Intelligent lifting golf bag cart control method and golf bag cart

Abstract

Embodiments of the present invention provide a method for controlling an intelligently lifting golf bag cart and a golf bag cart, belonging to the field of golf bag carts. The method includes lowering the maximum allowable speed when detecting that the instantaneous acceleration in a first direction exceeds a first acceleration threshold range multiple times in a row; increasing the maximum allowable speed when detecting that the instantaneous acceleration in the first direction remains within the first acceleration threshold range multiple times in a row; and controlling the lifting pole to raise and lower based on the instantaneous acceleration in the first direction when detecting, using an accelerometer of the golf bag cart, that the instantaneous acceleration in the first direction exceeds the first acceleration threshold range multiple times in a row. The present invention utilizes a gyroscope and accelerometer to monitor the golf bag cart's posture and acceleration changes in real time, calculates the golf bag's fixed angle, and, combined with the automatic telescopic adjustment function of the lifting pole, dynamically adjusts the golf bag cart to accommodate different terrains. The lifting pole allows users to conveniently access and place golf clubs by raising and lowering the golf bag cart.

Description

Technical Field

[0001] The present invention relates to the technical field of golf bag carts, and in particular to a control method for an intelligently lifting golf bag cart and the golf bag cart. Background Art

[0002] Golfers often use golf carts on courses with complex terrain, such as mountainous terrain. The golf cart is a smart mobile equipment carrier designed specifically for golf, aiming to optimize players' on-course efficiency and equipment management. It primarily carries clubs, equipment, and personal belongings, enabling efficient movement across the vast expanse of the course. Its core functionality revolves around stable transportation of clubs and belongings, while continuously expanding its adaptability through technological innovation.

[0003] Current golf carts on the market have significant drawbacks. When traveling uphill or downhill, the cart tilts, creating a relative angle. This makes it difficult to maintain balance on a golf bag placed on the cart, and the golf clubs in the bag can easily fall out, causing significant inconvenience for the user and affecting the consistency and efficiency of their golf game. Furthermore, when parking and retrieving the clubs, existing carts lack ergonomic considerations, and the height at which the golf clubs are placed is inconvenient, making operation more difficult for the user. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a control method for an intelligent lifting golf bag cart and a golf bag cart, which are used to automatically adjust the lifting poles and driving torque of the golf bag cart on a golf course to ensure that the golf bag cart maintains stability and balance during movement, preventing golf clubs from falling out while facilitating user access to the clubs.

[0005] To achieve the above objectives, an embodiment of the present invention provides a method for controlling a golf bag cart with an intelligent lift, comprising: when a human proximity sensor of the golf bag cart detects no proximity signal within a set range and the golf bag cart is moving: calculating a fixed angle of the golf bag and setting a first angle threshold and a second angle threshold, wherein the first angle threshold is less than the second angle threshold; when the fixed angle of the golf bag is less than the first angle threshold or greater than the second angle threshold, the lift pole performs height adjustment; after the height adjustment is completed, the fixed angle of the golf bag is calculated again until the fixed angle of the golf bag is greater than or equal to the first angle threshold and less than or equal to the second angle threshold; while the lift pole performs height adjustment, the front wheel drive motor synchronously performs dynamic torque compensation control based on a real-time pitch angle signal detected by a gyroscope.

[0006] Optionally, when it is detected that the golf bag vehicle is in a moving state, the lifting pole is first controlled to be lowered to the lowest position; when it is detected that the golf bag vehicle stops moving and the human proximity sensor of the golf bag vehicle detects a proximity signal within a set range indicating that a person is approaching, the lifting pole is controlled to be raised to a set height; when it is detected that the golf bag vehicle stops moving and the human proximity sensor of the golf bag vehicle detects a proximity signal within a set range indicating that a person is moving away, the lifting pole is controlled to be lowered to the lowest position.

[0007] On the other hand, the present invention provides a golf bag cart, a golf bag cart control method for performing intelligent lifting, the golf bag cart comprising: a bottom support plate 1, a main controller installed in the bottom support plate 1, the bottom support plate 1 respectively connected to one end of two front wheel folding parts 2, the other end of the front wheel folding part 2 is fixedly connected to the front wheel drive motor 3, the front wheel drive motor 3 is electrically connected to the front wheel 4 of the golf bag cart, the front wheel 4 of the golf bag cart is rotatably connected to the front wheel folding part 2, the bottom support plate 1 is hinged to the rear wheel mounting part 5, the rear wheel mounting part 5 is rotatably connected to the two rear wheels 6 of the golf bag cart, the rear wheel mounting part 5 is also connected to the first golf bag fixing part 7, the bottom support plate 1 is hinged to the lifting rod 8, the top of the lifting rod 8 is connected to the front of the golf bag cart 9, a control panel 10 is provided on the front of the golf bag cart 9, the front of the golf bag cart 9 is also connected to the second golf bag fixing part 11, the lifting rod 8 and the control panel 10 are electrically connected to the main controller.

[0008] Optionally, the angle between the lifting uprights 8 and the bottom support plate 1 is not 90°.

[0009] Optionally, a gyroscope and an accelerometer are provided in the bottom support plate 1, and a human body proximity sensor is provided on the front of the golf cart 9, and the gyroscope, accelerometer and human body proximity sensor are all electrically connected to the main controller.

[0010] Optionally, the lifting upright 8 includes a lower guide column 12 hinged to the bottom support plate 1, a lifting cavity 13 is provided inside the lower guide column 12, a lifting motor 14 is fixed inside the lifting cavity 13, the output shaft of the lifting motor 14 is connected to the lifting screw 15, and the lifting screw 15 is threadedly connected to the upper moving rod 16.

[0011] Optionally, the upper moving rod 16 is provided with a moving block 17 threadedly engaged with the lifting screw 15, and the moving block 17 is rotatably connected to the upper moving rod 16. A rotation limiting mechanism that cooperates with each other is provided between the upper moving rod 16 and the lower guide column 12, and the rotation limiting mechanism is used to prevent the upper moving rod 16 from rotating with the lifting screw 15.

[0012] Optionally, the bottom support plate 1 is connected to a guide mechanism 18, the central axis of the guide mechanism 18 is parallel to the central axis of the bottom support plate 1, the guide mechanism 18 is respectively connected to the two front wheel folding parts 2, and the two front wheel folding parts 2 are symmetrically arranged on both sides of the guide mechanism 18, the first ball bag fixing part 7 is rotatably connected to the rear wheel mounting part 5, and the second ball bag fixing part 11 is rotatably connected to the front of the ball bag cart 9.

[0013] This technical solution enhances the stability, safety, and user experience of the golf bag cart through multi-sensor detection. It utilizes gyroscopes and accelerometers to monitor vehicle posture and acceleration changes in real time, calculate the golf bag's fixed angle, and dynamically adjust the cart to accommodate different terrains and scenarios (such as uphill and downhill slopes or emergency stops) using the telescopic adjustment function of the lift pole. Dynamic torque compensation and coordinated control of the front-wheel drive motor ensure smooth driving and effectively reduce the risk of dropped clubs. Furthermore, when a user approaches, the lift pole automatically raises to facilitate access to the clubs; when the user moves away, the pole lowers the cart's center of gravity to maintain stability, ensuring both convenience and safety.

[0014] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0016] Figure 1 This is a diagram of the lifting pole of the golf bag cart Figure 1 .

[0017] Figure 2 This is a diagram of the lifting pole of the golf bag cart Figure 2 .

[0018] Figure 3 This is a schematic diagram of the bottom of a golf bag cart.

[0019] Figure 4 This is a diagram of a folding golf bag cart.

[0020] Figure 5 This is the acceleration-based control flow chart of the golf bag cart.

[0021] Figure 6 This is a control flow chart of the golf bag cart based on the fixed angle of the golf bag.

[0022] Figure 7 It is a schematic diagram of the fixed angle of the golf bag.

[0023] Figure 8 This is a schematic diagram of the rear wheel drive motor.

[0024] Reference numerals

[0025] 1. Bottom support plate; 2. Front wheel folding part; 3. Front wheel drive motor; 4. Front wheel of the golf bag cart; 5. Rear wheel mounting part; 6. Rear wheel of the golf bag cart; 7. First golf bag fixing part; 8. Lifting pole; 9. Front of the golf bag cart; 10. Control panel; 11. Second golf bag fixing part; 12. Lower guide column; 13. Lifting cavity; 14. Lifting motor; 15. Lifting screw; 16. Upper moving rod; 17. Moving block; 18. Guide mechanism. DETAILED DESCRIPTION

[0026] The following is combined with Figure 1 -Attached Figure 7 The specific implementation of the embodiment of the present invention is described in detail. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0027] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use such solutions.

[0028] In the process of realizing the present invention, the inventors of the present application found that the existing golf bag carts do not have the function of lifting the pole, resulting in a fixed structure and an unadjustable center of gravity. It is difficult to adapt to different terrain changes, the height cannot be automatically adjusted, and it is easy to lose balance and fall on slopes or bumpy roads. At the same time, it is inconvenient for users to take and put away golf clubs.

[0029] Example 1

[0030] Reference Figures 1-4 This is the first embodiment of the present invention, which provides a golf bag vehicle, comprising: a bottom support plate 1, a main controller installation cavity provided in the bottom support plate 1, a battery for providing kinetic energy for the golf bag vehicle installed in the main controller installation cavity, a main controller installed in the bottom support plate 1, and the main controller is installed in the main controller installation cavity. Preferably, the main controller installation cavity is waterproofed to prevent water from entering the main controller and causing damage to components. The bottom support plate 1 is also provided with a gyroscope and an accelerometer.

[0031] Preferably, the bottom support plate 1 is connected to one end of each of the two front wheel folding members 2. The front wheel folding members 2 can be composed of a multi-link mechanism, or a hinge folding mechanism, a rotary folding mechanism, a scissor-type folding mechanism, etc. In the specific production process, the selection can be based on the folding angle, space limitations, load capacity, cost, and automation requirements.

[0032] Furthermore, the other end of the front wheel folding member 2 is fixedly connected to the front wheel drive motor 3 , the front wheel drive motor 3 is electrically connected to the front wheel 4 of the golf cart, and the front wheel 4 of the golf cart is rotationally connected to the front wheel folding member 2 .

[0033] Furthermore, the bottom support plate 1 is hingedly connected to a rear wheel mounting member 5, which is rotatably connected to two rear wheels 6 of the golf cart. The rear wheel mounting member 5 can rotate about its hinge axis to fold the rear portion of the golf cart. The rear portion of the golf cart can be folded manually or electrically.

[0034] Furthermore, the rear wheel mounting member 5 is also connected to a first golf bag fixing member 7, which is rotatable relative to the rear wheel mounting member 5. The bottom support plate 1 is hingedly connected to a lifting rod 8. When the lifting rod 8 rotates relative to the bottom support plate 1 to fold the golf bag cart, if the lifting rod 8 is rotated relative to the bottom support plate 1 manually, the lifting rod 8 is provided with a locking assembly that cooperates with the bottom support plate 1 to prevent the lifting rod 8 from rotating relative to the bottom support plate 1 while the golf bag cart is moving. If the lifting rod 8 is rotated relative to the bottom support plate 1 electrically, the electric drive assembly is provided with a self-locking function to prevent the lifting rod 8 from rotating relative to the bottom support plate 1 while the golf bag cart is moving.

[0035] Furthermore, the angle between the lifting upright 8 and the bottom support plate 1 is not 90°.

[0036] Preferably, the lifting upright 8 includes a lower guide column 12 hinged to the bottom support plate 1, a lifting cavity 13 is provided within the lower guide column 12, a lifting motor 14 is fixed within the lifting cavity 13, the output shaft of the lifting motor 14 is connected to a lifting screw 15, and the lifting screw 15 is threadedly connected to an upper movable rod 16. The upper movable rod 16 is provided with a moving block 17 that is threadedly engaged with the lifting screw 15, and the moving block 17 is rotatably connected to the upper movable rod 16. A mutually cooperating rotation limiting mechanism is provided between the upper movable rod 16 and the lower guide column 12, and the rotation limiting mechanism is used to prevent the upper movable rod 16 from rotating with the lifting screw 15.

[0037] It should be noted that the type of lifting mechanism of the lifting rod 8 in this solution can be changed according to actual needs. It is not limited to the lifting action completed by the lifting screw 15 here, and can also be changed to a pneumatic lifting mechanism, a scissor-type lifting mechanism, a gear rack lifting mechanism, a linear motor lifting mechanism, etc.

[0038] Furthermore, the top of the lifting pole 8 is connected to the front of the golf cart 9, and the front of the golf cart 9 is provided with one or more human proximity sensors. The front of the golf cart 9 has two symmetrically arranged handrails. Preferably, the two human proximity sensors are respectively arranged on the two handrails.

[0039] Preferably, a control panel 10 is provided on the front of the golf bag cart 9. The front of the golf bag cart 9 is also connected to a second golf bag fixing member 11. The lifting rod 8 and the control panel 10 are electrically connected to a main controller. The front of the golf bag cart 9 can rotate relative to the lifting rod 8. The second golf bag fixing member 11 can also rotate relative to the lifting rod 8.

[0040] Preferably, the first golf bag fixing member 7 and the first and second golf bag fixing members 11 are both provided with flexible fixing members, which can provide the golf bag with sufficient mobility when the lifting pole 8 is lifted or lowered.

[0041] Preferably, the bottom support plate 1 is connected to a guide mechanism 18, the central axis of which is parallel to the central axis of the bottom support plate 1. The guide mechanism 18 is respectively connected to the two front wheel folding members 2, and the two front wheel folding members 2 are symmetrically arranged on both sides of the guide mechanism 18. The first golf bag fixing member 7 is rotatably connected to the rear wheel mounting member 5, and the second golf bag fixing member 11 is rotatably connected to the golf bag cart front 9. The guide mechanism 18 can be a combination of a rod and a slider, or it can be an electric telescopic rod and a movable block fixedly connected to the electric telescopic rod.

[0042] Example 2

[0043] Reference Figure 1-Figure 7 , which is a second embodiment of the present invention, provides a method for controlling an intelligent lifting golf bag cart. The method for controlling an intelligent lifting golf bag cart may include the following steps:

[0044] Step S110: driving the golf bag cart to move.

[0045] Step S121: When the accelerometer of the golf bag vehicle detects that the instantaneous acceleration in the first direction exceeds the first acceleration threshold range for multiple consecutive times (e.g., 4 times within 300ms), the protection mechanism will be triggered to gradually lower the maximum allowable speed. During this process, if the current speed is already lower than the maximum allowable speed, the current speed will be maintained to ensure the continuity of the golf bag vehicle's following. Otherwise, the golf bag vehicle will perform a smooth deceleration.

[0046] Step S122: After deceleration, when the accelerometer of the golf bag vehicle detects that the instantaneous acceleration in the first direction is within the first acceleration threshold range for multiple consecutive times, the maximum allowable speed is increased, and the golf bag vehicle accelerates, first accelerating to the maximum allowable speed, and automatically returning to the following speed after reaching the set safety distance.

[0047] Preferably, speed compensation is performed through a dual judgment logic: based on the user distance data fed back by the real-time distance measuring device, if it exceeds the set safe following threshold, the speed is temporarily increased to the maximum allowable speed for rapid catching up, and automatically returns to the following speed after the safe distance is restored; if the normal following distance is maintained, the user's pace is matched through gradual acceleration.

[0048] It should be noted that the instantaneous acceleration in the first direction refers to the instantaneous acceleration in the vertical direction of the golf bag vehicle. When the golf bag vehicle is traveling on an uneven road, that is, in a bumpy state, the vertical acceleration will fluctuate violently; in this case, the vertical acceleration will exhibit a pulse characteristic.

[0049] Furthermore, when a bump is detected, the front-wheel drive motor slows down to gain response time for lift compensation. Reducing the speed can also reduce the impact of the bump on the golf club and reduce the risk of the golf club falling due to the bump. After the bump is detected to have ended, the speed is gradually restored.

[0050] Specifically, when the human proximity sensor of the golf bag cart detects that there is no proximity signal within a set range and the golf bag cart is moving: the fixed angle of the golf bag is calculated, and a first angle threshold and a second angle threshold are set, the first angle threshold is less than the second angle threshold; when the fixed angle of the golf bag is less than the first angle threshold, or the fixed angle of the golf bag is greater than the second angle threshold, the lifting pole performs height adjustment, and after the height adjustment is completed, the fixed angle of the golf bag is calculated again until the fixed angle of the golf bag is greater than or equal to the first angle threshold and less than or equal to the second angle threshold; while the lifting pole performs height adjustment, the front wheel drive motor synchronously performs dynamic torque compensation control according to the real-time pitch angle signal detected by the gyroscope.

[0051] The golf bag fixing angle refers to the angle between the line connecting the center points of the first golf bag fixing part and the second golf bag fixing part (there may be a slight difference depending on the specific mechanical mechanism design) and the bottom support plate after the golf bag cart is unfolded.

[0052] It should be noted that when a golf bag is on a golf bag cart, the top is usually open. When the golf bag cart is moving, especially downhill, the golf clubs may fall out of the top opening of the golf bag. Therefore, the lifting pole needs to be adjusted according to the fixed angle of the golf bag to prevent the golf clubs from falling from the top of the golf bag.

[0053] Furthermore, the calculation formula for the fixed angle of the ball bag is as follows:

[0054]

[0055] Among them, γ represents the bag fixing angle, h represents the current pole length, x represents the distance between the center point of the first bag fixing part and the center point of the second bag fixing part, and β represents the inclination angle between the bottom support plate and the horizontal plane, which is measured by the gyroscope.

[0056] For example, the fixed angle of the golf bag is calculated once every 0.5 seconds. When the fixed angle of the golf bag is less than the first angle threshold, such as 30°, the lifting pole is raised one unit, such as 1 cm, and the fixed angle of the golf bag is calculated again. If it is still less than the first angle threshold, the lifting pole is raised one unit again until the fixed angle of the golf bag is greater than or equal to the first angle threshold and less than or equal to the second angle threshold.

[0057] Similarly, when the fixed angle of the golf bag is greater than the second angle threshold, such as 60°, the lifting pole will be lowered one unit at a time until the fixed angle of the golf bag is greater than or equal to the first angle threshold and less than or equal to the second angle threshold. When the lifting pole has been lowered to the lowest position, it will remain stationary.

[0058] Through the above adjustment, it can be ensured that the golf clubs in the golf bag will not fall when going uphill or downhill.

[0059] Furthermore, while the lifting pole performs height adjustment in response to the calculated fixed angle of the ball bag, the front wheel drive motor synchronously performs dynamic torque compensation control according to the real-time pitch angle signal detected by the gyroscope.

[0060] When going uphill, the pitch angle is greater than 0, the positive pressure on the front wheels decreases, it is easy to slip, and the torque needs to be increased. When going downhill, the pitch angle is less than 0, the positive pressure on the front wheels increases, and the torque needs to be reduced to avoid acceleration out of control.

[0061] Furthermore, when the lifting pole is raised, the center of gravity of the entire golf bag vehicle moves backward, the positive pressure on the front wheel decreases, and the torque needs to be reduced. When the lifting pole is lowered, the center of gravity of the entire golf bag vehicle moves forward, the positive pressure on the front wheel increases, and the torque should be increased.

[0062] Based on the above two points, the target torque calculation formula of the front wheel drive motor is as follows:

[0063] T=T0+KT α+K H ·Δh

[0064] Where T represents the target torque of the front wheel drive motor, T0 represents the reference torque on a flat road, K T represents the pitch angle torque compensation coefficient, α represents the real-time pitch angle detected by the gyroscope (negative value when going downhill and positive value when going uphill), K H Indicates the lifting height torque compensation coefficient, Δh indicates the vertical lifting displacement of the lifting pole; K H and K T All settings are made through actual experiments.

[0065] Furthermore, the control method of the intelligent lifting golf bag cart also includes: when it is detected that the golf bag cart is in a moving state, first controlling the lifting pole to be lowered to the lowest position; when it is detected that the golf bag cart stops moving, and the human proximity sensor (Human Proximity Sensor is an electronic device that can detect the approach or distance of a human body or biological body within a set range. It uses non-contact sensing technology, such as electromagnetic field, infrared radiation, ultrasonic wave, capacitance change, etc., to monitor the target area in real time. When a human body enters or leaves the detection range, the sensor outputs an electrical signal, triggering the associated mechanism to execute the preset control logic) of the golf bag cart detects a proximity signal within the set range indicating that a person is approaching, controlling the lifting pole to be raised to a set height; when it is detected that the golf bag cart stops moving, and the human proximity sensor of the golf bag cart detects a proximity signal within the set range indicating that a person is moving away, controlling the lifting pole to be lowered to the lowest position.

[0066] Furthermore, when the human proximity sensor detects that a person suddenly approaches, the golf bag car first performs an emergency stop and then performs lifting.

[0067] It should be noted that when the golf cart detects a person approaching, the main controller controls the lifting pole to rise to a set height. This height is the optimal height for club retrieval and placement, as determined by the golf cart owner's height. Adjustment of the lifting pole facilitates club retrieval and placement. When the golf cart stops moving and the human proximity sensor detects a proximity signal within a set range, indicating a person has moved away, the lifting pole is controlled to descend to its lowest position. At this point, the golf cart's center of gravity is at its lowest, making it ideal for emergency stops and moves and achieving maximum stability.

[0068] Furthermore, when the golf bag cart is detected to be stationary and the proximity sensor of the golf bag cart detects no proximity signal within a set range, the lifting rods are controlled to adjust according to the calculated bag fixing angle. In this case, when the golf bag cart is stationary and tilted forward or backward, the lifting rods are adjusted according to the calculated bag fixing angle to prevent the clubs from falling out of the golf bag. When the golf bag cart is detected to be moving and the proximity sensor of the golf bag cart detects no proximity signal within a set range, the lifting rods are controlled to first adjust according to the calculated bag fixing angle, that is, first adjust according to the current forward or backward tilt of the golf bag cart, to ensure that the clubs do not fall out.

[0069] Preferably, adjusting the height of the lifting pole will change the center of gravity of the vehicle, which in turn affects the pitch angle, forming a feedback loop. For example, raising the lifting pole when going downhill may cause the center of gravity to move backward, increasing the pitch angle. Closed-loop control can be introduced to monitor the pitch angle changes in real time and dynamically adjust the lifting height, for example, using a PID algorithm for control to achieve the right control effect.

[0070] Example 3

[0071] Reference Figures 1-8 , which is the third embodiment of the present invention, is improved on the basis of embodiment 1. This embodiment provides a golf bag cart, including: a bottom support plate 1, wherein the bottom support plate 1 is equipped with a main controller, the bottom support plate 1 is respectively connected to one end of two front wheel folding parts 2, the other end of the front wheel folding parts 2 is fixedly connected to a front wheel drive motor 3, the front wheel drive motor 3 is electrically connected to the golf bag cart front wheel 4, the golf bag cart front wheel 4 is rotatably connected to the front wheel folding part 2, the bottom support plate 1 is hinged to a rear wheel mounting part 5, and the rear wheel mounting part 5 is rotatably connected to two golf bag cart rear wheels 6.

[0072] Preferably, Figure 8 As shown, unlike the golf bag cart of Example 1, the rear wheels 6 of this embodiment are not driven wheels as in Example 1. Instead, they are connected to independent rear-wheel drive motors. Front-wheel drive vehicles can easily slip when climbing hills due to the rearward shift in the center of gravity. The addition of rear-wheel drive motors provides additional traction, ensuring balanced grip on all four wheels.

[0073] Furthermore, when the golf cart goes uphill, the rear wheel drive motor increases torque to prevent the front wheel 4 from lifting. When the lifting pole is raised and the center of gravity moves backward, the rear wheel motor automatically increases torque to compensate for the loss of traction and prevent the front wheel from spinning.

[0074] Preferably, on flat roads, only the front wheels 4 of the golf cart are driven, and when the terrain is complex, four-wheel drive is switched. The front and rear wheel torques are dynamically distributed according to the center of gravity position (judged by the lifting height), and differential control can also be introduced to prevent four-wheel slip.

[0075] Preferably, adding a rear wheel motor enables the golf bag car to adapt to more scenarios, such as multi-slope golf courses, rainy and snowy slippery venues and other high-demand environments.

[0076] Furthermore, the angle between the lifting rod 8 and the bottom support plate 1 is not 90°. The bottom support plate 1 is provided with a gyroscope and an accelerometer, and the front of the golf cart 9 is provided with a human proximity sensor, and the gyroscope, accelerometer, and human proximity sensor are all electrically connected to the main controller. The lifting rod 8 includes a lower guide column 12 hinged to the bottom support plate 1, and a lifting cavity 13 is provided within the lower guide column 12. A lifting motor 14 is fixed within the lifting cavity 13. The output shaft of the lifting motor 14 is connected to a lifting screw 15, and the lifting screw 15 is threadedly connected to the upper moving rod 16.

[0077] Furthermore, the upper moving rod 16 is provided with a moving block 17 that is threadedly engaged with the lifting screw rod 15, and the moving block 17 is rotatably connected to the upper moving rod 16. A rotation limiting mechanism that cooperates with each other is provided between the upper moving rod 16 and the lower guide column 12, and the rotation limiting mechanism is used to prevent the upper moving rod 16 from rotating with the lifting screw rod 15.

[0078] Furthermore, the bottom support plate 1 is connected to the guide mechanism 18, the central axis of the guide mechanism 18 is parallel to the central axis of the bottom support plate 1, the guide mechanism 18 is respectively connected to the two front wheel folding parts 2, and the two front wheel folding parts 2 are symmetrically arranged on both sides of the guide mechanism 18, the first ball bag fixing part 7 is rotatably connected to the rear wheel mounting part 5, and the second ball bag fixing part 11 is rotatably connected to the front of the ball bag cart 9.

[0079] An embodiment of the present invention provides a storage medium having a program stored thereon, which implements the intelligent lifting golf bag cart control method when the program is executed by a processor.

[0080] An embodiment of the present invention provides a processor, which is used to run a program, wherein the program executes the method for controlling a golf bag cart for intelligent lifting when running.

[0081] An embodiment of the present invention provides a device comprising a processor, a memory, and a program stored in the memory and executable on the processor, wherein the processor executes a method for controlling a golf bag cart with intelligent lifting capabilities. The device herein may be a server, a PC, a PAD, a mobile phone, or the like.

[0082] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing the intelligent lifting golf bag cart control method.

[0083] Those skilled in the art will appreciate that the embodiments of the present application can provide methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0084] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0085] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0087] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0088] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0089] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0090] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0091] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling an intelligent lifting golf bag cart, characterized in that: include: When the golf bag cart's human proximity sensor detects no proximity signal within the set range and the golf bag cart is moving: When it is detected that the golf bag cart is in a moving state, the lifting pole is first controlled to be lowered to the lowest position; Calculating a fixed angle of the ball bag, and setting a first angle threshold and a second angle threshold, wherein the first angle threshold is smaller than the second angle threshold; When the golf bag fixed angle is less than the first angle threshold, or the golf bag fixed angle is greater than the second angle threshold, the lifting pole performs height adjustment, and after the height adjustment is completed, the golf bag fixed angle is recalculated until the golf bag fixed angle is greater than or equal to the first angle threshold and less than or equal to the second angle threshold; While the lifting pole is performing height adjustment, the front wheel drive motor synchronously performs dynamic torque compensation control based on the real-time pitch angle signal detected by the gyroscope; The golf bag cart comprises: a bottom support plate (1), a main controller is installed in the bottom support plate (1), the bottom support plate (1) is respectively connected to one end of two front wheel folding parts (2), the other end of the front wheel folding parts (2) is fixedly connected to a front wheel drive motor (3), the front wheel drive motor (3) is electrically connected to the front wheel (4) of the golf bag cart, the bottom support plate (1) is hinged to a lifting vertical rod (8), the top of the lifting vertical rod (8) is connected to the front of the golf bag cart (9), a gyroscope and an accelerometer are provided in the bottom support plate (1), the front of the golf bag cart (9) is provided with a human body proximity sensor, and the gyroscope, the accelerometer and the human body proximity sensor are all electrically connected to the main controller, the bottom support plate (1) is hinged to a rear wheel mounting part (5), a first golf bag fixing part (7) is rotatably connected to the rear wheel mounting part (5), and a second golf bag fixing part (11) is rotatably connected to the front of the golf bag cart (9); The golf bag fixing angle refers to the angle between the line connecting the center point of the first golf bag fixing part (7) and the center point of the second golf bag fixing part (11) and the bottom support plate (1) after the golf bag cart is unfolded.

2. The method for controlling the intelligent lifting golf bag cart according to claim 1, characterized in that: The intelligent lifting golf bag cart control method further includes: When it is detected that the golf bag vehicle stops moving and the human proximity sensor of the golf bag vehicle detects a proximity signal indicating that a person is approaching within a set range, the lifting pole is controlled to rise to a set height; When it is detected that the golf bag vehicle stops moving and the human proximity sensor of the golf bag vehicle detects a proximity signal within a set range indicating that a person is away, the lifting pole is controlled to be lowered to the lowest position.

3. A golf bag cart, characterized in that: The golf bag cart can execute the intelligent lifting golf bag cart control method described in any one of claims 1-2, and the golf bag cart comprises: a bottom support plate (1), wherein the bottom support plate (1) is equipped with a main controller, wherein the bottom support plate (1) is respectively connected to one end of two front wheel folding parts (2), and the other end of the front wheel folding parts (2) is fixedly connected to a front wheel drive motor (3), wherein the front wheel drive motor (3) is electrically connected to the front wheel (4) of the golf bag cart, and the front wheel (4) of the golf bag cart is rotatably connected to the front wheel folding parts (2). The bottom support plate (1) is hinged to a rear wheel mounting member (5), the rear wheel mounting member (5) is rotatably connected to two rear wheels (6) of the golf bag cart, the rear wheel mounting member (5) is also connected to a first golf bag fixing member (7), the bottom support plate (1) is hinged to a lifting vertical rod (8), the top of the lifting vertical rod (8) is connected to a front end (9) of the golf bag cart, a control panel (10) is provided on the front end (9) of the golf bag cart, the front end (9) of the golf bag cart is also connected to a second golf bag fixing member (11), the lifting vertical rod (8) and the control panel (10) are electrically connected to a main controller.

4. The golf bag cart according to claim 3, wherein: The angle between the lifting upright (8) and the bottom support plate (1) is not 90°.

5. The golf bag cart according to claim 3, wherein: include: The lifting upright (8) comprises a lower guide column (12) hinged to a bottom support plate (1); a lifting cavity (13) is provided inside the lower guide column (12); a lifting motor (14) is fixed inside the lifting cavity (13); an output shaft of the lifting motor (14) is connected to a lifting screw (15); and the lifting screw (15) is threadedly connected to an upper moving rod (16).

6. The golf bag cart according to claim 5, characterized in that: The upper moving rod (16) is provided with a moving block (17) threadedly matched with the lifting screw rod (15), and the moving block (17) is rotatably connected to the upper moving rod (16). A rotation limiting mechanism that cooperates with each other is provided between the upper moving rod (16) and the lower guide column (12), and the rotation limiting mechanism is used to prevent the upper moving rod (16) from rotating with the lifting screw rod (15).

7. The golf bag cart according to claim 3, wherein: The bottom support plate (1) is connected to a guide mechanism (18), the central axis of the guide mechanism (18) is parallel to the central axis of the bottom support plate (1), the guide mechanism (18) is respectively connected to the two front wheel folding members (2), and the two front wheel folding members (2) are symmetrically arranged on both sides of the guide mechanism (18), the first ball bag fixing member (7) is rotatably connected to the rear wheel mounting member (5), and the second ball bag fixing member (11) is rotatably connected to the front end (9) of the ball bag vehicle.

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