Sensor zeroing device and method for handle

Abstract

A sensor zeroing device for a handle, comprising: a plumb bar movably connected to a handle of a wheeled transport device; the vertical rod can move between a pressing position and a static position relative to the handle; the vertical rod position sensor is arranged on the handle or is arranged adjacent to the handle; a controller operably connected to the plumbing rod position sensor and the one or more sensors; wherein the one or more sensors are located on the handle and / or on a wheeled transport device comprising the handle; wherein the controller is configured to perform a sensor zeroing process if it is determined that the plumbing bar is in the rest position.

Description

Technical Field

[0001] The present disclosure relates to a sensor zeroing device and method for a handle, and more particularly to a sensor automatic zeroing device and method for a force sensing handle of a wheeled transport device. Background Art

[0002] Trolleys, carts, and wheelchairs are all devices for manually moving loads. For example, trolleys and carts are typically manually driven and are widely used in the logistics field to move loads. Wheelchairs are used in many different situations to move people who are immobile or have limited mobility. The disadvantage of all these wheeled transport devices is that the user needs greater physical strength to move these loads. Additionally, for moving larger loads, in addition to physical strength, the difficulty of steering and maneuvering may increase. To address this problem, motorized or power-assisted trolleys, carts, or wheelchairs have emerged.

[0003] These power-driven wheeled transport devices are driven by a power source such as an electric motor and have a related controller for the drive source. Power-assisted trolleys or carts or wheelchairs typically include sensors embedded in the control mechanism, such as strain gauges, power meters, torque sensors. These sensors are typically embedded in the handle to capture the input force from the user. The sensors are very sensitive and are susceptible to sensor drift. Sensor drift refers to the output value drifting over time or due to temperature changes. This results in sensor errors and may have an adverse effect on the operation of the power wheeled transport device. Summary of the Invention

[0004] According to one aspect of the present disclosure, there is provided a sensor zeroing device for a handle, comprising:

[0005] A vertical rod movably connected to the handle of the wheeled transport device, wherein the vertical rod is movable relative to the handle between a pressed position and a stationary position;

[0006] A vertical rod position sensor disposed on or adjacent to the handle;

[0007] A controller operably connected to the vertical rod position sensor and one or more sensors, wherein the one or more sensors are located on the handle and / or on the wheeled transport device including the handle;

[0008] wherein the controller is configured to perform a sensor zeroing process if it is determined that the vertical rod is in the stationary position.

[0009] In one example, during the sensor zeroing process, the controller is configured to:

[0010] Determine whether the vertical rod is in the pressed position or the stationary position;

[0011] If it is detected that the vertical rod is in a stationary position, sensor values from the one or more sensors are measured;

[0012] When the vertical rod is in a stationary position, zero values are updated for each of the one or more sensors.

[0013] In one example, when the vertical rod is in a stationary position, the controller is configured to continuously perform:

[0014] Determine whether new sensor values are measured from any of the one or more sensors;

[0015] If new sensor values are measured, zero values for each of the one or more sensors are updated;

[0016] After each update of the zero value, the updated zero value is stored.

[0017] In one example, the controller is configured to, when it is detected that the vertical rod is in a stationary position and new sensor values are measured, update the zero value of each sensor.

[0018] In one example, the controller is configured to:

[0019] Based on the processed signal from the vertical rod position sensor, determine the position of the vertical rod;

[0020] Continuously determine whether the vertical rod is in a pressed position or a stationary position.

[0021] In one example, the controller is configured to:

[0022] If it is detected that the vertical rod is in a pressed position, drive a component of the wheeled transport device including the vertical rod;

[0023] If it is detected that the vertical rod is in a stationary position, measure sensor values, update the zero value, and store the updated zero value.

[0024] In one example, the controller is configured to:

[0025] Receive a signal indicating the position of the vertical rod from the vertical rod position sensor;

[0026] Determine the position of the vertical rod relative to the handle;

[0027] If the distance between the vertical rod and the handle is less than a threshold, determine that the vertical rod is in a pressed position; if the distance between the vertical rod and the handle is greater than the threshold, determine that the vertical rod is in a stationary position.

[0028] In one example, the controller is configured to determine that the vertical rod is in the pressed position in response to the vertical rod position sensor detecting that the vertical rod contacts the handle; and the controller is further configured to determine that the vertical rod is in the stationary position in response to the vertical rod position sensor detecting that the vertical rod is spaced apart from the handle.

[0029] In one example, the vertical rod position sensor is a proximity sensor or a limit switch. Alternatively, the vertical rod position sensor can be an inductive or capacitive sensor.

[0030] In one example, the controller is configured to interrupt the sensor zeroing process if it detects that the vertical rod is in the pressed position; and the controller is configured to drive the wheeled transport device.

[0031] In one example, when the controller determines that the vertical rod is in the pressed position, the controller drives the wheeled transport device by driving a motor, or a motor drive circuit, or releasing a brake, or releasing a brake and driving a motor.

[0032] In one example, the one or more sensors are force sensors located on the handle and are configured to detect the force applied by a user of the wheeled transport device.

[0033] In one example, when the controller detects that the vertical rod is in the stationary position, the controller automatically and continuously performs the sensor zeroing process.

[0034] In one example, the handle and the sensor zeroing device are located on the wheeled transport device, and the vertical rod is pivotally connected to the handle.

[0035] According to another aspect of the present disclosure, there is provided a wheeled transport device, including: a handle and the sensor zeroing device described in the above aspect. The wheeled transport device can be a trolley or a wheelchair.

[0036] According to still another aspect of the present disclosure, there is provided a sensor zeroing method, including the following steps:

[0037] Determine whether the vertical rod is in the pressed position or the stationary position;

[0038] If it is detected that the vertical rod is in the stationary position, measure the sensor values from the one or more sensors;

[0039] When the vertical rod is in the stationary position, update the zero value for each of the one or more sensors.

[0040] In one example, the sensor zeroing method includes the following steps:

[0041] Determine whether a new sensor value is measured from any one of the one or more sensors;

[0042] If a new sensor value is measured, update the zero value of each of the one or more sensors;

[0043] After each update of the zero value, store the updated zero value.

[0044] In one example, the sensor zeroing method includes the following steps:

[0045] Continuously determine whether the plumb rod is in the pressed position or the stationary position;

[0046] When the plumb rod is in the stationary position, continuously perform the following steps:

[0047] Determine whether the plumb rod is in the pressed position or the stationary position,

[0048] If it is detected that the plumb rod is in the stationary position, measure the sensor value from the one or more sensors,

[0049] When the plumb rod is in the stationary position, update the zero value for each of the one or more sensors,

[0050] Determine whether a new sensor value is measured from any one of the one or more sensors,

[0051] If a new sensor value is measured, update the zero value of each of the one or more sensors,

[0052] When the plumb rod is in the stationary position, after each update of the zero value, store the updated zero value.

[0053] In one example, the sensor zeroing method includes the following steps:

[0054] Receive a signal indicating the position of the plumb rod from a plumb rod position sensor;

[0055] Determine the position of the plumb rod relative to the handle;

[0056] If the distance between the plumb rod and the handle rod is less than a threshold, determine that the plumb rod is in the pressed position;

[0057] If the distance between the plumb rod and the handle is greater than the threshold, determine that the plumb rod is in the stationary position;

[0058] If it is detected that the plumb rod is in the pressed position, drive the components of the wheeled transport device including the plumb rod; or if it is detected that the plumb rod is in the stationary position, measure the sensor value, update the zero value, and store the updated zero value.

[0059] In one example, the sensor zeroing method includes the following steps:

[0060] If it is detected that the vertical rod is in the pressed position, the sensor zeroing process is interrupted;

[0061] Drive the wheeled transport device, where driving the wheeled transport device includes: a drive motor, or a drive motor drive circuit, or releasing a brake, or releasing the brake and driving the motor.

[0062] As used herein, the term "comprising" (and its grammatical variants) is used in an inclusive sense of "having" or "including", rather than in the sense of "consisting only of".

[0063] It should be understood that if any prior art information is cited herein, such citation does not mean an admission that such information forms part of the common general knowledge in the art in any country. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Embodiments of the sensor zeroing device and method of the present disclosure will be described below by way of example with reference to the accompanying drawings.

[0065] Figure 1 An example of a trolley including a sensor zeroing device is shown.

[0066] Figure 2 An exemplary sensor zeroing device with a vertical rod in a stationary position is shown.

[0067] Figure 3 Shows Figure 2 the sensor zeroing device, where the vertical rod is in the pressed position.

[0068] Figure 4 Shows Figure 1 a schematic diagram of the control system of the trolley.

[0069] Figure 5 A schematic diagram of the controller of the control system is shown.

[0070] Figure 6 An exemplary sensor zeroing method is shown.

[0071] Figure 7 Another exemplary sensor zeroing method is shown.

[0072] Figure 8 A user grasping the handle and the vertical rod, and the direction of travel of the vertical rod relative to the handle are shown.

[0073] Figure 9 A vertical rod position sensor and a vertical rod in a stationary position are shown.

[0074] Figure 10 Shows the vertical rod position sensor and the vertical rod in the pressed position. Detailed implementation

[0075] The present disclosure relates to a sensor zeroing device and a sensor zeroing method for a handle of a wheeled transport device. The sensor zeroing device and the sensor zeroing method are particularly applicable to a force sensing handle used in a motorized wheeled transport device.

[0076] In an exemplary embodiment, a sensor zeroing device for a handle of a wheeled transport device includes: a vertical rod movably connected to the handle of the wheeled transport device, wherein the vertical rod is movable relative to the handle between a pressed position and a rest position; a vertical rod position sensor disposed on or adjacent to the handle; a controller operatively connected to the vertical rod position sensor and one or more sensors, wherein the one or more sensors are located on the handle and / or on the wheeled transport device including the handle; wherein the controller is configured to perform a sensor zeroing process if it is determined that the vertical rod is in the rest position.

[0077] Figure 1 An example of the wheeled transport device 100 is shown. In the example shown, the wheeled transport device is a motorized handcart. The wheeled transport device 100 can be a motorized device or can be a manually driven device. Preferably, the wheeled transport device 100 is a motorized device for assisting a user in moving a load. The wheeled transport device can be a handcart, or a handcart or a trolley for logistics, or can be a wheelchair or other motorized device for moving a load.

[0078] Referring to Figure 1 , the motorized cart 100 includes a chassis 102, a plurality of wheels mounted on the chassis 102, and a load platform 104 supported on the chassis 102. The motorized handcart 100 includes four wheels. One rear wheel 106 and one front wheel 108 are shown in Figure 1 . The handcart 100 includes a motor 110 mounted on the chassis 102 and connected to a pair of wheels. In one example, the motor 110 is connected to the rear wheel 106 and is used to drive the rear wheel. The rear wheel 106 serves as a drive wheel to propel the motorized handcart 100. The wheels 106, 108 can be equipped with casters.

[0079] The handcart 100 further includes a brake 112. The brake 112 can be associated with the drive wheel 106 and can be used to brake the handcart. The load platform 104 can be used to support loads 10, 12, 14. As Figure 4 shown, boxes 10, 12, 14 are placed on the loading platform 104. The load platform 104 can be a plate, for example, a metal plate or a wooden plate.

[0080] The upright handle mounting structure 120 can be fixed to the chassis 102 at its lower end. The handle mounting structure 120 is fixed to the rear end of the chassis 102. The handle 122 is mounted on the handle mounting structure 120. The mounting structure 120 includes a pair of struts 124 that can be connected to the chassis 102 and extend vertically from the chassis 102. The handle is an elongated member, for example, a rod that extends horizontally or laterally between the struts 124.

[0081] A plurality of sensors can be provided on the trolley 100. One or more force sensors 126, 128 can be provided on or connected to the handle 122. The force sensors 126, 128 can be configured to detect the force applied by the user to the handle 122. For example, when the user pushes the trolley 100, the force sensors can sense the pushing force, pulling force, or turning force applied by the user. In one example, the trolley 100 includes two force sensors 126, 128, and the force sensors 126, 128 are operably connected to the controller 130. The controller 130 can be mounted on the frame 102.

[0082] Figure 2 and Figure 3 A sensor zeroing device 200 for the handle is shown. The sensor zeroing device 200 can be mounted or connected to the handle 122. The sensor zeroing device 200 includes a plumb rod 202. The plumb rod 202 is pivotally connected to or supported by the handle 122. In another example, the plumb rod 202 can be cantilevered with respect to the handle 122. The sensor zeroing device can include a pair of supports that support the plumb rod 202 with respect to the handle 122. The plumb rod 202 is held by the supports at two lateral ends. The supports are surrounded by a housing 208.

[0083] The plumb rod 202 can move between a pressed position and a rest position with respect to the handle 122. The sensor zeroing device 200 further includes a plumb rod position sensor 206 located near the handle, on the handle, or provided within the handle 122. In Figure 9 the example shown, the sensor 206 is mounted on the handle 122 and surrounded by the housing 208. When the user grasps the handle 122 to use the trolley 100, the user presses the plumb rod 202. When pressed, the plumb rod 202 moves towards the handle 122, i.e., moves to the pressed position, or the plumb rod 202 is released and drops to the rest position due to gravity or a spring or elastic member in the supports. Figure 2 The plumb rod 202 in the rest position is shown, Figure 3 The plumb rod 202 in the pressed position is shown.

[0084] As Figure 8 shown, the user grasps the handle 122 and the plumb rod 202. Figure 8Also shown is the direction of travel of the vertical rod relative to the handle 122. When the user grasps the handle 122, the vertical rod 202 moves upward in direction B. When the user releases the handle 122, the vertical rod 202 descends in direction A.

[0085] The controller 130 can be part of the sensor zeroing device 200. Referring Figure 4 , the controller 130 is operably connected to the vertical rod position sensor 206, force sensors 126, 128, and one or more other sensors on the cart 100. For example, the other sensor can be a weight sensor located on the platform 104. The controller 130 is also operably connected to the motor 110 and the brake 112. The controller 130 is configured to drive the motor 110 and the brake 112. The controller 130 is operably connected to the battery 116. The battery 116 can be any suitable power source for powering the sensors and the motor 110.

[0086] The controller 130 can include a processor 132, a memory unit 134, a motor driver 136, and a brake driver 138. The memory unit 134 can be a non-transitory computer-readable medium, such as, for example, ROM or RAM or flash memory or a disk drive. The memory 134 can be used to store sensor values. The memory can also store calibration data for the sensors. The controller 130 is configured to provide a signal to the motor driver 136. The motor driver 136 is electrically connected to the motor 110 and is adapted to provide a drive signal to the motor 110. The brake driver 138 is used to provide a drive signal to the brake 112.

[0087] The controller 130 is operably connected to the vertical rod position sensor 206. If it is determined that the vertical rod is in a stationary position, the controller 130 is configured to perform a sensor zeroing process. In one example, the controller 130 is configured to determine whether the vertical rod is in a pressed position or a stationary position. The controller 130 is further configured to measure sensor values from one or more sensors if it is detected that the vertical rod is in a stationary position. The controller 130 is configured to update the zero value for each of the one or more sensors when the vertical rod is in a stationary position.

[0088] The vertical rod position sensor 206 can be a proximity sensor or a limit switch. The vertical rod position sensor 206 can be an inductive sensor or a capacitive sensor. The controller 130 is configured to receive a signal from the vertical rod position sensor indicating the position of the vertical rod. The controller 130 is further configured to determine the position of the vertical rod relative to the handle. The controller 130 is configured to determine that the vertical rod is in a pressed position if the distance between the vertical rod and the handle is less than a threshold; and to determine that the vertical rod is in a stationary position if the distance between the vertical rod and the handle is greater than the threshold.

[0089] The controller 130 is configured to determine that the vertical rod is in the pressed position in response to the vertical rod position sensor detecting that the vertical rod contacts the handle; and the controller is further configured to determine that the vertical rod is in the stationary position in response to the vertical rod position sensor detecting that the vertical rod is spaced apart from the handle. The controller 130 is configured to interrupt the sensor zeroing process if it detects that the vertical rod is in the pressed position; and the controller is configured to drive the wheeled transport device.

[0090] The controller 130 is configured to drive the wheeled transport device by driving the motor, or the motor drive circuit, or releasing the brake, or releasing the brake and driving the motor when it is determined that the vertical rod is in the pressed position. In one example, when the vertical rod 202 moves to the pressed position, the motor can be driven, and the current to the motor can be controlled based on the force applied by the user on the handle. The applied force can be detected by the force sensors 126, 128. The controller 130 is configured to control the current to the motor relative to the magnitude of the force, thereby reducing the actual force required to move the cart.

[0091] The controller 130 is configured to execute the sensor zeroing method 300. The sensor zeroing method 300 can be defined as computer-readable instructions stored in the memory 134. The processor 132 can be configured to execute the stored instructions to cause the controller 134 to execute the sensor zeroing method 300. The controller is configured to execute the method 300.

[0092] Figure 6 An exemplary sensor zeroing method 300 is shown. In step 302, the controller is configured to determine whether the vertical rod is in the stationary position. The controller can be configured to determine the position of the vertical rod based on the processed signal from the vertical rod position sensor. The controller 300 can be configured to continuously determine whether the vertical rod is in the pressed position or the stationary position. In one example, if the vertical rod position sensor 206 detects that the vertical rod is contacting the sensor 206 or if the distance between the vertical rod and the sensor 206 is less than a threshold, the vertical rod 202 is detected as being in the pressed position.

[0093] If it is detected that the vertical rod 202 is in the pressed position as shown, for example Figure 10 (the vertical rod contacts the sensor 206), the wheeled transport device is started in step 312. If the vertical rod is detected in the stationary position, the method moves to step 304.

[0094] Step 304 includes: measuring sensor values. In step 304, the controller 130 can be configured to measure the values from the force sensors 126, 128. Optionally, in step 304, the controller 130 can also measure the values from the vertical rod position sensor and / or other sensors. In step 306, the controller 130 determines whether a new sensor value is detected. If not, the method returns to step 304. If so, the method proceeds to step 308.

[0095] Step 308 includes: updating the zero value of the sensor. At step 308, the controller 130 may be configured to recalibrate the sensor using the new zero value. The new zero value is the value measured at step 306. Step 310 includes: storing the updated zero value. At step 310, the controller 130 may be configured to store the updated zero value (i.e., the updated sensor calibration) in the memory unit. The updated zero values of the force sensors 126, 128 may be used for subsequent operations. The updated zero value reduces sensor drift. The method 300 may be continuously repeated. When it is detected that the plumb bob 202 is in the rest position, the sensor zeroing process is continuously repeated.

[0096] The controller 130 is configured to automatically and continuously perform the sensor zeroing process when it is detected that the plumb bob is in the rest position.

[0097] Figure 7 Another example of a sensor zeroing method 400 is shown. At step 402, the system starts, and the start of the system indicates that the motorized cart 100 is started by a user who presses the lift bar to the pressed position, as Figure 10 shown, and the cart can be moved.

[0098] Step 404 includes: determining whether the lift bar 202 is in the pressed position. If so, the method returns to step 402. If not, the method proceeds to step 406. At step 404, the controller 130 may be configured to determine the position of the plumb bob 202 based on a signal from the plumb bob position sensor 206. If the detected distance between the plumb bob 202 and the sensor 206 or the handle 122 is less than a threshold, the controller 130 determines that the plumb bob is in the pressed position. Otherwise, it is determined that the plumb bob 202 is in the rest position.

[0099] Step 406 includes: determining whether a new sensor value has been measured. The controller 130 is operably connected to the force sensors 126, 128. The controller 130 is configured to detect a signal if the force sensors 126, 128 detect a new value while the plumb bob 202 is in the rest position. If a new value is detected, the method proceeds to step 408. The new sensor value detected when the plumb bob is in the rest position may indicate sensor drift. If no new value is measured, step 406 may be continuously repeated.

[0100] Step 408 includes: zeroing the sensors. At step 408, the controller 130 is configured to update the zero value of each sensor. At step 408, the controller 130 may be configured to recalibrate each sensor by updating the zero value of each sensor for which a new value was detected at step 406. The new zero value may be stored in the memory unit 134. The updated zero value corrects sensor drift.

[0101] Step 410 is performed after step 408. At step 410, the controller 130 is configured to detect whether the vertical rod has been pressed. By processing the signal from the vertical rod position sensor 206, the pressed vertical rod 202 is detected. If the vertical rod is detected to be pressed, the method moves to step 412. If the vertical rod is detected to be pressed at step 410, the zeroing process is interrupted.

[0102] At step 412, the brake 112 can be released and the motor driver can be turned on to drive the motor. The motor can be driven based on the forces detected by the force sensors 126, 128. If at step 410, the vertical rod is detected to be in the stationary position, i.e., the vertical rod is not in the pressed position, the method proceeds to step 406. When the vertical rod is in the stationary position, steps 406 to 410 can be repeated.

[0103] The sensor zeroing methods 300, 400 can be executed by the controller 130. The sensor zeroing methods 300, 400 can be continuously repeated and are executed when the vertical rod is in the stationary position. The sensor zeroing methods 300, 400 can be an automatic process that is automatically executed when the vertical rod 202 is in the stationary position. The sensor zeroing device continues to zero the sensor, i.e., continues to calibrate the sensor to re-zero the sensor until the user presses the vertical rod.

[0104] The advantages of the sensor zeroing device 200 and the sensor zeroing methods 300, 400 are that the sensor is re-zeroed repeatedly. This zeroing of the sensor corrects the drift of the sensor over time due to temperature changes. The zeroing method is automatically executed, and the advantage of this method is that the user does not need to remember to recalibrate the sensor to correct sensor drift. The automatic nature of the sensor zeroing is advantageous for the sensor, such as a sensitive force sensor, to be re-zeroed to correct sensor drift. A further advantage of the sensor zeroing device and the sensor zeroing method is that the sensor is continuously zeroed while the vertical rod is in the stationary position, ensuring that the sensor is accurate. Zeroing the sensor is a technique for resetting the sensor's home value to prevent drift.

[0105] It should be noted that an embodiment can be described as a process, specifically as a flowchart, a process flow block diagram, a structure diagram, or a block diagram. Although a flowchart may describe operations as a sequential process, many operations can be performed in parallel or simultaneously. In addition, the order of the operations can be rearranged. The process terminates when its operations are completed. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. in a computer program. When the process corresponds to a function, its termination corresponds to the function returning to the calling function or the main function.

[0106] The methods or algorithms described in connection with the examples disclosed herein may be implemented directly in hardware, in software modules executable by a processor, or in a combination of both, in the form of processing units, programming instructions, or other means, and may be included in a single device or distributed across multiple devices.

[0107] Those skilled in the art will understand that various changes and / or modifications can be made to the present disclosure as shown in the specific embodiments without departing from the spirit or scope of the present disclosure as broadly described. Accordingly, the embodiments are considered illustrative in all respects and not restrictive.

[0108] Unless otherwise indicated, any reference to prior art contained herein should not be construed as an admission that such information is common general knowledge.

Claims

1. A sensor zeroing device for a handle, characterized in that, Comprising: A vertical rod movably connected to the handle of a wheeled transport device; wherein the vertical rod is movable relative to the handle between a pressed position and a stationary position; A vertical rod position sensor disposed on or adjacent to the handle; A controller operatively connected to the vertical rod position sensor and one or more sensors; wherein the one or more sensors are located on the handle and / or on the wheeled transport device including the handle; Wherein the controller is configured to perform a sensor zeroing process if it is determined that the vertical rod is in the stationary position.

2. The sensor zeroing device according to claim 1, characterized in that, Wherein, During the sensor zeroing process, the controller is configured to: Determine whether the vertical rod is in the pressed position or the stationary position; If it is detected that the vertical rod is in the stationary position, measure the sensor values from the one or more sensors; When the vertical rod is in the stationary position, update the zero value for each of the one or more sensors.

3. The sensor zeroing device according to claim 2, wherein, Wherein, When the vertical rod is in the stationary position, the controller is configured to continuously perform: Determine whether a new sensor value is measured from any of the one or more sensors; If a new sensor value is measured, update the zero value for each of the one or more sensors; After each update of the zero value, store the updated zero value.

4. The sensor zeroing device according to claim 3, characterized in that, Wherein, The controller is configured to update the zero value of each sensor if a new sensor value is measured when it is detected that the vertical rod is in the stationary position.

5. The sensor zeroing device according to claim 4, wherein, Wherein, The controller is configured to: Determine the position of the vertical rod based on the processed signal from the vertical rod position sensor; Continuously determine whether the vertical rod is in the pressed position or the stationary position.

6. The sensor zeroing device according to claim 5, wherein, Wherein, The controller is configured to: If it is detected that the vertical rod is in the pressed position, drive the components of the wheeled transport device including the vertical rod; or If it is detected that the vertical rod is in the stationary position, measure the sensor values and update the zero values, and store the updated zero values.

7. The sensor zeroing device according to claim 5, characterized in that, Wherein, The controller is configured to: Receive a signal indicating the position of the vertical rod from the vertical rod position sensor; Determine the position of the vertical rod relative to the handle; If the distance between the vertical rod and the handle is less than a threshold, determine that the vertical rod is in the pressed position; if the distance between the vertical rod and the handle is greater than the threshold, determine that the vertical rod is in the stationary position.

8. The sensor zeroing device according to claim 7, wherein Wherein, The controller is configured to determine that the vertical rod is in the pressed position in response to the vertical rod position sensor detecting contact between the vertical rod and the handle; and the controller is also configured to determine that the vertical rod is in the stationary position in response to the vertical rod position sensor detecting that the vertical rod is spaced apart from the handle.

9. The sensor zeroing device according to claim 8, wherein Wherein, The vertical rod position sensor is a proximity sensor or a limit switch.

10. The sensor zeroing device according to claim 9, wherein Wherein, The controller is configured to interrupt the sensor zeroing process if it is detected that the vertical rod is in the pressed position; and the controller is configured to drive the wheeled transport device.

11. The sensor zeroing device according to claim 10, characterized in that, Wherein, The controller is configured to drive the wheeled transport device by driving the motor, or the motor drive circuit, or releasing the brake, or releasing the brake and driving the motor when it is determined that the vertical rod is in the pressed position.

12. The sensor zeroing device according to claim 10, characterized in that, Wherein, The one or more sensors are force sensors located on the handle and are configured to detect the force applied by the user of the wheeled transport device.

13. The sensor zeroing device according to claim 1, wherein, Wherein, The controller is configured to automatically and continuously perform the sensor zeroing process when it is detected that the vertical rod is in the stationary position.

14. The sensor zeroing device according to claim 13, wherein, Wherein, The handle and the sensor zeroing device are located on the wheeled transport device, and the vertical rod is pivotally connected to the handle.

15. A wheeled transportation device, characterized in that, Comprising: A handle; A sensor zeroing device, comprising: A vertical rod movably connected to the handle of the wheeled transport device; wherein, the vertical rod is movable relative to the handle between a pressed position and a stationary position; A vertical rod position sensor disposed on or adjacent to the handle; A controller operably connected to the vertical rod position sensor and one or more sensors; wherein, the one or more sensors are located on the handle and / or on the wheeled transport device including the handle; Wherein, the controller is configured to perform a sensor zeroing process if it is determined that the vertical rod is in the stationary position; Wherein, the wheeled transport device is a handcart or a wheelchair.

16. A method for zeroing a sensor, characterized in that, Comprising the following steps: Determine whether the vertical rod is in the pressed position or the stationary position; If it is detected that the vertical rod is in the stationary position, measure the sensor values from the one or more sensors; When the vertical rod is in the stationary position, update the zero value for each of the one or more sensors.

17. The sensor zeroing method according to claim 16, wherein Comprising the following steps: Determine whether a new sensor value is measured from any of the one or more sensors; If a new sensor value is measured, update the zero value for each of the one or more sensors; After each update of the zero value, store the updated zero value.

18. The sensor zeroing method according to claim 17, characterized in that, Comprising the following steps: Continuously determine whether the vertical rod is in the pressed position or the stationary position; Continuously perform the following steps: Determine whether the vertical rod is in the pressed position or the stationary position, If it is detected that the vertical rod is in the stationary position, measure the sensor values from the one or more sensors, When the vertical rod is in the stationary position, update the zero value for each of the one or more sensors, Determine whether a new sensor value is measured from any of the one or more sensors, If a new sensor value is measured, update the zero value for each of the one or more sensors, When the vertical rod is in the stationary position, after each update of the zero value, store the updated zero value.

19. The sensor zeroing method according to claim 18, characterized in that, Comprising the following steps: Receive a signal indicating the position of the vertical rod from the vertical rod position sensor; Determine the position of the vertical rod relative to the handle; If the distance between the vertical rod and the handle rod is less than a threshold value, determine that the vertical rod is in the pressed position; If the distance between the vertical rod and the handle is greater than the threshold value, determine that the vertical rod is in the stationary position; If it is detected that the vertical rod is in the pressed position, drive the components of the wheeled transportation device including the vertical rod; or if it is detected that the vertical rod is in the stationary position, measure the sensor value, update the zero value, and store the updated zero value.

20. The sensor zeroing method according to claim 19, characterized in that, Including the following steps: If it is detected that the vertical rod is in the pressed position, interrupt the sensor zeroing process; Drive the wheeled transportation device; wherein, the driving of the wheeled transportation device includes: a driving motor, or a driving motor driving circuit, or a release brake, or a release brake and a driving motor.

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