Self-balancing non-inductive booster stroller

Abstract

The application discloses a self-balancing non-inductive power-assisted stroller, which comprises a frame and wheels, the frame comprises a front support and a push rod, and the stroller further comprises a self-balancing control device and a driving mechanism; the self-balancing control device comprises an angle sensor and a main control circuit board; the driving mechanism is configured to drive the wheels to rotate forward or backward under the control of the main control circuit board; the push rod is rotationally connected with the front support; when the angle between the front support and the push rod deviates from an initial angle, the push rod drives the self-balancing control device, so that the angle of the self-balancing control device relative to the horizontal plane changes; in response to the detection of the angle sensor that the angle of the self-balancing control device relative to the horizontal plane changes, the main control circuit board sends an instruction to the driving mechanism; under the driving of the driving mechanism, the wheels change gears so that the front support and the push rod have a tendency to restore the initial angle. The non-inductive power-assisted stroller can intelligently perceive to realize power assistance and human force self-adaptation.

Description

Technical Field

[0001] This invention relates to the field of strollers, and more particularly to a self-balancing, sensorless power-assisted stroller. Background Technology

[0002] Electric-assisted trolleys are pushing tools that provide auxiliary pushing force to users by driving the wheels with a motor. Currently, most trolleys on the market use simple open-loop or manual intervention control modes for power assistance. The common method is to set up a mechanical switch, gear knob or variable resistor (commonly known as a "resistance switch"), which is operated manually by the user to control the on and off of the motor or the output power (which is reflected in the speed of the vehicle).

[0003] However, this traditional control method suffers from poor human-machine coordination and is uncomfortable to use. Because the power assist output relies on the user-set assist level without considering the user's force application, it leads to a lack of synchronization between human and machine movements, primarily manifested in the following two aspects: The dragging sensation at excessive speed: When the preset assist level is too high or going downhill, the motor output speed continuously exceeds the user's natural pushing pace, and the stroller will generate a forward "dragging force". At this time, the user will not only fail to get an effortless experience, but will also need to pull back forcefully to "hold" the stroller to prevent it from rushing forward out of control, which can easily lead to fatigue and tension.

[0004] And the feeling of resistance when the speed is too slow: When the preset assist level is too low, when going uphill, or when the load suddenly increases, the thrust provided by the motor is insufficient to match the user's pushing force. At this time, the motor not only fails to provide effective assistance, but its relatively low speed also becomes a kind of "electronic resistance". The user will feel as if they are "pushing" a heavy body that is unwilling to move, which is extremely difficult.

[0005] Throughout the process, users need to repeatedly adjust between two uncomfortable states: "fighting drag" and "overcoming resistance." This operation mode of pushing the cart while adjusting the speed poses a risk of collision in complex or crowded paths, resulting in a poor user experience.

[0006] The above background information is provided only to aid in understanding the concept and technical solution of this application. It does not necessarily belong to the prior art of this application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above information was disclosed before the filing date of this application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0007] The purpose of this invention is to provide a non-invasive pushcart that can intelligently sense user intent and achieve adaptive assistance and human power.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A self-balancing, non-invasive power-assisted stroller includes a frame and wheels. The frame includes a front support and a push rod. The stroller also includes a self-balancing control device and a drive mechanism. The self-balancing control device includes an angle sensor and a main control circuit board. The drive mechanism is configured to drive the wheels to rotate forward or backward under the control of the main control circuit board. The push rod is rotatably connected to the front bracket. When the angle between the front bracket and the push rod deviates from the initial angle, the push rod drives the self-balancing control device to change the angle of the self-balancing control device relative to the horizontal plane. In response to the angle sensor detecting a change in the angle of the self-balancing control device relative to the horizontal plane, the main control circuit board sends a command to the drive mechanism; under the drive of the drive mechanism, the wheel speed change causes the front bracket and the push rod to tend to restore the initial angle.

[0009] Furthermore, based on any one or a combination of the aforementioned technical solutions, the wheel speed change enables the self-balancing control device to tend to return to its initial angle, including: If the angle between the front bracket and the push rod becomes smaller compared to the initial angle, the main control circuit board sends a command to the drive mechanism to drive the wheels to rotate forward. If the angle between the front bracket and the push rod increases compared to the initial angle, the main control circuit board sends a command to the drive mechanism to drive the wheels to rotate backward.

[0010] Furthermore, following any one or a combination of the aforementioned technical solutions, the wheels on the left and right sides of the trolley are connected by a connecting shaft. Both the front bracket and the push rod are rotatably connected to the connecting shaft; Alternatively, the front bracket is rotatably connected to the connecting shaft, and the push rod is rotatably connected to the front bracket; Alternatively, the push rod is rotatably connected to the connecting shaft, and the front bracket is rotatably connected to the push rod.

[0011] Furthermore, based on any or a combination of the aforementioned technical solutions, the self-balancing control device further includes a housing, the angle sensor and the main control circuit board are disposed within the housing, and the angle sensor is fixedly connected to the housing; The box body is rotatably or oscillatingly connected to the connecting shaft.

[0012] Furthermore, in accordance with any or a combination of the aforementioned technical solutions, the self-balancing control device is fixed on the push rod; Alternatively, the self-balancing control device is connected to the push rod via a connecting rod; Alternatively, a push rod is installed on the push rod, and when the front bracket and the push rod deviate from the initial angle in different directions, the push rod pushes the self-balancing control device to rotate or swing in different directions; Alternatively, the front support, push rod, and self-balancing control device are connected by a linkage assembly.

[0013] Furthermore, following any one or a combination of the aforementioned technical solutions, the linkage assembly includes a first rod, a second rod, and a third rod, wherein the first rod has three connection points for rotatably connecting to the front support, one end of the second rod, and one end of the third rod, respectively; the other end of the second rod is rotatably connected to the push rod; and the other end of the third rod is connected to the self-balancing control device.

[0014] Furthermore, following any one or a combination of the aforementioned technical solutions, the first connection point located in the middle of the first rod is connected to the front bracket, the second connection point located at the upper end is connected to the second rod, and the third connection point located at the lower end is connected to the third rod.

[0015] Furthermore, in accordance with any or a combination of the aforementioned technical solutions, the distance between the first connection point and the second connection point is less than the distance between the first connection point and the third connection point; Alternatively, the distance on the second rod used to connect the first rod and the push rod is less than the distance on the third rod used to connect the first rod and the self-balancing control device.

[0016] Furthermore, in accordance with any or a combination of the aforementioned technical solutions, the first rod is rotatably connected to the rear of the front bracket, the other end of the second rod is rotatably connected to the lower part of the push rod, and the other end of the third rod is connected to the housing containing the angle sensor, the housing being disposed between the rear wheels on the left and right sides of the trolley.

[0017] Furthermore, based on any or a combination of the aforementioned technical solutions, the greater the angle change detected by the angle sensor, the greater the torque output by the main control circuit board controlling the drive mechanism. The smaller the angle change detected by the angle sensor, the smaller the torque output by the drive mechanism controlled by the main control circuit board.

[0018] Furthermore, following any one or a combination of the aforementioned technical solutions, the drive mechanism is a hub motor, the rotor of which is fixedly connected to the hub of at least one wheel.

[0019] Furthermore, in accordance with any or a combination of the aforementioned technical solutions, the self-balancing, sensorless power-assisted stroller provided by the present invention also includes a seat or cargo container mounted on the frame.

[0020] The beneficial effects of the technical solution provided by this invention are as follows: a. The assisted output is adaptively related to the user's real-time action intentions. Acceleration and deceleration / braking can be achieved simply by applying a natural pushing or pulling action to the push handle of the push rod, realizing a smooth, natural, and effortless human-machine integration experience, reducing fatigue during long-term use, and improving work efficiency and user experience. b. By utilizing the lever structure design formed by the multi-link components and the push rod, the push rod can drive the angle sensor to achieve a large angle change with a small angle change, thereby improving the detection sensitivity of self-balancing; c. Self-balancing is driven by a small change in the angle of the push rod. This means that the start-up drive device adapts to the user's intention to push the cart, and the self-balancing force is fed back to the push rod through the linkage, so that you do not feel a slight sense of separation when using the cart. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A perspective view of a self-balancing, sensorless assistive stroller provided as an exemplary embodiment of the present invention, viewed from below. Figure 2 A perspective view of a self-balancing, sensorless power-assisted stroller provided as an exemplary embodiment of the present invention, viewed from a top-down perspective. Figure 3 A schematic diagram of the self-balancing, sensorless power-assisted stroller in its natural state on flat ground, as provided in an exemplary embodiment of the present invention. Figure 4 To Figure 3 A schematic diagram showing the state of the cart after an external force in the forward direction is applied; Figure 5 To Figure 3 A schematic diagram showing the state of the cart after an external force opposite to the direction of its movement is applied; Figure 6 To be Figure 3 A diagram showing the trolley placed on a ramp. Figure 7A schematic diagram of a structure in which a self-balancing control device is disposed between the two rear wheels of a trolley, as provided in an exemplary embodiment of the present invention. Figure 8 for Figure 7 A schematic diagram of the rear structure of the self-balancing control device in the middle; Figure 9 A schematic diagram of self-balancing state transitions is provided for an exemplary embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0025] In one embodiment of the present invention, a self-balancing, sensorless power-assisted stroller is provided, including a frame and wheels, such as... Figure 1 and Figure 2 As shown, the frame includes a front support 110 and a push rod 120, the wheels include a front wheel 210 and a rear wheel 220, and the trolley also includes a self-balancing control device 400 and a drive mechanism (not shown). The self-balancing control device includes an angle sensor and a main control circuit board, and the drive mechanism is configured to drive the wheels to rotate forward or backward under the control of the main control circuit board; in a specific embodiment, see [reference needed]. Figure 7 and Figure 8The self-balancing control device 400 also includes a housing 410, within which an angle sensor (not shown) and a main control circuit board (not shown) are housed. The angle sensor is fixedly connected to the housing 410. Specifically, the angle sensor can be mounted on the main control circuit board, which is fixedly installed inside the housing 410. The housing 410 also contains a power supply for powering the main control circuit board, and simultaneously powers the angle sensor and the drive mechanism (which can be a motor) via a power module on the main control circuit board.

[0026] The push rod is rotatably connected to the front bracket. When the angle between the current bracket 110 and the push rod 120 deviates from the initial angle, the push rod drives the self-balancing control device 400 to deviate from the initial position. Specifically, this is manifested in the change of its angle with the horizontal plane. For example, in the initial balanced state, the angle between the self-balancing control device 400 and the horizontal plane is 0°, and at this time, the angle between the current bracket 110 and the push rod 120 is the initial angle. When an external force pushes the push rod 120 forward to move the cart forward, the angle between the front support 110 and the push rod 120 will decrease, and the self-balancing control device will rotate counterclockwise, as can be observed from the left side of the cart. Alternatively, when an external force pulls the push rod 120 backward, the angle between the front support 110 and the push rod 120 will increase, and the self-balancing control device will rotate clockwise, as can be observed from the left side of the cart. When the cart is placed on an inclined ramp, the angle between the front support 110 and the push rod 120 will also change accordingly: when the horizontal height of the front wheel is higher than that of the rear wheel, the cart is in an uphill state, and the angle between the front support 110 and the push rod 120 will decrease; when the horizontal height of the front wheel is lower than that of the rear wheel, the cart is in a downhill state, and the angle between the front support 110 and the push rod 120 will increase.

[0027] In response to the angle sensor detecting a change in the angle between the self-balancing control device 400 (i.e., housing 410) and the horizontal plane, the main control circuit board sends a command to the drive mechanism. Under the drive mechanism, the wheel speed changes, causing the front bracket 110 and the push rod 120 to tend to restore the initial angle, so that the change in the angle between the self-balancing control device 400 (i.e., housing 410) and the horizontal plane becomes smaller (tends to 0°).

[0028] In one embodiment, such as Figure 8 As shown, the wheels on the left and right sides of the trolley are connected by a connecting shaft 420; see also Figure 1 and Figure 2Both the front support 110 and the push rod 120 are rotatably connected to the connecting shaft 420, and the wheel assembly also rotates around the connecting shaft 420. This invention is not limited to the above connection relationship with the connecting shaft 420. For example, in other embodiments, the front support 110 is rotatably connected to the connecting shaft 420, and the push rod 120 is rotatably connected to the front support 110; or, the push rod 120 is rotatably connected to the connecting shaft 420, and the front support 110 is rotatably connected to the push rod 120. The housing 410 of the self-balancing control device 400 is rotatably or oscillatingly connected to the connecting shaft.

[0029] There are several embodiments of a push rod-driven self-balancing control device: In one embodiment, the self-balancing control device is fixed to the push rod. When the push rod rotates forward, the self-balancing control device flips forward; when the push rod rotates backward, the self-balancing control device flips backward.

[0030] In one embodiment, the self-balancing control device is connected to the push rod via a connecting rod. When the push rod rotates forward, the connecting rod causes the self-balancing control device to flip forward; when the push rod rotates backward, the connecting rod causes the self-balancing control device to flip backward.

[0031] In one embodiment, a push rod is mounted on the push rod, the end of which is not fixedly connected to the self-balancing control device. There can be two push rods. When the angle between the front support and the push rod decreases, one of the push rods pushes the self-balancing control device to rotate or swing forward. When the angle between the front support and the push rod increases, one of the push rods pushes the self-balancing control device to rotate or swing backward.

[0032] See Figures 1 to 6 In this embodiment, the front support, push rod, and self-balancing control device are connected by a linkage assembly. The linkage assembly includes a first rod 310, a second rod 320, and a third rod 330. The first rod 310 has three connection points, which are rotatably connected to the front support 110, one end of the second rod 320, and one end of the third rod 330, respectively. The other end of the second rod 320 is rotatably connected to the push rod 120, and the other end of the third rod 330 is connected to the self-balancing control device 400 (i.e., the housing 410). See [link to relevant documentation]. Figure 8 A connector 430 is mounted on the outer surface of the housing 410. The lower end of the third rod 330 is connected to the connector 430 and can be fixed by screws. The third rod 330 acts as a lever arm on the self-balancing control device 400 (i.e., housing 410), which enables the housing 410 to rotate about the connecting shaft 420.

[0033] like Figure 1As shown, the first connection point at the middle of the first rod 310 is connected to the front bracket 110, the second connection point at the upper end is connected to the second rod 320, and the third connection point at the lower end is connected to the third rod 330. Thus, the push rod 120, the second rod 320, the first rod 310, and the third rod 330 form a four-bar linkage. The push rod 120 drives the second rod 320, and the first rod 310, acting as a rotating connecting rod, is driven by the second rod 320, further driving the third rod 330. That is, when the push rod 120 is pushed or pulled, the third rod 330 rotates, thereby causing the self-balancing control device 400 (i.e., the housing 410) to deviate from its initial position. The housing 410 can be mounted on the connecting shaft 420: through holes are provided on the left and right sides of the housing 410 for the connecting shaft 420 to pass through. Under the influence of the third rod 330, the housing 410 rotates around the connecting shaft 420.

[0034] In one specific embodiment, the first rod 310 is rotatably connected to the rear of the front support 110, the other end of the second rod 320 is rotatably connected to the lower part of the push rod 120, and the other end of the third rod 330 is connected to the housing 410, which houses the angle sensor. The housing 410 is positioned between the rear wheels 220 on the left and right sides of the trolley. The three connection points on the first rod 310, from top to bottom, are the second connection point, the first connection point, and the third connection point, respectively. The distance between the first connection point and the second connection point is less than the distance between the first connection point and the third connection point. Thus, based on the lever principle with the first connection point as the fulcrum, a small angle change between the push rod 120 and the front support 110 can cause a larger angle change in the self-balancing control device 400 (i.e., the housing 410), thereby improving the detection sensitivity of the angle sensor.

[0035] Alternatively, the distance on the second rod 320 used to connect the first rod 310 and the push rod 120 is less than the distance on the third rod 330 used to connect the first rod 310 and the self-balancing control device 400. This also makes the angle change between the push rod 120 and the front support 110 less than the angle of the self-balancing control device 400 (i.e., the box 410) deviating from its initial position during the movement of the four-bar linkage.

[0036] The aforementioned wheel gear shifting causes the front support and pushrod to tend to return to their initial angle, specifically meaning: If the angle between the front bracket 110 and the push rod 120 decreases compared to the initial angle, the main control circuit board sends a command to the drive mechanism to drive the wheels forward; at this time, the wheels accelerate, causing the front bracket 110 to accelerate forward, and thus the angle between the front bracket 110 and the push rod 120 tends to increase again. Figure 4 As shown, an external force is applied to the push handle 120 to create an angle ∠A1 between the box 410 and the ground (see...). Figure 4This indicates that the user is pushing the cart at this time, causing the angle between the front support 110 and the push rod 120 to be relatively... Figure 3 When the trolley is in its natural state on flat ground, it becomes smaller. At this time, the wheels accelerate, causing the self-balancing control device 400 to return to its initial state. Therefore, on the one hand, the self-balancing control device can achieve automatic acceleration without the need for manual operation of the switch; on the other hand, the purpose of self-balancing can also prevent over-acceleration, because once over-acceleration occurs, the self-balancing control device will lose balance in the opposite direction. At this time, the main control circuit board will send a command to the drive mechanism to drive the wheels to turn backward (decelerate). Therefore, by relying on the self-balancing action and reaction force, it can achieve acceleration assistance while avoiding the dragging feeling of excessive speed for the user, thus improving the user experience.

[0037] If the angle between the front bracket 110 and the push rod 120 increases compared to the initial angle, the main control circuit board sends a command to the drive mechanism to drive the wheels to rotate backward; at this time, the wheels decelerate, causing the front bracket 110 to decelerate or even move backward, and thus the angle between the front bracket 110 and the push rod 120 tends to decrease. Figure 5 As shown, an external force opposite to the direction of forward movement is applied to the push handle 120, causing the box 410 to form an angle ∠A2 with the ground (see...). Figure 5 This indicates that the user is pulling the cart, causing the angle between the front support 110 and the push rod 120 to be relatively... Figure 3 When the trolley is in its natural state on flat ground, the wheels slow down, causing the self-balancing control device 400 to return to its initial state. Therefore, on the one hand, the self-balancing control device can achieve automatic assisted deceleration without the need for manual operation of the switch; on the other hand, the purpose of self-balancing can also prevent excessive deceleration, because once excessive deceleration occurs, the self-balancing control device will lose balance in the opposite direction. At this time, the main control circuit board will send a command to the drive mechanism to drive the wheels to rotate forward (accelerate). Therefore, by relying on the self-balancing action and reaction force, it can achieve assisted deceleration and avoid giving the user a feeling of resistance when the speed is too slow, thus improving the user experience.

[0038] Figure 6 The automatic assist function is shown when the cart is tilted on a ramp, with the front wheels at a higher horizontal level than the rear wheels. In this case, the angle between the front support 110 and the push rod 120 is compared to... Figure 3When the trolley is in its natural state on flat ground, its size decreases, which controls the acceleration of the wheels to assist in going uphill. Under the effect of self-balancing, it overcomes the component of its own gravitational potential energy when going uphill. At this time, if the person pushes the trolley and changes the angle of the angle sensor, the angle sensor will detect the change in forward angle. If the angle sensor on the main control circuit board detects that it is not level, it will make the wheels continue to rotate forward to obtain a greater reaction force (relative to gravity), ultimately achieving the effect of assisting in going uphill.

[0039] In summary, self-balancing utilizes the reaction force generated when the wheel rotates around the connecting axle 420 to control the self-balancing control device 400 to maintain or tend towards an initial balanced state, such as when the angle between the self-balancing control device 400 and the horizontal plane is 0. Figure 9 As shown. In this embodiment, the housing 410 of the self-balancing control device 400 is initially in a horizontal state. If it is detected that it is not horizontal, the drive wheel accelerates or decelerates to automatically adjust to a horizontal state, without the need to set a switch to start the drive mechanism for acceleration or deceleration assistance. The larger the angle change detected by the angle sensor, the greater the torque output of the drive mechanism controlled by the main control circuit board; the smaller the angle change detected by the angle sensor, the smaller the torque output of the drive mechanism controlled by the main control circuit board. In other words, when the force applied to the push handle 120 is greater, or the slope is steeper, the angle change between the front bracket 110 and the push rod 120 will be greater, indirectly indicating that rapid acceleration or deceleration is needed. Therefore, the control will increase the reverse force to the maximum extent to quickly achieve the expected acceleration / deceleration. When the angle sensor detects that the housing 410 is close to a horizontal state, the output torque of the drive mechanism is reduced until the housing 410 finally returns to a horizontal state, at which point the drive mechanism stops driving.

[0040] Since the push rod 120 and the self-balancing control device rotate relative to each other, the angle sensor is driven by the push rod 120 to rotate around the connecting shaft 420. Through the design of the linkage assembly and lever structure, the push rod can drive a larger angle change in the angle sensor with a small angle change. In summary, the control strategy of the self-balancing control device is to reduce the angle change of the push rod 120, which makes pushing and pulling the cart smoother and more comfortable for the user, without a feeling of being pulled away.

[0041] The drive mechanism in the above embodiments can be a hub motor, whose rotor is fixedly connected to the hub of at least one wheel. In this embodiment, the hub motor is connected to the rear wheel 220. The self-balancing, sensorless power-assisted stroller in this embodiment can be applied to both children's strollers (i.e., the frame has a seat) and logistics transportation (i.e., the frame has a cargo container, including a tray, basket, etc.).

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0043] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A self-balancing, sensorless power-assisted stroller, comprising a frame and wheels, the frame including a front support and a push rod, characterized in that, The trolley also includes a self-balancing control device and a drive mechanism. The self-balancing control device includes an angle sensor and a main control circuit board. The drive mechanism is configured to drive the wheels to rotate forward or backward under the control of the main control circuit board. The push rod is rotatably connected to the front bracket. When the angle between the front bracket and the push rod deviates from the initial angle, the push rod drives the self-balancing control device to change the angle of the self-balancing control device relative to the horizontal plane. In response to the angle sensor detecting a change in the angle of the self-balancing control device relative to the horizontal plane, the main control circuit board sends a command to the drive mechanism; under the drive of the drive mechanism, the wheel speed change causes the front bracket and the push rod to tend to restore the initial angle.

2. The self-balancing, sensorless power-assisted stroller according to claim 1, characterized in that, Wheel speed changes cause the self-balancing control device to tend to return to its initial angle, including: If the angle between the front bracket and the push rod becomes smaller compared to the initial angle, the main control circuit board sends a command to the drive mechanism to drive the wheels to rotate forward. If the angle between the front bracket and the push rod increases compared to the initial angle, the main control circuit board sends a command to the drive mechanism to drive the wheels to rotate backward.

3. The self-balancing, sensorless power-assisted stroller according to claim 1, characterized in that, The greater the angle change detected by the angle sensor, the greater the torque output by the drive mechanism controlled by the main control circuit board; The smaller the angle change detected by the angle sensor, the smaller the torque output by the drive mechanism controlled by the main control circuit board.

4. The self-balancing, sensorless power-assisted stroller according to claim 1, characterized in that, The wheels on the left and right sides of the trolley are connected by a connecting shaft; Both the front bracket and the push rod are rotatably connected to the connecting shaft; Alternatively, the front bracket is rotatably connected to the connecting shaft, and the push rod is rotatably connected to the front bracket; Alternatively, the push rod is rotatably connected to the connecting shaft, and the front bracket is rotatably connected to the push rod.

5. The self-balancing, sensorless power-assisted stroller according to claim 4, characterized in that, The self-balancing control device also includes a housing, and the angle sensor and the main control circuit board are disposed in the housing. The angle sensor is fixedly connected to the housing. The box body is rotatably or oscillatingly connected to the connecting shaft.

6. The self-balancing, sensorless power-assisted stroller according to claim 1, characterized in that, The self-balancing control device is fixed on the push rod; Alternatively, the self-balancing control device is connected to the push rod via a connecting rod; Alternatively, a push rod is installed on the push rod, and when the front bracket and the push rod deviate from the initial angle in different directions, the push rod pushes the self-balancing control device to rotate or swing in different directions; Alternatively, the front support, push rod, and self-balancing control device are connected by a linkage assembly.

7. The self-balancing, sensorless power-assisted stroller according to claim 6, characterized in that, The linkage assembly includes a first rod, a second rod, and a third rod. The first rod has three connection points for rotatable connection to the front support, one end of the second rod, and one end of the third rod, respectively. The other end of the second rod is rotatably connected to the push rod, and the other end of the third rod is connected to the self-balancing control device.

8. The self-balancing, sensorless power-assisted stroller according to claim 7, characterized in that, The first connection point located in the middle of the first rod is connected to the front bracket, the second connection point located at the upper end is connected to the second rod, and the third connection point located at the lower end is connected to the third rod.

9. The self-balancing, sensorless power-assisted stroller according to claim 8, characterized in that, The distance between the first connection point and the second connection point is less than the distance between the first connection point and the third connection point; Alternatively, the distance on the second rod used to connect the first rod and the push rod is less than the distance on the third rod used to connect the first rod and the self-balancing control device.

10. The self-balancing, sensorless power-assisted stroller according to claim 7, characterized in that, The first rod is rotatably connected to the rear of the front bracket, the other end of the second rod is rotatably connected to the lower part of the push rod, and the other end of the third rod is connected to the housing containing the angle sensor. The housing is located between the rear wheels on the left and right sides of the trolley.

11. The self-balancing, sensorless power-assisted stroller according to any one of claims 1 to 10, characterized in that, The drive mechanism is a hub motor, whose rotor is fixedly connected to the hub of at least one wheel.

12. The self-balancing, sensorless power-assisted stroller according to any one of claims 1 to 10, characterized in that, It also includes seats or cargo containers mounted on the frame.

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