159 results about "Three axis accelerometer" patented technology

The invention relates to an AI server cooling water pump vibration quantity self-adaptive calibration test method and system, an intelligent test platform integrates a six-dimensional force sensor and a temperature compensation vibration exciter, the platform rigidity is automatically calibrated, a water pump-pipeline system transfer function is obtained, and a rotating speed-lift-modal frequency three-dimensional mathematical model is established; a three-axis MEMS accelerometer array is arranged at sensitive parts such as a water pump bearing seat and a motor shell, and vibration, current and pressure signals are synchronously collected; carrying out time-frequency domain signal processing by adopting variational mode decomposition in combination with self-adaptive S transformation, and extracting a 128-dimensional full-frequency domain feature vector containing a modulation side frequency band; effective values of vibration acceleration, speed and displacement are calculated through a frequency domain integration algorithm, and current harmonic interference is corrected through an electromagnetic vibration compensation model; and finally, a vibration health degree evaluation model containing 18 characteristic parameters is established based on a support vector machine, the test system comprises an intelligent test platform unit, a multi-source sensing unit, an edge calculation unit and a data management unit, and microsecond-level synchronous acquisition and GB-level data throughput are realized through a time sensitive network. And online incremental learning and automatic generation of a test report are supported. The method has the effect of improving the water pump vibration quantity test precision.

Various optical systems for use in a light pulse atomic interferometer (LPAI)-based one-, two-, or three-axis accelerometer or gyroscope are disclosed. As an LPAI accelerometer or gyroscope may employ many different laser beams to implement the LPAI functionality, ways of combining these different laser beams to thereby simplify the optical systems are desired. The cooling laser beam portion of the optical system may be simplified using one or more reflective grating chips. The Raman laser beam optics may be simplified using combiners and separators. For LPAI systems sensing along three axes, various optical switching schemes may be employed, including ones that generate variable data-rates with a primary sensing axis having a higher data-rate than the secondary sensing axes. Further, by combining various laser beams in a time-multiplexed manner, the number of optical fiber tethers to a sensor head may be reduced.

The present application relates to a sensor-weight system for an exercise machine. The system comprises a load cell, a three-axis accelerometer, a battery, a housing, a communication unit, a data processing unit, and a weight stack with multiple weights. The load cell interconnects a cable with the weight sword of the weight stack, allowing precise measurement of the user's exerted force during exercise.

The invention is a system for continuous monitoring of respiratory and gastric functions using wearable devices. Each device includes a three-axis accelerometer and optionally a gyroscopic sensor. They feature wireless communication for data transmission and means for attachment to the skin. A computation device analyzes the data, using a machine learning model to detect coughing, swallowing and respiration. The method involves placing sensors on the skin of the cricoid region and epigastric region, filtering and transmitting data, training the model, and plotting coughing frequency. This system enhances detection accuracy and facilitates early medical interventions, benefiting chronic condition management and postoperative care.

The invention discloses an underground coal mine directional inclinometry integrated gyro attitude instrument and a measurement method. The underground coal mine directional inclinometry integrated gyro attitude instrument comprises a shell, a three-axis MEMS gyro, a three-axis MEMS accelerometer, a main control board, a battery module, a communication module, a charging interface, a communication interface, a base, a satellite injection module, a communication cable winch and an orifice handheld end. The small-size structural design is achieved through the MEMS gyroscope and the MEMS accelerometer, the low-power-consumption standby time is long, drilling machine tapping orientation and drilling track measurement can be conducted, the feasibility is high, and the reliability is high; improved initial alignment is adopted, the algorithm comprises coarse alignment and kalman filtering fine alignment, the process comprises data storage calculation and real-time sampling calculation, the alignment time is shortened to the maximum extent, the alignment precision is improved, and meanwhile, full-space high-precision orientation is achieved based on satellite injection parameters; in the process of dynamic tracking in and out of an attitude instrument hole, a communication cable winch is used for controlling the attitude instrument to carry out zero-speed correction, the dynamic accumulative error of the attitude instrument is corrected, and the track measurement precision is improved.

The invention provides a triaxial accelerometer based on a four-degree-of-freedom weak coupling resonator, the triaxial accelerometer comprises an upper-layer structure and a lower-layer structure, the upper layer is a micromechanical sensitive element constructed by taking silicon as a material, the lower layer is a glass base processed by a silicon dioxide material, and the glass base is used for providing mechanical support and electrical isolation functions. Wherein the micromechanical sensitive element has a signal conversion function; and the lower-layer glass base is formed by wet etching and metal sputtering processes and is used for signal output. On the basis of collaborative design of the orthogonally distributed resonance unit array and the mechanical amplification mechanism, electrostatic driving and amplitude ratio detection are combined, synchronous and accurate sensing of acceleration of the Y axis, the X axis and the Z axis is achieved through a single sensitive element, the technical limitation of a traditional single-axis detection mode is broken through, the complexity of a rear-end signal processing circuit is reduced, and the detection precision is improved. The device space utilization rate is improved.

The invention discloses a gastrointestinal decompression nursing device and a gastrointestinal tract pressure supervision system, and belongs to the technical field of medical nursing. A gastrointestinal decompression nursing device comprises a suction tank, a regulation and control box, a stomach tube and a flexible arm band, and the regulation and control box comprises a data preprocessing module and a control module; a plurality of flexible resistance type sensors are distributed in the flexible arm band at equal intervals, an in-vivo capsule is arranged at the front end of the stomach tube, and a pressure sensor and a three-axis accelerometer are arranged in the in-vivo capsule. According to the gastrointestinal nursing pressure reducer, the problem that an existing gastrointestinal nursing pressure reducer cannot achieve pressure nursing and supervision work according to different patients is solved, the in-vivo capsule is integrated with the pressure sensor, the triaxial accelerometer and the impedance sensor, and the pressure in an intestinal tract cavity, the peristalsis frequency and the content impedance can be synchronously collected; in combination with body surface pressure gradient data of the flexible arm band, improper treatment caused by misjudgment is avoided, and serious complications such as intestinal perforation and bleeding caused by delayed treatment are avoided.

The invention provides a method, a program and equipment for calibrating installation error angles of two inertial navigation systems based on accelerometer information and a storage medium. Performing multi-angle conversion on the structure provided with the two inertial navigation systems, acquiring a data matrix output by the triaxial accelerometers of the two inertial navigation systems within a period of time at each angle, and calculating the specific force of the two inertial navigation systems; based on the specific force data sets of the two inertial navigation systems, constructing a to-be-optimized information matrix about the installation attitude error angle by utilizing a physical relation equation; decomposing the information matrix to be optimized, calculating an optimal coordinate transformation matrix according to the decomposed matrix, and calculating a pitching installation error, a rolling installation error and a course installation error between the two inertial navigation systems according to elements in the optimal coordinate transformation matrix. According to the method, the defects of a self-alignment method and a transfer alignment method can be overcome, high-precision rapid calibration of the installation error angle between the two inertial navigation devices can be realized, and the method has practical engineering application significance.

The invention provides a high-precision subminiature inertial measurement combination based on an MEMS device, and relates to the technical field of MEMS inertial measurement combinations. According to the inertial measurement combination, a three-axis MEMS accelerometer chip and three single-axis MEMS gyroscope chips are respectively arranged on a rigid printed board, and acquired angular velocity information and acceleration information are respectively transmitted to the rigid printed board on which a processor chip is positioned through a flexible printed board; and working software embedded in the processor chip outputs the processed acceleration information and angular velocity information through an external electrical interface according to a system error model. The cable-free information processing circuit is formed in the mode, the system structure miniaturization problem in a limited space and the MEMS chip low-stress orthogonal installation problem can be solved, MEMS devices conduct information interaction, the utilization rate of the limited space of an inertial measurement combination can be effectively increased, cable installation space does not need to be reserved, and the cost is reduced. Therefore, the inertial measurement combination achieves the miniaturization effect.

A smart walking cane may include a smart cane, a smart device, and a smart software. The smart cane has a cane body, and a cane handle is formed on the top of the cane body to be held by the user. The cane body comprises a nine-axis inertial sensor, a pressure sensor, and a photoelectric sensor. The nine-axis inertial sensor has a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, and the three-axis accelerometer is used to detect the gravitational acceleration of the smart cane along the X, Y, and Z axes, allowing for the detection of movement speed, step count, and whether the user's hand has tremors while using the smart cane.

A monitor device (6) for coupling to a sensor assembly of an ostomy appliance is disclosed. The monitor device comprises a housing, a processor arranged in said housing, and an appliance interface configured for coupling the monitor device to the sensor assembly. The appliance interface comprises a plurality of terminals for connecting with a plurality of electrodes of the sensor assembly. Further, the monitor device comprises a three-axis accelerometer (540) configured to generate a position signal. Further, a method for determining a rotational offset of a sensor assembly relative to an ostomy and a system comprising a monitor device and a sensor assembly is disclosed.

The invention discloses an inclinometer magnetic interference error compensation method, system and device and a medium, and relates to the technical field of measurement while drilling, the method comprises the following steps: obtaining triaxial accelerometer data and triaxial magnetometer data collected by a plurality of preset azimuth angles of an inclinometer; performing magnetic interference preliminary correction on the data of the three-axis magnetometer by using a multi-measuring-point analysis method to obtain a preliminary correction azimuth angle; inputting the triaxial accelerometer data and the triaxial magnetometer data into a pre-trained error compensation model ICGO-RELM, and outputting a magnetic interference error compensation value; and compensating the initial correction azimuth angle based on the error compensation value to obtain final azimuth angle data. And the solving precision of the underground azimuth angle is improved.

The present disclosure provides a kind of inertial motion measurement double-axis rotation excitation enhancement method and system based on observability analysis.First, the system state space model of introducing double-axis rotation mechanism is constructed, the normalized observability analytical expression of sensor error under zero speed condition is derived based on Gramian matrix eigenvalue decomposition;Accordingly, the attitude condition of error observability maximization is determined, and the optimal rotation excitation strategy including a series of optimal observation positions is set;In the process of inertial navigation positioning assisted by zero speed update ZUPT, in non-zero speed interval, based on the optimal rotation excitation strategy, the IMU is sequentially guided to each optimal observation position by controlling double-axis rotation mechanism, to solve the problem of low error state observability caused by single carrier attitude in zero speed correction.The present application can realize full state high-precision estimation of three-axis accelerometer bias and gyroscope zero bias, effectively improve the precision and robustness of autonomous motion measurement in complex environment.

The invention relates to the technical field of hoisting machinery safety monitoring and control, and particularly discloses a portal crane moment limit protection method and system based on current verification. Real-time detection signals of a hoisting mechanism are obtained through a moment sensor, and a three-axis accelerometer is arranged at the connecting position of a steel wire rope to obtain swing signals; analyzing a jitter interference factor based on the steel wire rope jitter displacement, and judging the accuracy of a detection signal; on the premise that the signal is accurate, operation state detection of primary mechanical power calculation is carried out, then secondary operation state detection is carried out by combining the rated working current of the lifting frequency converter calculated by the detection signal and the real-time working current collected by the PLC, and the lifting mechanism is controlled to operate according to the detection result. Through multi-dimensional signal fusion and secondary verification, the detection precision and the overload judgment reliability are improved, the overload operation of equipment can be effectively prevented, and the operation safety of the crane and the service life of the equipment are guaranteed.

The invention discloses a blasting engineering monitoring system and method based on expansion type blasting vibration measurement piles, and relates to the technical field of mine blasting monitoring, and the blasting engineering monitoring system comprises a plurality of expansion type blasting vibration measurement piles and a visual tracking module; the unfolding type blasting vibration measuring pile comprises a center rod and an unfolding part arranged outside the center rod in a sleeving mode. A synchronous clock module and a cache unit are arranged in the center rod, and a triaxial accelerometer and a mark point are arranged at the two ends of the center rod respectively; the unfolding part comprises a plurality of unfolding type supporting sheets, and pressure sensors are arranged at the root parts of the unfolding type supporting sheets in a coupling manner; a strain gauge is arranged in a gap position between every two adjacent expansion type supporting sheets, and the strain gauges are electrically connected with the cache unit; and the strain gauge clings to the wall of the drill hole. The device is compact in structure and accurate in measurement, and can efficiently and reliably provide real-time data support and safety early warning decision basis for blasting engineering.

The invention provides a vehicle state identification method and device based on a triaxial accelerometer, equipment and a medium, and relates to the technical field of automotive electronics. The method comprises the following steps: a calibration stage: calculating and storing an initial attitude angle theta1 representing a horizontal static state of a vehicle; a data acquisition stage: calculating a real-time attitude angle theta2 representing the real-time state of the vehicle; a deviation value calculation stage: calculating an attitude deviation value delta theta based on the initial attitude angle theta 1 and the real-time attitude angle theta 2; in the vehicle state recognition and decision-making stage, at least one set of posture deviation threshold values are preset, the posture deviation value delta theta is compared with the posture deviation threshold values, meanwhile, at least two whole vehicle state signals are obtained through a vehicle communication interface, and the vehicle state recognition and decision-making stage is carried out on the basis of the comparison result of the posture deviation value delta theta and the posture deviation threshold values and the whole vehicle state signals. And comprehensively judging the current state of the vehicle. According to the invention, reliable and accurate identification of the vehicle state can be realized with extremely low cost through the triaxial accelerometer, and the false triggering rate is significantly reduced.

The application belongs to the technical field of music frequency point adjustment, and discloses an EQ frequency point self-adaptive adjustment method, device, equipment and storage medium, the method comprises the following steps: constructing a music database; detecting the music sound wave of the current music emitted by the audio generator by using a three-axis accelerometer, and obtaining a third three-axis change value of the music sound wave; comparing the third three-axis change value of the music sound wave with the range of the first three-axis change value in the music database, and determining the music type of the current music; detecting the music sound wave in real time by using the three-axis accelerometer, obtaining a fourth three-axis change value, and determining the real-time frequency EQ gain of the music sound wave according to the fourth three-axis change value; adaptively adjusting the EQ frequency point according to the music type, and adjusting the EQ playing gain according to the real-time frequency EQ gain; the music effect of sound playing is greatly improved, and the problem that the EQ frequency point value cannot be adaptively adjusted in real time according to the sound effect category of the current song is solved.

A system and method for avoiding unintended acceleration is provided and includes a first integrated circuit-based electronic controller configured to receive acceleration and brake requests and provide a control output via a datalink dedicated to controlling a prime mover system of the vehicle, a three-axis accelerometer configured to provide acceleration outputs indicative of acceleration of the accelerometer relative to three dimensions, and a second integrated circuit-based electronic controller operative independently of the first integrated circuit-based controller configured to receive the acceleration and braking requests, receive the acceleration outputs of the three-axis accelerometer, and operatively coupled with the datalink. The second integrated circuit-based electronic controller is configured to determine an unintended acceleration event in response to the acceleration and braking requests, and the acceleration outputs of the three-axis accelerometer.

The intelligent positioning and tracking device comprises a cap body, a three-axis magnetometer is fixedly connected to the front end of the left side of the cap body, a positioner is fixedly connected to the rear end of the left side of the cap body, and a three-axis accelerometer is fixedly connected to the front end of the right side of the cap body. And the rear end of the right side of the cap body is fixedly connected with a three-axis gyroscope. A worker wears the helmet body on the head, the first binding belt and the second binding belt can be firmly connected under the cooperation of the nylon velvet belt and the nylon hook belt, the three-axis accelerometer, the three-axis magnetometer, the three-axis gyroscope and the positioner are arranged, the position information of the worker can be positioned in real time, and the working efficiency is improved. A methane sensor, a carbon monoxide sensor, an oxygen concentration sensor, a temperature and humidity sensor, a dust concentration sensor and a microseismic monitoring sensor are arranged, and the methane concentration, the carbon monoxide concentration, the oxygen concentration, the temperature and humidity information, the dust concentration and the vibration condition in the environment can be detected respectively.

The invention belongs to the technical field of sleep detection, and particularly discloses a sleep detection method and system based on time sequence continuity optimization, and the method comprises the following steps: collecting original wrist strap accelerometer data through a triaxial accelerometer, and carrying out the preprocessing, thereby obtaining an input tensor; inputting the input tensor into a feature extraction module, and extracting local features and global features of the input tensor to obtain an advanced feature tensor; inputting the high-level feature tensor into a feature reconstruction module, and performing up-sampling and feature jump connection on the high-level feature tensor by adopting a linear interpolation reconstruction strategy to obtain a final data tensor; and carrying out secondary fine adjustment and time sequence smooth correction on the data tensor output by the feature reconstruction module to form complete sleep state prediction of one day per minute and corresponding confidence score output. By adopting the technical scheme, the residual unit is improved by utilizing the multi-scale cavity convolution, and the prediction result of the sleep event is more accurate through a bidirectional time sequence information processing mechanism.

The utility model discloses a three-axis acceleration sensor circuit and a three-axis accelerometer. The three-axis acceleration sensor circuit comprises an MCU module, an acceleration sensor module and a linear voltage stabilization module. The MCU module is provided with a first power supply end, a first input end and a first output end, the acceleration sensor module is provided with a second power supply end and a second output end, the second output end of the acceleration sensor module is connected with the first input end of the MCU module, and the linear voltage stabilization module is provided with a third output end. The third output end of the linear voltage stabilization module is connected with the first power end of the MCU module and the second power end of the acceleration sensor module. By integrating the acceleration sensor module, the MCU module and the linear voltage stabilization module, the acceleration of an object in the three-axis direction can be detected in real time, the influence of power supply noise is reduced, the accuracy of signal acquisition is improved, the integration level is improved, the power consumption is reduced, the size is reduced, and stable operation in a complex environment can be ensured.

The present application relates to a kind of pedestrian collaborative navigation method based on distance and angle, the collaborative navigation method includes: S1, by MIMU output each pedestrian respective three-axis accelerometer and three-axis gyroscope data, and carry out strapdown inertial navigation solution, again by the state of zero speed detection to the data of inertial navigation solution is carried out zero speed correction by extended Kalman filtering;S2, by UWB ranging angle measurement obtains the relative distance and angle between pedestrians as observation, then with the position information and heading angle information of N pedestrians as state quantity, carries out Kalman filtering, obtains the correction data of the position information and heading angle information of each pedestrian;S3, according to the position information and heading angle information of each pedestrian after correction collaborative navigation is carried out.The present application uses distance and angle as observation to correct pedestrian navigation after ZUPT auxiliary, solves the current pedestrian navigation heading angle drift and the problem of large amount of calculation of centralized filtering.

The application relates to an angle calibration solution method and system of a tilt sensor. Compared with the prior art, the method comprises the following steps: 1) collecting three-axis original acceleration data output by a three-axis accelerometer and performing filtering processing; 2) adopting a six-position calibration method to perform calibration; and 3) adopting a segmented combination angle solution method to calculate the included angle between the X axis and the Y axis of the tilt sensor relative to a horizontal plane. The application has the advantages of high accuracy and high precision in full-range measurement, smooth angle output, high calibration efficiency and the like.

The application discloses a building construction site data acquisition system based on Internet of Things and relates to the technical field of building engineering. The system is provided with a sound wave acquisition module, three-dimensional space is laid out with acquisition points in underground pouring structures, and an excitation source position is set in combination with the position of a pre-buried anchoring support, so that sound wave reverberation signals generated by wideband vibration signals are used to realize high-density and high-time-efficiency data acquisition. The MEMS three-axis accelerometer arranged in the acquisition point can collect the sound wave decay time Tdec and the reverberation residual energy peak value Ares of each acquisition point in real time, form a standard vibration sound wave energy data set, and provide a data basis for subsequent structure integrity judgment. Compared with traditional manual detection, image recognition and external detection methods, the system has the advantages of not needing to be damaged and not needing to additionally lay out ultrasonic equipment, and can realize early warning of internal interlayers, cavities and cold joints and real-time visualization of structure states in the construction process.

The invention provides a fall judgment method and a wearable device thereof. The method comprises the following steps: acquiring acceleration data based on a three-axis accelerometer, and acquiring inclination angle data based on an inclination angle sensor; determining a speed variation and a displacement variation of the wearable device in unit time based on the acceleration data, and determining final attitude information of the wearable device in space in combination with the inclination angle data; if it is determined that the posture of the wearable device is an abnormal movement posture based on the final posture information, starting a camera device to collect a front image of the wearable device, and determining the current orientation of the camera device; performing image analysis based on the front image to obtain human body features, and determining a relative position relationship between the human body and the ground based on the current orientation and the position of the human body features in the front image; and performing fall judgment based on the relative position relationship. According to the invention, the accuracy and reliability of fall judgment are improved.

This invention belongs to the field of inertial measurement technology, specifically an inertial measurement unit and its linear-angular coupling motion calibration method. It includes constructing a non-contact inertial measurement unit linear-angular motion synchronous measurement system. Through a reference cubic prism, a three-dimensional laser vibrometer, a first dual-axis autocollimator, a second dual-axis autocollimator, and a data acquisition module, an attitude transformation matrix is ​​established from the cubic mirror coordinate system to the inertial measurement unit coordinate system. By synchronously triggering the inertial measurement unit, based on the outputs of a three-axis gyroscope and a three-axis accelerometer, the three-axis acceleration measured by the three-dimensional laser vibrometer in the inertial measurement unit coordinate system, and the three-axis angular velocity of the inertial measurement unit measured by the dual-axis autocollimator, the linear-angular coupling motion of the inertial measurement unit is calibrated. This invention avoids the influence of vibration on the accuracy of the measurement system and solves the problem of difficulty in dynamically tracking and monitoring the actual motion of the inertial measurement unit during vibration.

The application discloses a MEMS three-axis accelerometer calibration method based on a simulated annealing particle swarm optimization algorithm, adopts a centrifuge to calibrate a MEMS three-axis accelerometer, uses angular velocity generated by the centrifuge as specific force input of the MEMS three-axis accelerometer, applies the simulated annealing particle swarm optimization algorithm to a nonlinear model for solving to-be-calibrated parameters of the MEMS three-axis accelerometer, and identifies corresponding parameters; in the calibration process, firstly, six-position tumbling method is used to determine scale factors and zero offset values of the three-axis accelerometer, and initial values of particle swarm iteration are determined, so that the convergence speed and stability of the algorithm are improved. By rotating a slave shaft on which the accelerometer is installed by 180 degrees, the influence of centrifuge system error on parameter identification is reduced. The method effectively excites high-order coefficients of the MEMS three-axis accelerometer, significantly reduces the uncertainty of unknown parameters of the MEMS three-axis accelerometer, and greatly improves the calibration precision.

The invention discloses a multi-protection aviation safety seat which comprises a seat body, a five-point type safety belt is buckled on the seat body, and an automatic tightening type safety belt device is arranged on the five-point type safety belt. A seat intelligent control system, more than one parachute and a plurality of guanidine nitrate / hydrogen peroxide / sodium azide safety airbags are arranged in the seat body, a landing thrust reverser is arranged at the front end of the seat body, and a spring hydraulic buffer device is further arranged at the hip position of the seat body. A falling type surrounding rescue unmanned aerial vehicle capable of automatically popping out of the seat body is arranged on the back surface of the seat body; the intelligent seat control system comprises a CPU, and a horizon sensor, a laser radar, a displacement sensor, a height sensor, an inertial measurement unit, a three-axis gyroscope, a barometer, a three-axis accelerometer, a three-axis geomagnetic sensor, a battery and an unmanned aerial vehicle flight control system which are electrically connected with the CPU. Through eight redundancy protection of the safety seat, one more choice is provided for safe landing.

The present application proposes a three-axis accelerometer and electronic device. The three-axis accelerometer includes: a substrate layer, a first detection module, a second detection module, and a third detection module; the substrate layer includes a first substrate and a second substrate stacked along a third direction; the third detection module includes a third mass block, at least one torsion beam, at least one mass connection beam, a third electrode layer, and at least one anchor point; the third mass block includes a first mass module and a second mass module; the torsion beam is arranged along the first direction and connected to at least one anchor point; the mass connection beam is arranged along the second direction and includes a first portion and a second portion, the length of the first portion is equal to the length of the second portion, and the midpoint of the mass connection beam is connected to at least one torsion beam; the third electrode layer is arranged between the mass connection beam and the second substrate, and the distance from the mass connection beam to the third electrode layer is less than the distance from the mass connection beam to the first substrate. The above structure can prevent the torsion beam from colliding with the first substrate.

The application relates to the field of power-assisted carrying technology, and particularly relates to an intelligent trolley, which comprises a trolley frame, a push rod, a handle arranged on the push rod, an electric control box fixed on a rear frame of the trolley frame, a central control circuit board integrated in the electric control box, a sensing module electrically connected with the central control circuit board through a line buried in the push rod and a bottom frame of the trolley frame, a three-axis accelerometer arranged on the bottom frame of the trolley frame, and an intelligent control system connected with the central control circuit board, wherein the intelligent control system comprises a function conversion module configured to acquire user input information or an actual running state of the trolley and correspondingly make the trolley be in or be converted to a corresponding function state, and a state control module configured to collect corresponding control condition information according to a current function state to control a running state of the trolley. The trolley can provide multiple function states to cope with different scenes and user demands.