CN108536184A - A kind of cart and control method by pressure sensitive control - Google Patents
A kind of cart and control method by pressure sensitive control Download PDFInfo
- Publication number
- CN108536184A CN108536184A CN201810316497.6A CN201810316497A CN108536184A CN 108536184 A CN108536184 A CN 108536184A CN 201810316497 A CN201810316497 A CN 201810316497A CN 108536184 A CN108536184 A CN 108536184A
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- CN
- China
- Prior art keywords
- pressure
- pressure sensor
- value
- power
- cart
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
- B62B5/004—Arrangements of motors in wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of cart controlled by pressure sensitive and control methods, frame downward is equipped with power wheel, the vehicle frame top is provided with handle, sliding set is provided on the handle, the electric control part includes pressure sensor and master control borad, the master control borad is electrically connected with pressure sensor, and the quantity of the pressure sensor is two, and in the gap being separately positioned between the both ends and handle of sliding set；Method includes zero；Pressure detecting stores；Information processing：Smothing filtering is carried out to pressure sensor original value；Information is converted：The voltage value of pressure sensor is converted into pressure value；Data merge：Two pressure sensors are combined into power-assisted value；Data export：Power-assisted value is exported to master control borad；Motor execution.The present invention can make equipment pass through the relative pressure for detecting and pushing away between passerby and vehicle, and triggering power wheel carries out movement adjustment, easy to operate, has a wide range of application, and can substantially improve operating experience, saves manpower.
Description
【Technical field】
The present invention relates to the technical field of trolley, especially a kind of cart controlled by pressure sensitive and control method
Technical field.
【Background technology】
Currently, the minitype wheeled vehicle of the man-driven occurred on the market, common are Hand-cart for transporting, supermarket shopping car,
Perambulator, Luggage Cart, bar traveling box, wheelchair etc..The common feature of these vehicles relies on Manual-pushing and pulling, does not make
Dynamic device, when Weight Loaded is larger, push-and-pull is got up very laborious.When vehicle needs climb and fall, needs to pay and pushed away than level land
The strength of row bigger controls vehicle, and does not have a brake apparatus, is susceptible to car slipping.In recent years, some devices occur has
Micro-machine cart, such as electric wheelchair, Intelligent luggage carrier, electric-powered infant car, these products play laborsaving to a certain extent
Purpose, but control mode is all that the speed of vehicle is controlled by switching automatically controlled mode, and user needs by relatively
The long time could learn to operate, and need to concentrate one's energy always to pay close attention to the speed of vehicle, be adjusted in real time by switch
It is whole.
【Invention content】
The purpose of the present invention is exactly to solve the problems of the prior art, proposes a kind of cart controlled by pressure sensitive,
Equipment can be made to pass through the relative pressure for detecting and pushing away between passerby and vehicle, triggering power wheel carries out movement adjustment, easy to operate,
Have a wide range of application, operating experience can be substantially improved, saves manpower.
To achieve the above object, the present invention proposes a kind of cart controlled by pressure sensitive, including car body and setting
It is used to control the electric control part of body movement state on the car body, it is characterised in that：The car body includes 11- slidings set, 12- handles
Hand, 13- vehicle frames, 14- power wheels, the frame downward are equipped with power wheel, and the vehicle frame top is provided with handle, the handle
On be provided with sliding set, the electric control part includes pressure sensor and master control borad, and the master control borad electrically connects with pressure sensor
It connects, the quantity of the pressure sensor is two, and in the gap being separately positioned between the both ends and handle of sliding set.
Preferably, further including soft-touch control, the soft-touch control setting is on sliding set.
Preferably, the power wheel includes land wheel and power motor, the rotary shaft of the power motor is connect with land wheel.
Preferably, the master control borad includes processor, memory, the processor respectively with memory, soft-touch control,
Power wheel and pressure sensor are electrically connected.
To achieve the above object, the present invention proposes a kind of cart control method controlled by pressure sensitive, including S1
Zero：Define two pressure sensor zero values；
S2 pressure detectings store：The pressure value of two pressure sensors is read, and is put into caching；
S3 information processings：Smothing filtering is carried out to pressure sensor original value；
S4 information is converted：The voltage value of pressure sensor is converted into pressure value；
S5 data merge：Two pressure sensors are combined into power-assisted value；
S6 data export：Power-assisted value is exported to master control borad, and sends out operating instruction；
S7 Motor executions：Equipment executes movement according to the S6 parameters exported.
Preferably, in the step S5, pressure before the power-assisted value positive value represents, pressure after negative value represents.
Beneficial effects of the present invention：The present invention is used by applying pressure sensor, sliding set in hand push vehicle device
Pressure sensor detection pushes away the relative pressure between passerby and vehicle, then triggers power wheel and carries out movement adjustment, reaches opposite
Pressure is to set the state of minimum value, to realize the purpose of electric boosted implementation.The present apparatus is operationally general with promotion one
The action of logical cart is equally simple, and learning cost is very low, and most people can be learned to operate at 1 minute or so.With electronic
The appearance of the products such as cart, electric-powered infant car, electric shopping cart, electric wheelchair, Intelligent luggage carrier, if carrying present invention dress
It sets, operating experience can be substantially improved, save manpower and raising efficiency.
The feature and advantage of the present invention will be described in detail by embodiment combination attached drawing.
【Description of the drawings】
Fig. 1 is a kind of schematic diagram of the cart controlled by pressure sensitive of the present invention；
Fig. 2 is a kind of operation block diagram of the cart control method controlled by pressure sensitive of the present invention.
In figure：1- car bodies, 11- slidings set, 12- handles, 13- vehicle frames, 14- power wheels, 2- electric control parts, 21- pressure sensings
Device, 22- master control borads.
【Specific implementation mode】
Refering to fig. 1, a kind of cart controlled by pressure sensitive of the present invention, including car body 1 and setting are used on car body 1
The electric control part 2 of 1 motion state of car body is controlled, the car body 1 includes that sliding covers 11, handle 12, vehicle frame 13 and power wheel 14, described
13 lower part of vehicle frame is equipped with power wheel 14, and 13 top of the vehicle frame is provided with handle 12, and sliding set is provided on the handle 12
11, the electric control part 2 includes pressure sensor 21 and master control borad 22, and the master control borad 22 is electrically connected with pressure sensor 21,
The quantity of the pressure sensor 21 is two, and in the gap being separately positioned between the both ends and handle 12 of sliding set 11.
Further include soft-touch control, the soft-touch control setting is on sliding set 11.The power wheel 14 includes land wheel and power motor, institute
The rotary shaft for stating power motor is connect with land wheel.The master control borad 22 include processor, memory, the processor respectively with deposit
Reservoir, soft-touch control, power wheel 14 and pressure sensor 21 are electrically connected.
Referring to Fig.2, a kind of cart control method controlled by pressure sensitive of the present invention, including S1 zeros：Define two
Pressure sensor zero value；S2 pressure detectings store：The pressure value of two pressure sensors is read, and is put into caching；S3 believes
Breath processing：Smothing filtering is carried out to pressure sensor original value；S4 information is converted：The voltage value of pressure sensor is converted into pressing
Force value；S5 data merge：Two pressure sensors are combined into power-assisted value；S6 data export：Power-assisted value is exported to master control borad,
And send out operating instruction；S7 Motor executions：Equipment executes movement according to the S6 parameters exported.In the step S5, the power-assisted
Pressure before value positive value represents, pressure after negative value represents.
The course of work of the present invention：
The present invention it is a kind of by pressure sensitive control cart and control method during the work time, at the gripping of vehicle
Device pressure sensor 21, when the implementation speed of people is consistent with vehicle, relative pressure 0, no longer need to apply extra-push model, two
Person keeps relative motion.When the implementation speed of people be more than or less than vehicle when, pressure sensor 21 can detect people with
Then the variation of relative pressure between vehicle automatically adjusts the movement velocity acceleration or deceleration of vehicle so that relative pressure gradually becomes
It is bordering on 0.A kind of such control mode is controlled with little need for additional studies, as long as carrying out simplest push pull maneuver, vehicle
Acceleration and deceleration can be carried out automatically so that pushing course is lighter, and people excessive need not also concentrate one's energy to pay close attention to car speed,
Soft-touch control is housed, after hand gripping, you can connect circuit in pressure handle.Former and later two pressure sensors are housed in handle,
The pressure value that detection front-rear direction is subject to respectively.Processing chip is also equipped in pressure handle, for calculating front and back pressure sensor
The difference of the pressure value measured, is then calculated, the motion control amount (PWM) that will be obtained.The control chip on movement chassis is connecing
After receiving the motion control amount, it is translated into the control voltage of motor, control motor reaches corresponding rotating speed.Move chassis
Driving wheel is connected with motor, and the rotating speed of motor will be presented as the speed on movement chassis, when the preceding pressure that pressure handle is subject to is more than
Afterwards when pressure, illustrate the action pushed, controlled motion chassis travels forward at this time, in motion process, before detecting
Pressure difference is gradually reduced afterwards, until when being 0, is illustrated to have had reached the speed for pushing away passerby's needs, is then moved chassis and keep the speed
Degree；When the preceding pressure that pressure handle is subject to is less than rear pressure, illustrate to need to carry out pulling action, move at this time chassis slow down or
Counter motion, until front and back pressure difference is 0；When being braked, handle is unclamped, at this time power remove, motor system
It is dynamic.
A kind of cart controlled by pressure sensitive of the present invention and control method push away passerby using the detection of pressure sensor 21
Then relative pressure between vehicle triggers motor and carries out movement adjustment, reaches the state that relative pressure is 0, to realize
The purpose of electric boosted implementation.Such device, operationally with push a common cart action as it is simple, learn at
This is very low, and most people can be learned to operate at 1 minute or so.With electrically driven truck, electric-powered infant car, electric shopping cart,
The appearance of the products such as electric wheelchair, Intelligent luggage carrier can substantially improve operating experience if carrying apparatus of the present invention, save
Human-saving and raising efficiency.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every utilization
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (6)
1. a kind of cart controlled by pressure sensitive, including car body (1) and setting are used to control car body (1) on car body (1)
The electric control part (2) of motion state, it is characterised in that：The car body (1) include sliding set (11), handle (12), vehicle frame (13) and
Power wheel (14), vehicle frame (13) lower part are equipped with power wheel (14), and vehicle frame (13) top is provided with handle (12), institute
It states and is provided with sliding set (11) on handle (12), the electric control part (2) includes pressure sensor (21) and master control borad (22), described
Master control borad (22) is electrically connected with pressure sensor (21), and the quantity of the pressure sensor (21) is two, and is respectively set
In gap between the both ends and handle (12) of sliding set (11).
2. a kind of cart controlled by pressure sensitive as described in claim 1, it is characterised in that：Further include soft-touch control,
The soft-touch control setting is on sliding set (11).
3. a kind of cart controlled by pressure sensitive as claimed in claim 2, it is characterised in that：Power wheel (14) packet
Land wheel and power motor are included, the rotary shaft of the power motor is connect with land wheel.
4. a kind of cart controlled by pressure sensitive as claimed in claim 2, it is characterised in that：Master control borad (22) packet
Processor, memory are included, the processor is electric with memory, soft-touch control, power wheel (14) and pressure sensor (21) respectively
Property connection.
5. a kind of cart control method controlled by pressure sensitive, it is characterised in that：Including
S1 is zeroed：Define two pressure sensor zero values；
S2 pressure detectings store：The pressure value of two pressure sensors is read, and is put into caching；
S3 information processings：Smothing filtering is carried out to pressure sensor original value；
S4 information is converted：The voltage value of pressure sensor is converted into pressure value；
S5 data merge：Two pressure sensors are combined into power-assisted value；
S6 data export：Power-assisted value is exported to master control borad, and sends out operating instruction；
S7 Motor executions：Equipment executes movement according to the S6 parameters exported.
6. a kind of cart control method controlled by pressure sensitive as claimed in claim 5, it is characterised in that：The step
In S5, pressure before the power-assisted value positive value represents, pressure after negative value represents.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810316497.6A CN108536184A (en) | 2018-04-10 | 2018-04-10 | A kind of cart and control method by pressure sensitive control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810316497.6A CN108536184A (en) | 2018-04-10 | 2018-04-10 | A kind of cart and control method by pressure sensitive control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108536184A true CN108536184A (en) | 2018-09-14 |
Family
ID=63479864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810316497.6A Pending CN108536184A (en) | 2018-04-10 | 2018-04-10 | A kind of cart and control method by pressure sensitive control |
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| Country | Link |
|---|---|
| CN (1) | CN108536184A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109745677A (en) * | 2019-02-15 | 2019-05-14 | 东南大学 | A kind of multi-functional tennis picks up ball machine |
| CN110901713A (en) * | 2018-09-17 | 2020-03-24 | 佳纶生技股份有限公司 | Electric cart and driving control system and method thereof |
| WO2021053054A1 (en) * | 2019-09-18 | 2021-03-25 | Cybex Gmbh | Stroller or stroller frame having a motor and having a control unit for supporting the drive with force sensor calibration, method for controlling the motor, and computer-readable storage medium |
| CN112810685A (en) * | 2021-02-26 | 2021-05-18 | 深圳市新达速物流有限公司 | Prevent supermarket shopping cart of turning on one's side |
| WO2021203792A1 (en) * | 2020-04-09 | 2021-10-14 | 广州思智科技有限公司 | Electric wheelchair power-assisted control system and power-assisted control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901713A (en) * | 2018-09-17 | 2020-03-24 | 佳纶生技股份有限公司 | Electric cart and driving control system and method thereof |
| CN109745677A (en) * | 2019-02-15 | 2019-05-14 | 东南大学 | A kind of multi-functional tennis picks up ball machine |
| WO2021053054A1 (en) * | 2019-09-18 | 2021-03-25 | Cybex Gmbh | Stroller or stroller frame having a motor and having a control unit for supporting the drive with force sensor calibration, method for controlling the motor, and computer-readable storage medium |
| WO2021203792A1 (en) * | 2020-04-09 | 2021-10-14 | 广州思智科技有限公司 | Electric wheelchair power-assisted control system and power-assisted control method |
| CN112810685A (en) * | 2021-02-26 | 2021-05-18 | 深圳市新达速物流有限公司 | Prevent supermarket shopping cart of turning on one's side |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180914 |
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| RJ01 | Rejection of invention patent application after publication |