211 sliding relative to the grip body 23 along the front-to-back direction of the vehicle body 10, and the direction of the grip sleeve 211 sliding relative to the grip body 23 along the front-to-back direction of the vehicle body 10 is consistent with the direction of the force applied to the grip sleeve 211 by the user when the user pushes or pulls the grip sleeve 211. In this way, the electric trolley 100 can sense the user's pushing and pulling intentions in real time, and when the user increases the force to push the electric trolley 100 forward by holding the handle sleeve 211, the forward speed of the electric trolley 100 can be automatically controlled to increase; when the user increases the force to pull the electric trolley 100 backward by holding the handle sleeve 211, the backward speed of the electric trolley 100 can be automatically controlled to increase. Therefore, in the usage scenario where the user needs to push and pull the electric trolley 100 with great force, the user's output can be reduced, thereby achieving the purpose of reducing the user's burden.

[0091] One end of the first spring 213 is fixed to the grip sleeve 211, and the other end is fixed to the grip body 23. Furthermore, when the user pushes or pulls the grip sleeve 211, the grip sleeve 211 slides correspondingly relative to the grip body 23 along the front-rear direction of the vehicle body 10, so that the first spring 213 stores energy accordingly; when the user stops pushing or pulling the grip sleeve 211, the first spring 213 releases the stored energy, so that the grip sleeve 211 slides back to the initial position along the front-rear direction of the vehicle body 10, so that the user can push or pull the grip sleeve 211 again.

[0092] In some examples, such as Figures 5 to 8 As shown, the handle body 23 may be a cylindrical structure 23, one end of which may be fixed to the vehicle body 10, and the other end may be a free end. In addition, the displacement sensor 212 may be accommodated inside the cylindrical structure 23, and the first spring 213 may be sleeved on the outer wall of the cylindrical structure 23.

[0093] Specifically, if Figures 5 to 8As shown, the speed control component 21 may further include a limit ring 214, which is sleeved and fixed on the outer wall of the tubular structure 23, and one end (i.e., the first end) of the first spring 213 may be fixed to the handle sleeve 211, and the other end (i.e., the second end) may be fixed to the limit ring 214, so that when the handle sleeve 211 slides along the front and rear direction of the vehicle body 10, the second end of the first spring 213 may be driven to move in a direction away from the first end of the first spring 213 to lengthen the length of the first spring 213, or the second end of the first spring 213 may be driven to move in a direction close to the first end of the first spring 213 to shorten the length of the first spring 213.

[0094] Specifically, Figures 5 to 8 As shown, the speed control component 21 may further include a copper sleeve 215, which is sleeved and fixed on the outer wall of the grip body 23 and located between the outer wall of the grip body 23 and the grip sleeve 211, thereby reducing the friction damage caused by the relative sliding of the grip sleeve 211 and the grip body 23.

[0095] For example, Figures 5 to 8 As shown, in the target grip 20A, the number of the first springs 213 can be two, and the number of the limiting rings 214 can also be two. The two first springs 213 are spaced apart on the outer wall of the above-mentioned grip body 23, and the two limiting rings 214 are also spaced apart on the outer wall of the above-mentioned grip body 23, and the two first springs 213 can be arranged between the two limiting rings 214.

[0096] For example, Figures 5 to 8 As shown, in the target grip 20A, the displacement sensor 212 can be specifically a linear displacement sensor 212, which has a fixing portion 2121 and a detection probe 2122, and the fixing portion 2121 of the linear displacement sensor 212 is fixedly connected to the grip body 23, and the detection probe 2122 of the linear displacement sensor 212 is fixedly connected to the grip sleeve 211.

[0097] Furthermore, during specific implementation, the detection probe 2122 of the linear displacement sensor 212 can be fixedly connected to the grip sleeve 211 through the connecting piece 216. Specifically, the grip body 23 can be a cylindrical structure 23, and the linear displacement sensor 212 can be accommodated inside the cylindrical structure 23. A first through hole 231 can be opened on the outer wall of the cylindrical structure 23, and the detection probe 2122 of the linear displacement sensor 212 can be exposed through the first through hole 231. One end of the connecting piece 216 can be fixedly connected to the detection probe 2122 of the linear displacement sensor 212, and the other end of the connecting piece 216 can be fixedly connected to the grip sleeve 211 through the first through hole 231, so that when the grip sleeve 211 slides relative to the grip body 23, the detection probe 2122 of the linear displacement sensor 212 can be synchronously driven by the connecting piece 216 to detect the displacement of the grip sleeve 211 sliding relative to the grip body 23.

[0098] In some embodiments, Figures 5 to 8 As shown, the target handle 20A includes the steering control assembly 22, and the steering control assembly 22 may include a steering handle 221, an angle sensor 222, and a second spring 223. The steering handle 221 is connected to the handle body 23 in a manner that it can rotate around the front-rear direction of the vehicle body 10, so that when the steering handle 221 is subjected to a force to turn left by the user, the steering handle 221 will rotate leftward around the front-rear direction of the vehicle body 10, and when the steering handle 221 is subjected to a force to turn right by the user, the steering handle 221 will rotate rightward around the front-rear direction of the vehicle body 10.

[0099] The angle sensor 222 is configured to detect the direction and angle of the steering handle 221 rotating around the front-rear direction of the vehicle body 10, so as to sense the force applied to the handle 20 by the user when the user performs a steering action on the handle 20 to obtain a second sensing result. The user performing a steering action on the handle 20 may specifically be the user performing a steering action on the steering handle 221, and may include: the user holds the handle body 23 by hand and applies a certain amount of force to turn left or right to the steering handle 221. In addition, the greater the force applied to the steering handle 221 by the user when performing a steering action on the steering handle 221, the greater the angle of rotation of the steering handle 221 around the front-rear direction of the vehicle body 10, and the direction of rotation of the steering handle 221 around the front-rear direction of the vehicle body 10 is consistent with the direction of the force applied to the steering handle 221 by the user when performing a steering action on the steering handle 221. In this way, the electric trolley 100 can sense the user's steering intention in real time and automatically control the steering of the electric trolley 100 according to the user's steering intention, thereby reducing the user's burden and improving the user's experience.

[0100] One end of the second spring 223 is fixed to the steering handle 221, and the other end is fixed to the handle body 23. When the user performs a steering action on the steering handle 221, the steering handle 221 rotates accordingly around the front-rear direction of the vehicle body 10, so that the second spring 223 stores energy accordingly; when the user stops steering the steering handle 221, the second spring 223 releases the stored energy, so that the steering handle 221 rotates around the front-rear direction of the vehicle body 10 to return to the initial position, so that the user can perform the next steering action on the steering handle 221.

[0101] For example, Figures 5 to 8 As shown, in the target grip 20A, the angle sensor 222 may have a rotating portion 2221 and a fixed portion 2222, wherein the fixed portion 2222 of the angle sensor 222 is fixedly connected to the grip body 23, and the rotating portion 2221 of the angle sensor 222 is connected to the steering handle 221 and rotates synchronously with the steering handle 221.

[0102] For example, Figures 5 to 8 As shown, the second spring 223 can be specifically a torsion spring 223, and the two ends of the torsion spring can be respectively fixed to the fixing portion 2222 of the angle sensor 222 and the steering handle 221, so that when the steering handle 221 rotates around the front and rear directions of the vehicle body 10, the torsion spring 223 can be driven to twist and deform to achieve energy storage.

[0103] For example, Figures 5 to 8 As shown, in the target grip 20A, the steering handle 221 may include a surrounding portion 2211 and a connecting portion 2212, wherein the surrounding portion 2211 surrounds the outer side wall of the grip body 23 and is spaced apart from the outer side wall of the grip body 23. One end (i.e., the first end) of the connecting portion 2212 is fixedly connected to the surrounding portion 2211, and the other end (i.e., the second end) is rotatably connected to the grip body 23. In addition, the second end of the connecting portion 2212 is fixedly connected to the rotating portion 2221 of the angle sensor 222 and the second spring 223. In this way, the user can apply a certain amount of force to the surrounding portion 2211 of the steering handle 221 to make the surrounding portion 2211 rotate counterclockwise or clockwise around the grip body 23, thereby driving the connecting portion 2212 to rotate counterclockwise or clockwise around the grip body 23, thereby realizing that the rotating portion 2221 of the angle sensor 222 and the second spring 223 rotate with the connecting portion 2212.

[0104] And, in specific implementation, Figures 5 to 8 As shown, the end of the connecting portion 2212 of the steering handle 221 connected to the handle body 23 may be provided with a mounting hole 22121, and the handle body 23 passes through the mounting hole 22121 to achieve the connecting portion 2212 of the steering handle 221 being rotatably connected to the outer wall of the handle body 23 through the mounting hole 22121.

[0105] In some examples, Figures 5 to 8 Taking the target grip 20A shown as an example, the grip body 23 is a tubular structure 23, the angle sensor 222 and the second spring 223 can be both accommodated inside the free end of the tubular structure 23, the second spring 223 can be sleeved on the rotating portion 2221 of the angle sensor 222, and one end of the second spring 223 can be fixedly connected to the fixed portion 2222 of the angle sensor 222, and the other end of the second spring 223 can be fixedly connected to the connecting portion 2212 of the steering handle 221.

[0106] Specifically, a second through hole 232 may be opened on the outer wall of the cylindrical structure 23, and the inner wall of the mounting hole 22121 may be protrudingly provided with a protrusion 2213, and the protrusion 2213 may pass through the second through hole 232 and be connected to the rotating part 2221 of the angle sensor 222 and the second spring 223 located inside the handle body 23.

[0107] As can be seen from the above, the electric trolley provided in this embodiment includes a body and a handle connected to the body, wherein the body includes a frame, wheels arranged at the bottom of the frame and a wheel driving member for driving the wheel to move, and the handle includes a speed control component, the speed control component is used to sense the force applied to the handle when the user pushes and pulls the handle to obtain a first perception result, and control the wheel driving member to drive the wheel to move accordingly according to the first perception result, so as to control the direction and speed of the movement of the body along its front and rear directions, thereby providing an intelligent electric trolley that can sense the user's intention in real time and automatically control the movement direction and speed of the vehicle according to the user's intention, so that the vehicle adapts to the user's action and speed intention without the need for people to adapt to the speed of the vehicle, thereby reducing the burden on the user and allowing the user to operate the electric trolley more naturally, comfortably and conveniently to better meet the user's usage needs.

[0108] Based on the electric trolley described in the above embodiment, this embodiment will be further described from the perspective of the control method of the electric trolley.

[0109] See also Fig. 9 , Fig. 9 1 is a flow chart of the control method of the electric trolley provided in the embodiment of the present application. The control method of the trolley provided in the embodiment of the present application can be applied to control any of the above electric trolleys, so that the user can use the electric trolley to transport loads. Specifically, the specific structure of the electric trolley can refer to the detailed description of the electric trolley 100 in the above electric trolley embodiment, so it will not be repeated here. Fig. 9 As shown, the specific process of the control method of the electric trolley can be as follows:

[0110] Step S11. The speed control component senses the force applied to the handle when the user pushes or pulls the handle to obtain a first sensing result.

[0111] Step S12. Control the wheel driving component to drive the wheel to perform corresponding movement according to the first sensing result, so as to control the direction and speed of the vehicle body moving along the front-rear direction.

[0112] Specifically, in the above embodiment where the electric trolley also includes a control module, the above step S12 may specifically include: through the control module, controlling the wheel driving member to drive the wheel to perform corresponding movement according to the first perception result transmitted by the speed control component, so as to control the direction and speed of the movement of the vehicle body along its front and rear directions.

[0113] Specifically, in the above embodiment where the electric trolley further includes a steering control component, the control method of the electric trolley may further include:

[0114] Step S21. The steering control component senses the force applied to the handle by the user when the handle performs a steering action to obtain a second sensing result.

[0115] Step S22. Control the wheel driving component to drive the wheel to perform corresponding movement according to the second sensing result, so as to control the direction and angle of the vehicle steering.

[0116] Moreover, in the above embodiment in which the electric trolley further includes a control module, the above step S22 may specifically include: through the control module, controlling the wheel driving member to drive the wheel to perform corresponding movement according to the second perception result transmitted by the steering control component, so as to control the direction and angle of steering of the vehicle body.

[0117] Specifically, in the above embodiment in which the electric trolley further includes a load-bearing platform, a center of gravity horizontal adjustment mechanism and a horizontal detection unit, the control method of the electric trolley may further include:

[0118] Step S31: Detect whether the supporting platform is in a horizontal state through the horizontal detection unit to obtain a third sensing result.

[0119] Step S32. When the third sensing result indicates that the load-bearing platform is not in a horizontal state, the center of gravity horizontal adjustment mechanism is controlled to drive the load-bearing platform to slide relative to the frame along the front-rear direction of the vehicle body until the load-bearing platform is in a horizontal state.

[0120] Moreover, in the above-mentioned embodiment in which the electric trolley also includes a control module, the above-mentioned step S32 may specifically include: when the third perception result transmitted by the horizontal detection unit through the control module indicates that the load-bearing platform is not in a horizontal state, the center of gravity horizontal adjustment mechanism is controlled to drive the load-bearing platform to slide relative to the frame along the front and rear direction of the vehicle body until the load-bearing platform is in a horizontal state.

[0121] Specifically, in the above embodiment where the electric trolley further includes a road condition detection unit, the control method of the electric trolley may further include:

[0122] Step S41. Detect the road condition information of the road on which the vehicle is located through the road condition detection unit to obtain a fourth perception result.

[0123] Step S42. Control the wheel driving component to drive the wheel to perform corresponding movement according to the fourth sensing result, so as to control the speed of the vehicle body moving along the front and rear directions.

[0124] Moreover, in the above-mentioned embodiment in which the electric trolley also includes a control module, the above-mentioned step S42 may specifically include: through the control module, controlling the wheel driving member to drive the wheel to perform corresponding movement according to the fourth perception result transmitted by the road condition detection unit, so as to control the speed of the vehicle body moving along the front and rear direction thereof.

[0125] Furthermore, it should be noted that the specific implementation process of each step included in the control method of the electric trolley has been described in detail in the above electric trolley embodiment, so it will not be repeated here.

[0126] From the above, it can be seen that the control method of the electric trolley provided in this embodiment obtains a first perception result by utilizing the speed control component to sense the force applied to the handle by the user when pushing and pulling the handle, and controls the wheel driving member to drive the wheel to perform corresponding movement according to the first perception result, so as to control the direction and speed of the movement of the vehicle body along its front and rear directions, thereby achieving the goal of the vehicle adapting to the user's movements and speed intentions without the need for people to adapt to the speed of the vehicle, thereby reducing the burden on the user and allowing the user to operate the electric trolley more naturally, comfortably and conveniently to better meet the user's usage needs.

[0127] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An electric trolley, characterized in that: It comprises a vehicle body and a handle, wherein the handle is connected to the vehicle body; The vehicle body comprises a vehicle frame, wheels and a wheel driving member, wherein the wheels are arranged at the bottom of the vehicle frame, and the wheel driving member is used to drive the wheels to move; The handle includes a speed control component, which is used to sense the force applied to the handle when the user pushes or pulls the handle to obtain a first perception result, and control the wheel drive member to drive the wheel to move accordingly based on the first perception result, so as to control the direction and speed of the vehicle body moving in its front and rear directions.

2. The electric trolley according to claim 1, characterized in that: The handle further comprises a handle body, which is arranged parallel to the front-rear direction of the vehicle body and fixed on the vehicle body; The speed control assembly includes a grip sleeve, a displacement sensor and a first spring; wherein the grip sleeve is sleeved on the grip body in a manner that it can slide along the front-rear direction of the vehicle body; the displacement sensor is configured to detect the direction and displacement of the grip sleeve sliding relative to the grip body along the front-rear direction of the vehicle body, so as to sense the force applied to the grip by the user when pushing or pulling the grip to obtain the first sensing result; one end of the first spring is fixed to the grip sleeve, and the other end is fixed to the grip body; Furthermore, when the user pushes or pulls the handle sleeve, the handle sleeve slides accordingly relative to the handle body along the front-rear direction of the vehicle body, so that the first spring stores energy accordingly; when the user stops pushing or pulling the handle sleeve, the first spring releases the stored energy, so that the handle sleeve slides along the front-rear direction of the vehicle body and returns to its initial position.

3. The electric trolley according to claim 1, characterized in that: The handle also includes a steering control component, which is used to sense the force applied to the handle by the user when the handle is turned to obtain a second perception result, and control the wheel drive member to drive the wheel to move accordingly based on the second perception result, so as to control the direction and angle of the steering of the vehicle body.

4. The electric trolley according to claim 3, characterized in that: The handle further comprises a handle body, which is arranged parallel to the front-rear direction of the vehicle body and fixed on the vehicle body; The steering control assembly includes a steering handle, an angle sensor and a second spring; wherein the steering handle is connected to the handle body in a manner that it can rotate around the front-rear direction of the vehicle body; the angle sensor is configured to detect the direction and angle of rotation of the steering handle around the front-rear direction of the vehicle body, so as to sense the force applied to the handle by the user when the handle performs a steering action to obtain a second sensing result; one end of the second spring is fixed to the steering handle, and the other end is fixed to the handle body; Furthermore, when the user performs a steering action on the steering handle, the steering handle rotates accordingly around the front-rear direction of the vehicle body, so that the second spring stores energy accordingly; when the user stops steering the steering handle, the second spring releases the stored energy, so that the steering handle rotates around the front-rear direction of the vehicle body and returns to its initial position.

5. The electric trolley according to claim 1, characterized in that: The vehicle body also includes a load-bearing platform, a center-of-gravity horizontal adjustment mechanism and a horizontal detection unit; wherein the load-bearing platform is connected to the top of the frame in a manner that it can slide along the front-to-back direction of the vehicle body, and is used to bear the load; the center-of-gravity horizontal adjustment mechanism is used to drive the load-bearing platform to slide relative to the frame along the front-to-back direction of the vehicle body; the horizontal detection unit is used to detect whether the load-bearing platform is in a horizontal state to obtain a third perception result, and when the third perception result indicates that the load-bearing platform is not in a horizontal state, control the center-of-gravity horizontal adjustment mechanism to drive the load-bearing platform to slide relative to the frame along the front-to-back direction of the vehicle body until the load-bearing platform is in a horizontal state.

6. The electric trolley according to claim 5, characterized in that: The center of gravity horizontal adjustment mechanism is arranged between the supporting platform and the frame, and includes a guide rail, a slider and a driving assembly; wherein, the guide rail is installed on the top of the frame, the slider is slidably connected to the guide rail, the supporting platform is connected to the slider, and the length direction of the guide rail is parallel to the front and rear direction of the vehicle body; the driving assembly is used to drive the slider to slide on the linear guide rail along the length direction of the linear guide rail, so as to drive the supporting platform to slide relative to the frame along the front and rear direction of the vehicle body.

7. The electric trolley according to claim 1, characterized in that: The vehicle body also includes a road condition detection unit, which is used to detect road condition information of the road on which the vehicle body is located, obtain a fourth perception result, and control the wheel drive component to drive the wheel to move accordingly based on the fourth perception result, so as to control the speed of the vehicle body moving along its front and rear directions.

8. The electric trolley according to claim 1, characterized in that: In the electric trolley, there are two wheels, and the two wheels are symmetrically arranged on both sides of the bottom of the frame, there are four handles, and the body also includes a bearing platform and four push-pull rods, the bearing platform is arranged on the top of the frame, the four push-pull rods are divided into two groups, the two groups of push-pull rods are respectively connected to the front and rear edges of the bearing platform, and the four handles are connected to the four push-pull rods one by one.

9. A control method for an electric trolley, characterized in that: Applicable to the electric trolley according to any one of claims 1 to 8; The control method comprises: The speed control component senses the force applied to the handle by the user when the user pushes or pulls the handle to obtain a first sensing result; The wheel driving member is controlled to drive the wheel to perform corresponding movement according to the first sensing result, so as to control the direction and speed of the movement of the vehicle body along the front-rear direction.

10. The control method according to claim 9, characterized in that: The electric trolley further comprises a control module, which is mounted on the vehicle body and is in communication connection with the speed control assembly; The step of controlling the wheel driving member to drive the wheel to perform corresponding movement according to the first sensing result, so as to control the direction and speed of the vehicle body moving in the front-rear direction, includes: Through the control module, the wheel driving member is controlled to drive the wheel to perform corresponding movement according to the first sensing result transmitted by the speed control component, so as to control the direction and speed of the vehicle body moving along the front and rear directions.

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