CN110679273A - hand wheeled vehicle - Google Patents

Abstract

The invention relates to a hand-pushed wheeled vehicle, comprising: a traveling mechanism, which includes a front wheel and a rear wheel; a self-driving mechanism for driving the traveling mechanism; a first self-driving control device , the first self-driving control device controls the self-driving mechanism according to whether the front wheel is high off the ground, so that the self-driving mechanism lowers the driving mechanism when the front wheel is high off the ground. walking speed or stop driving the walking mechanism. The rotation speed of the self-driving mechanism is controlled by the first self-propelling control device when the front wheel is high off the ground, so as to reduce the running speed of the rear wheel or stop driving the rear wheel. According to the hand-push wheeled vehicle of the embodiment of the present invention, the turning radius can be reduced, and the self-propelled switch does not need to be repeatedly operated when turning, the operation procedure is simple, and misoperations are reduced.

Description

hand wheeled vehicle

technical field

The present invention relates to the technical field of vehicles, in particular to a hand-push wheeled vehicle.

Background technique

In the process of turning the wheeled vehicle in place, the user needs to tilt the front wheel, and then manually control the wheeled vehicle to turn in place; if the front wheel is not tilted up, the turning radius will be very large. Unable to turn in place.

Taking a self-propelled hand-push lawn mower as an example, in the process of turning on the spot, the front wheel also needs to be tilted up, and the self-propelling switch needs to be turned off to turn in-situ, and then the self-driving switch needs to be turned on after the turning is completed. Continue self-propelled.

If the self-propelled switch is not turned off, the steering radius of the push lawn mower will also be large and difficult to control. Therefore, in the process of using the hand-push lawn mower, if the user needs to turn on the spot in many cases, the user needs to repeatedly operate the self-propelled switch, resulting in complicated operation procedures and easy misoperation.

SUMMARY OF THE INVENTION

In view of this, the present invention proposes a lawn mower, which can reduce the turning radius, does not need to repeatedly operate the self-propelled switch, has simple operation procedures, and reduces misoperation.

According to one aspect of the present invention, there is provided a hand wheeled vehicle, comprising:

a running mechanism, the running mechanism includes a front wheel and a rear wheel;

A self-driving mechanism, the self-driving mechanism is used to drive the walking mechanism;

a first self-propelled control device, the first self-propelled control device controls the self-propelled mechanism according to whether the front wheel is high off the ground, so that when the front wheel is high off the ground, the self-propelled mechanism Reduce the running speed of the running gear or stop driving the running gear.

In a possible implementation manner, the first self-propelled control device includes a self-propelled switch. When the front wheel is high off the ground, the self-propelled switch reduces the rotational speed of the self-propelled mechanism or disconnects the self-propelled mechanism. A self-driving mechanism is connected to the traveling mechanism, and the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism.

In a possible implementation manner, the first self-propelled control device includes an identification sensor; the identification sensor includes a first sensor and a second sensor, and the first sensor is used to detect the angle between the front wheel and the ground , the second sensor is used to detect the pressure between the front wheel and the ground;

The first self-propelled control device determines whether the front wheel is above the ground according to the angle and the pressure.

In a possible implementation manner, the self-propelled switch is a mechanical switch, and when the front wheel is high off the ground, the mechanical switch is at least partially disconnected.

In a possible implementation manner, the hand-push wheeled vehicle further includes: a bottom case and a front wheel axle, the bottom case including a mounting hole for supporting the front wheel axle;

The front wheel is mounted on one side of the bottom case through the front wheel axle, the front wheel axle includes an axle body rotatably connected to the front wheel, and the axle main body can move in the mounting hole;

When the front wheel is high off the ground, the axle body moves to the lower side of the mounting hole, the mechanical switch disconnects at least part of the connection,

When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, and the mechanical switch is closed.

In a possible implementation manner, the mechanical switch includes a contact, and the bottom case further includes a recess for accommodating the contact,

The front wheel axle also includes a switch trigger part for triggering the contact and a connection part connecting the shaft main body and the switch trigger part,

When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch trigger part is disconnected from the contact, and the self-driving mechanism stops driving the traveling mechanism ;

When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger part is connected to the contact, and the self-driving mechanism starts to drive the traveling mechanism.

In a possible implementation, the contact is located at the top of the recess.

In a possible implementation, the contact is a sliding rheostat,

When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat increases, and the self-driving mechanism reduces the walking of the walking mechanism speed;

When the front wheel touches the ground, the shaft body moves to the upper side of the installation hole, the switch trigger part moves, the resistance value of the sliding rheostat becomes smaller, and the self-driving mechanism restores the walking speed of the walking mechanism .

In one possible implementation, the sliding varistor extends in a substantially vertical direction within the recess.

In a possible implementation manner, the connection part and the switch trigger part are located on different sides of the bottom case from the front wheel.

In a possible implementation, the mechanical switch includes a contact;

The hand-push wheeled vehicle further includes: a bottom case, the bottom case includes a mounting hole for supporting the front wheel axle, and the contact is located at the top of the mounting hole;

The front wheel axle includes an axle main body rotatably connected to the front wheel, the axle main body can move in the installation hole, and a switch trigger part is provided on the upper side of the axle main body;

When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch trigger part is disconnected from the contact, and the self-driving mechanism stops driving the traveling mechanism ;

When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger part is connected to the contact, and the self-driving mechanism starts to drive the traveling mechanism.

In a possible implementation manner, the contact is a sliding varistor, and the sliding varistor extends from the top to the bottom in the mounting hole;

When the shaft body moves to the lower side of the mounting hole, the resistance value of the sliding varistor increases, and the self-driving mechanism reduces the traveling speed of the traveling mechanism;

When the shaft body moves to the upper side of the mounting hole, the resistance value of the sliding varistor becomes smaller, and the self-driving mechanism restores the traveling speed of the traveling mechanism.

In a possible implementation manner, the first self-propelled control device further includes a control component;

When the control part determines that the front wheel is high off the ground according to the angle and pressure detected by the identification sensor, the control part sends a first control signal to the self-driving mechanism, and the self-driving mechanism The first control signal reduces the running speed of the running mechanism or stops driving the running mechanism;

When the control part determines that the front wheel contacts the ground according to the angle and pressure detected by the identification sensor, the control part sends a second control signal to the self-driving mechanism, and the self-driving mechanism The second control signal restores the walking speed of the walking mechanism.

In a possible implementation manner, the hand-push wheeled vehicle further includes: a bottom case, the front wheel is mounted on one side of the bottom case through a front wheel axle, and the front wheel is rotatably connected to the front wheel axle;

The first sensor is an angle sensor, and the first sensor is installed on the bottom case or the front wheel axle;

The second sensor is a pressure sensor, and the second sensor is installed at one or more of the following positions: on the front wheel, between the front wheel axle and the front wheel, or between the bottom case and the front wheel. between the front axles.

In a possible implementation manner, the pressure sensor is a capacitive pressure sensor.

In a possible implementation manner, the angle sensor sends the detected angle to the control part, and the pressure sensor sends the detected pressure to the control part.

In a possible implementation manner, when the control component determines that the front wheel is raised according to the angle, and judges that the pressure is less than a preset threshold, the control component determines that the front wheel is raised above the ground.

In a possible implementation manner, when the control component determines that the front wheel is raised according to the angle, and judges that the pressure is greater than a preset threshold, the control component judges that the front wheel is in contact with the ground.

In a possible implementation manner, there is a corresponding relationship between the preset threshold and the angle signal.

In a possible implementation manner, the hand-push wheeled vehicle further includes:

An operation lever, the operation lever includes a holding part, a second self-propelled control device is installed on the holding part, and the first self-propelled control device works normally when the second self-propelled control device is turned on.

In a possible implementation, the self-driving mechanism is at least used to drive the rear wheel.

When the front wheel is high off the ground, the first self-propelled control device controls the rotation speed of the self-propelled mechanism, thereby reducing the running speed of the running mechanism or stopping the driving of the running mechanism. According to the hand-push wheeled vehicle of the embodiment of the present invention, the turning radius can be reduced, and the self-propelled switch does not need to be repeatedly operated when turning, the operation procedure is simple, and misoperations are reduced.

Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features and aspects of the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 shows a block diagram of a hand wheeled vehicle according to an embodiment of the present invention.

FIG. 2 shows a schematic structural diagram of a hand-push wheeled vehicle according to an embodiment of the present invention.

FIG. 3 shows a partial enlarged view of M in FIG. 2 .

FIG. 4 shows a schematic diagram of a mounting hole according to an embodiment of the present invention.

FIG. 5 shows a schematic structural diagram of a hand-push wheeled vehicle according to an embodiment of the present invention.

FIG. 6 shows a partial enlarged view of M in FIG. 5 .

FIG. 7a shows a schematic diagram of a circuit structure according to an embodiment of the present invention.

FIG. 7b shows a schematic diagram of a circuit structure according to an embodiment of the present invention.

FIG. 8a shows a schematic structural diagram of a contact and a mounting hole according to an embodiment of the present invention.

FIG. 8b shows a schematic structural diagram of a sliding varistor and a mounting hole according to an embodiment of the present invention.

FIG. 9 shows a schematic diagram of the circuit connection relationship between the first self-driving control device and the second self-driving control device according to an embodiment of the present invention.

Description of reference numerals

1. Grip, 2. Second self-propelled control device, 3. Operation lever, 4. Rear wheel, 5. Bottom case, 51. Recess, 6. Front wheel, 7. Front axle, 71. Axle body, 72. Connection, 73. Switch trigger, 8. Contacts, 9 sliding rheostats, 10 self-actuated mechanisms.

Detailed ways

Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures denote elements that have the same or similar functions. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

In addition, in order to better illustrate the present invention, numerous specific details are given in the following detailed description. It will be understood by those skilled in the art that the present invention may be practiced without certain specific details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail so as not to obscure the subject matter of the present invention.

FIG. 1 shows a block diagram of a hand wheeled vehicle according to an embodiment of the present invention. As shown in FIG. 1 , the hand-pushed wheeled vehicle may include: a running mechanism, a self-propelled mechanism, and a first self-propelled control device.

Wherein, the traveling mechanism may include front wheels and rear wheels; the self-driving mechanism is used to drive the traveling mechanism, for example, it may be used to drive the rear wheel or the front wheel, or to drive the front wheel and the rear wheel, and the self-driving mechanism may be a motor, a gear Wait.

The first self-driving control device can control the self-driving mechanism according to whether the front wheel is high off the ground, so that the self-driving mechanism reduces the walking speed of the walking mechanism when the front wheel is high off the ground Or stop driving the running mechanism.

Among them, the front wheel is high off the ground may refer to: before turning, the user lifts the front wheel to cause the front wheel to be high off the ground, or the front wheel is high off the ground caused by the depression of the ground during the forward process of the hand-push wheeled vehicle, and many more.

Taking the self-propelled mechanism for driving the rear wheel as an example, when the front wheel is high off the ground (eg, the user tilts the front wheel up before turning), the first self-propelled control device can control the self-propelled The rotation speed of the mechanism is adjusted, thereby reducing the walking speed of the rear wheel or stopping the driving of the rear wheel. At this time, the user can push the hand-wheeled vehicle to turn.

If the walking speed of the rear wheels is reduced (for example, it is only partially reduced, but not reduced to 0), when the user pushes the hand-push wheeled vehicle to turn, it can be easily controlled and the turning radius can be reduced; if the walking speed of the rear wheels is reduced After the speed reaches 0, when the user pushes the hand-wheeled vehicle to steer, in-situ steering can be achieved; if the user stops driving the rear wheels, when the user pushes the hand-wheeled vehicle to steer, the in-situ steering can be achieved.

According to the above-mentioned hand-wheeled vehicle of the present invention, the turning radius can be reduced, and the first self-driving mechanism can control the self-driving mechanism to reduce the traveling speed of the traveling mechanism or stop the driving when the front wheel is high off the ground. The walking mechanism described above does not need to repeatedly operate the self-propelled switch when turning, and the operation procedure is simple and misoperation is reduced.

First Self-Propelled Control Device: Example 1

In a possible implementation manner, the first self-propelled control device may include a self-propelled switch, and when the front wheel is high off the ground, the self-propelled switch reduces the rotational speed of the self-propelled mechanism or disconnects all The self-driving mechanism is connected to the traveling mechanism, and the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism.

Wherein, the self-propelled switch can be a mechanical switch, and when the front wheel is high off the ground, the mechanical switch can at least disconnect a part of the connection; when the front wheel touches the ground, the mechanical switch is closed, so the The self-driving mechanism starts to drive the traveling mechanism.

Example 1.1

FIG. 2 shows a schematic structural diagram of a hand-push wheeled vehicle according to an embodiment of the present invention. FIG. 3 shows a partial enlarged view of M in FIG. 2 .

As shown in FIGS. 2 and 3 , the hand-push wheeled vehicle may include an operating lever 3 , and the operating lever 3 may include a grip portion 1 . The running gear may comprise a front wheel 6 and a rear wheel 4 , the self-driving mechanism is not shown in FIG. 2 . The hand wheeled vehicle may also include: a bottom case 5 and a front wheel axle 7 , the bottom case 5 includes a mounting hole (not shown) for supporting the front wheel axle 7 ; the front wheel 6 is mounted through the front wheel axle 7 On one side of the bottom case 5 , the front wheel axle 7 includes an axle main body 71 rotatably connected to the front wheel, and the axle main body 71 can move in the mounting hole.

As shown in FIG. 2 , a second self-propelled control device 2 may be installed on the grip portion 1 , and the second self-propelled control device 2 may include a push switch. Holding the part 1 and pressing the above switch, the driving mechanism drives the walking mechanism to start walking, and the user can adjust the walking direction through the holding part 1 .

The bottom case 5 can be used to connect the front wheel 6 and the rear wheel 4, and can play a certain protective role. The front wheel axle 7 is rotatably connected to the front wheel 6 through the axle main body 71 , so that the axle main body 71 will not rotate with the rotation of the front wheel 6 during the running process of the front wheel 6 . Wherein, the mounting hole may be circular, oval, or a bar with semi-circular arcs at both ends, or the like.

FIG. 4 shows a schematic diagram of a mounting hole according to an embodiment of the present invention. As shown in FIG. 4 , taking a bar with semi-circular arc shapes at both ends as an example, the bar can be in a direction perpendicular to the ground (vertical direction). ), the diameter of the semi-circular arc may be slightly larger than the outer diameter of the shaft main body 71, so that the shaft main body 71 can move up and down in the mounting hole. The above is just an example of the mounting hole, as long as the shaft body 71 can move in a substantially vertical direction in the mounting hole, the present invention does not limit the shape and opening direction of the mounting hole.

As shown in FIG. 3 , in this example, the self-propelled switch may include a contact 8 and a switch trigger portion 73 . Wherein, the switch triggering part 73 is used to trigger the contact 8, when the switch triggering part 73 contacts the contact 8, the contact 8 is triggered, and the self-driven switch is closed, and when the switch triggering part 73 is separated from the contact 8 , the self-drive switch is turned off. The switch trigger portion 73 may be the end portion of the shaft main body 71 of the front axle 7 extending from the side surface of the bottom case 5 . The connecting portion 72 and the switch triggering portion 73 may be located on different sides of the bottom case 5 from the front wheel 6. For example, the connecting portion 72 and the switch triggering portion 73 may be located on the outside of the bottom case. repair.

In order to prevent the switch trigger portion 73 from being dislocated and disconnected from the contacts 8 due to the movement of the switch trigger portion 73 during operation, the bottom case 5 may further include a recess 51 for accommodating the contacts 8 , and the switch trigger portion 73 may be located in the recess 51 . move.

The position and extension direction of the recessed portion 51 may refer to the position of the switch trigger portion 73 and the extension direction of the mounting hole. For example, if the mounting hole extends in a direction perpendicular to the ground (vertical direction), the recess 51 may also be arranged to extend in the vertical direction. As shown in FIG. 3 , if the connecting portion 72 extends downward, and the switch triggering portion 73 is located below the shaft body 71, the recess 51 can be disposed on the lower side of the bottom case; if the connecting portion 72 extends upward, the switch triggering portion 7 is located on the shaft body. 71, then the recess 51 can be provided on the upper side of the bottom case.

Figures 2 and 3 show the situation where the front wheel 6 is in contact with the ground. When the front wheel 6 is in contact with the ground, due to the self-weight of the bottom case 5, the shaft main body 71 is in contact with the upper side of the mounting hole, and the switch trigger part 73 is in contact with (connected to) the contacts 8 . At this time, the mechanical switch is closed, and the self-driving mechanism can drive the walking mechanism to walk normally, for example, it can walk according to the set speed.

When the hand-push wheeled vehicle walks on the slope, due to the self-weight of the bottom case 5, the shaft main body 71 is still in contact with the upper side of the mounting hole, and the switch trigger part 73 is in contact with the contact 8, which does not affect the self-driving mechanism Drive the walking mechanism to walk normally.

FIG. 5 shows a schematic structural diagram of a hand-push wheeled vehicle according to an embodiment of the present invention. FIG. 6 shows a partial enlarged view of M in FIG. 5 .

5 and 6 show the situation when the front wheel 6 is high off the ground. For example, the front wheel 6 is lifted off the ground because the user pushes the front wheel 6 up by applying pressure obliquely downward to the left through the grip portion 1 . When the front wheel 6 is high off the ground, due to the dead weight of the front wheel 6 and the shaft body 71, the shaft body 71 moves to the lower side of the mounting hole, and the switch trigger part 73 is disconnected from the contact 8 ( That is, the switch trigger portion 73 is separated from the contact 8). At this time, the mechanical switch is turned off, the self-driving mechanism can stop driving the walking mechanism to walk normally, and the user can turn left or right through the grip portion 1 to achieve in-situ steering.

When the hand-push wheeled vehicle is moving forward, when the front wheel is high off the ground caused by the depression of the ground, due to the dead weight of the front wheel 6 and the axle main body 71, the axle main body 71 moves to the lower side of the mounting hole, and the switch trigger part 73 disconnects the connection to said contacts 8 . At this time, the mechanical switch is turned off, and the self-driving mechanism can stop driving the traveling mechanism to walk normally. In this way, the safety of the hand-wheeled vehicle can be ensured during the walking process, so as to avoid accidents and damage to the hand-wheeled vehicle. .

In a possible implementation, the contact may be a sliding varistor. In one example, the sliding varistor may extend in a substantially vertical direction within the aforementioned recess 51 .

7a and 7b respectively show schematic diagrams of circuit structures according to an embodiment of the present invention. As shown in Figures 7a and 7b, the sliding varistor 9 is connected to the power supply and the self-driving mechanism 10, respectively.

As shown in Fig. 7a, when the front wheel 6 is high off the ground, the shaft main body 71 moves to the lower side of the mounting hole, the switch trigger part 73 moves (downward), and at this time, the sliding varistor 9 A large part of the upper part is connected in the loop, and the resistance value of the sliding rheostat 9 becomes larger. At this time, the self-driving switch reduces the rotational speed of the self-driving mechanism 10, and further, the self-driving mechanism 10 reduces the traveling speed of the walking mechanism.

As shown in FIG. 7b , when the front wheel 6 contacts the ground, the shaft body 71 moves to the upper side of the mounting hole, the switch trigger part 73 moves (upward), and at this time, the upper surface of the varistor 9 is slid A small part is connected in the loop, and the resistance value of the sliding rheostat 9 becomes smaller. At this time, the self-driving mechanism 10 normally drives the traveling mechanism to travel according to the set speed (in other words, the self-driving mechanism restores the traveling speed of the traveling mechanism).

By setting the sliding rheostat, the walking speed of the walking structure can be flexibly adjusted according to the different states of the front wheel, and there is no need to repeatedly operate the self-driving switch, the operation procedure is simple, and misoperations are reduced.

Example 1.2

In another possible implementation manner, the contact 8 may be located at the top of the mounting hole, and a switch trigger portion may be provided on the upper side of the shaft main body 71 . In other words, the switch trigger portion may be directly provided on the shaft main body 71 . Fig. 8a shows a schematic structural diagram of a contact and a mounting hole according to an embodiment of the present invention. As shown in Fig. 8a, the contact 8 is disposed at the top of the mounting hole.

At this time, when the front wheel 6 is high off the ground, due to the dead weight of the front wheel 6 and the axle main body 71, the axle main body 71 moves to the lower side of the mounting hole, and the switch trigger part is disconnected from the The connection of the contact 8; when the front wheel 6 contacts the ground, the shaft main body 71 moves to the upper side of the mounting hole due to the weight of the bottom case 5, and the switch trigger part is connected to the contact 8 .

In this example, the contact 8 can also be a sliding varistor, and the sliding varistor can extend from the top to the bottom in the mounting hole; FIG. 8b shows the relationship between the sliding varistor and the mounting hole according to an embodiment of the present invention. Schematic diagram of the structure, as shown in Figure 8b, the sliding varistor 9 extends from the top to the bottom in the mounting hole.

7a and 8b, when the front wheel 6 is high off the ground, due to the dead weight of the front wheel 6 and the axle main body 71, the axle main body 71 moves to the lower side of the mounting hole, sliding the resistance of the varistor. becomes larger, the self-driving mechanism reduces the running speed of the walking mechanism; referring to FIG. 7b and FIG. 8b, when the front wheel 6 contacts the ground, due to the self-weight of the bottom case 5, the shaft main body 71 moves to the On the upper side of the installation hole, the resistance value of the sliding varistor becomes smaller, and the self-driving mechanism restores the running speed of the walking mechanism.

By arranging the self-propelled switch in the mounting hole on the bottom case, there is no need to provide structures such as the recess 51 , the connecting part 72 and the switch trigger part 73 outside the bottom case, which simplifies the structure of the self-propelled switch and makes it more beautiful.

First Self-Propelled Control Device: Example 2

The first self-propelled control device may include an identification sensor; the identification sensor may include a first sensor and a second sensor, the first sensor is used for detecting the angle between the front wheel 6 and the ground, and the second sensor is used for The pressure between the front wheel and the ground is detected; the first self-propelled control device determines whether the front wheel is high off the ground according to the angle and the pressure.

The angle between the front wheel 6 and the ground may refer to the angle formed by the line connecting the centers of the front wheel 6 and the rear wheel 4 and the horizontal plane in the vertical upward direction. The pressure between the front wheel 6 and the ground can be determined in various ways. For example, a sensor can be directly set on the front wheel 6 to detect the pressure between the front wheel 6 and the ground, or a sensor can be set between the front wheel axle 71 and the front wheel 6 to detect the front wheel. The pressure between the axle 71 and the front wheel 6, and the pressure between the front wheel 6 and the ground is determined according to the detected pressure.

In a possible implementation manner, the first sensor may be an angle sensor, and the first sensor may be arranged on the front wheel axle or on the bottom case. When the front wheel 6 is high off the ground or the hand-wheeled vehicle is walking on a slope, The first sensor can detect the angle of the front wheel 6 relative to the horizontal plane; alternatively, the first sensor can be two height sensors, which are respectively installed on the front wheel 6 and the rear wheel 4 to detect the height of the front wheel 6 and the height of the rear wheel 4 , the first self-propelled control device can determine the angle of the front wheel 6 relative to the horizontal plane according to the height of the front wheel 6 and the height of the rear wheel 4 and the distance between the front wheel 6 and the rear wheel 4 .

In a possible implementation manner, the second sensor may be a pressure sensor, such as a capacitive pressure sensor, a piezoresistive pressure sensor, or a ceramic pressure sensor. The second sensor may be located at one or more of the following locations: for example, on the front wheel 6 , between the front wheel axle 71 and the front wheel 6 , or between the bottom case 5 and the front wheel axle 71 , or the like. Taking the arrangement between the front wheel axle 71 and the front wheel 6 as an example, the second pressure sensor can be arranged on the front wheel axle 71. During the rotation of the front wheel 6, if it is walking on a flat ground, the upper and lower sides of the front wheel axle 71 are detected. The magnitude of the detected pressure should be the same; if the hand-push wheeled vehicle is walking on a slope or the front wheel 6 is high off the ground, the magnitude of the pressure detected on the upper and lower sides of the front wheel axle 71 should be different. The difference in the obtained pressure can determine the pressure between the front wheel 6 and the ground.

In a possible implementation manner, the first self-propelled control device may further include a control component;

When the control part determines that the front wheel is high off the ground according to the angle and pressure detected by the identification sensor, the control part sends a first control signal to the self-driving mechanism, and the self-driving mechanism The first control signal reduces the running speed of the running mechanism or stops driving the running mechanism.

When the control part determines that the front wheel contacts the ground according to the angle and pressure detected by the identification sensor, the control part sends a second control signal to the self-driving mechanism, and the self-driving mechanism The second control signal restores the walking speed of the walking mechanism.

For example, the angle sensor may send the detected angle to the control unit, and the pressure sensor may send the detected pressure to the control unit. The control part can determine whether the front wheel 6 is raised according to the angle, and when the control part determines that the front wheel 6 is raised according to the angle and the pressure is less than the preset threshold, the control part determines that the front wheel 6 is high off the ground; When it is determined that the front wheel 6 is raised according to the angle and the pressure is greater than the preset threshold, the control component determines that the front wheel 6 is in contact with the ground.

The elevation of the front wheel 6 may be caused by the user tilting the front wheel 6 up, or it may be caused by the hand-push wheeled vehicle walking on a slope. The control part can determine whether the front wheel 6 is raised according to the angle between the front wheel and the ground detected by the angle sensor. For example, when the angle is greater than 0°, the control part can determine that the front wheel 6 is raised, and the angle is equal to At 0°, the control component can determine that the front wheel 6 is not raised.

When the angle is less than 0°, the control part can judge the concave, unevenness of the ground, etc. In this case, the control part can send a first control signal to the self-driving mechanism, and the self-driving mechanism can send a first control signal to the self-driving mechanism according to the first control The signal reduces the running speed of the running gear or stops driving the running gear.

It should be noted that the above 0° is only an example, and it may be an angle smaller than 0°. For example, the radius of the front wheel 6 is smaller than the radius of the rear wheel 4, then even when walking on flat ground, the front wheel 6 and the rear wheel The angle formed by the line connecting the center of the wheel 4 and the horizontal plane in the vertical upward direction is also an angle less than 0°. Therefore, the value of the above angle is only an example and does not limit the present invention in any way.

The above preset threshold may be preset according to the angle between the front wheel 6 and the ground, because when the hand-push wheeled vehicle walks on the slope, the pressure between the front wheel 6 and the slope will also be different due to different slope angles. If only one preset threshold is set, the judgment result of the control component may be inaccurate. As an example, the first self-propelled control device may include a storage module, and the storage module may store the correspondence between different angles and preset thresholds.

When the control component determines that the front wheel 6 is raised, the control component may search for a corresponding preset threshold value of pressure according to the angle of the front wheel 6 and the ground. Then determine the relationship between the detected front wheel 6 and the ground pressure and the preset threshold, if the pressure is less than the preset threshold, the control component can determine that the front wheel 6 is high off the ground, and if the pressure is greater than the preset threshold, the control component can determine The front wheels 6 are in contact with the ground.

In one example, a linear relationship may be formed between the above-mentioned angle and the preset threshold value, and after determining that the front wheel is raised according to the received angle, the control component may determine a preset corresponding (pressure) of the received angle according to the above-mentioned linear relationship. threshold.

In another example, the angle in one interval may correspond to a preset threshold, and the storage module may store the correspondence between the angles in different intervals and the preset threshold. After determining that the front wheel is raised according to the received angle, the control component can search for the preset threshold value corresponding to the received angle according to the above-mentioned corresponding relationship. In a possible implementation, as shown in FIG. 2 and FIG. 5 , a second self-propelled control device 2 may be installed on the grip portion 1 , and when the second self-propelled control device 2 is turned on, the The first self-propelled control device works normally.

Wherein, the second self-propelled control device 2 may include a push switch, a speed control module, and the like. FIG. 9 shows a schematic diagram of the circuit connection relationship between the first self-driving control device and the second self-driving control device 2 according to an embodiment of the present invention.

Taking both of them as self-driven switches as an example, as shown in Figure 9, when both self-driven switches are closed, the self-driven mechanism can work normally, and when any one of the self-driven switches is disconnected, the self-driven mechanism stops working.

When the first self-propelled control device includes an identification sensor and a control component, the first self-propelled control device can control the self-propelled mechanism only when the second self-propelled control device 2 is turned on.

In this way, in the event of failure of the first self-propelled control device or other emergencies, the user can still control the hand-push wheeled vehicle to stop, so as to avoid accidents.

Various embodiments of the present invention have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (21)

1. A hand-pushed wheeled vehicle is characterized in that, comprising: a running mechanism, the running mechanism includes a front wheel and a rear wheel; A self-driving mechanism, the self-driving mechanism is used to drive the walking mechanism; a first self-propelled control device, the first self-propelled control device controls the self-propelled mechanism according to whether the front wheel is high off the ground, so that when the front wheel is high off the ground, the self-propelled mechanism Reduce the running speed of the running gear or stop driving the running gear. 2. The hand-wheeled vehicle according to claim 1, characterized in that, The first self-driving control device includes a self-driving switch. When the front wheel is high off the ground, the self-driving switch reduces the rotational speed of the self-driving mechanism or disconnects the self-driving mechanism and the walking mechanism. connected, the self-driving mechanism reduces the running speed of the running gear or stops driving the running gear. 3. The hand-wheeled vehicle according to claim 1, characterized in that, The first self-propelled control device includes an identification sensor; the identification sensor includes a first sensor and a second sensor, the first sensor is used to detect the angle between the front wheel and the ground, and the second sensor is used to detect the pressure between the front wheel and the ground; The first self-propelled control device determines whether the front wheel is above the ground according to the angle and the pressure. 4. The hand-wheeled vehicle of claim 2, wherein The self-propelled switch is a mechanical switch, and when the front wheel is high off the ground, the mechanical switch is at least partially disconnected. 5. The hand-wheeled vehicle of claim 4, wherein The hand-push wheeled vehicle further comprises: a bottom case and a front wheel axle, the bottom case including a mounting hole for supporting the front wheel axle; The front wheel is mounted on one side of the bottom case through the front wheel axle, the front wheel axle includes an axle body rotatably connected to the front wheel, and the axle main body can move in the mounting hole; When the front wheel is high off the ground, the axle body moves to the lower side of the mounting hole, the mechanical switch disconnects at least part of the connection, When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, and the mechanical switch is closed. 6. The hand-wheeled vehicle of claim 5, wherein The mechanical switch includes a contact, and the bottom case further includes a recess for accommodating the contact, The front wheel axle also includes a switch trigger part for triggering the contact and a connection part connecting the shaft main body and the switch trigger part, When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch trigger part is disconnected from the contact, and the self-driving mechanism stops driving the traveling mechanism ; When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger part is connected to the contact, and the self-driving mechanism starts to drive the traveling mechanism. 7. The hand-wheeled vehicle of claim 6, wherein The contacts are located on top of the recesses. 8. The hand wheeled vehicle of claim 6, wherein The contacts are sliding rheostats, When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat increases, and the self-driving mechanism reduces the walking of the walking mechanism speed; When the front wheel touches the ground, the shaft body moves to the upper side of the installation hole, the switch trigger part moves, the resistance value of the sliding rheostat becomes smaller, and the self-driving mechanism restores the walking speed of the walking mechanism . 9. The hand-wheeled vehicle of claim 8, wherein The sliding varistor extends in a generally vertical direction within the recess. 10. The hand-push wheeled vehicle according to any one of claims 6-9, characterized in that, The connection part and the switch trigger part are located on different sides of the bottom case from the front wheel. 11. The hand wheeled vehicle of claim 5, wherein the mechanical switch includes contacts; The hand-push wheeled vehicle further includes: a bottom case, the bottom case includes a mounting hole for supporting the front wheel axle, and the contact is located at the top of the mounting hole; The front wheel axle includes an axle main body rotatably connected to the front wheel, the axle main body can move in the installation hole, and a switch trigger part is provided on the upper side of the axle main body; When the front wheel is high off the ground, the shaft body moves to the lower side of the mounting hole, the switch trigger part is disconnected from the contact, and the self-driving mechanism stops driving the traveling mechanism ; When the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, the switch trigger part is connected to the contact, and the self-driving mechanism starts to drive the traveling mechanism. 12. The hand wheeled vehicle of claim 11, wherein the contact is a sliding varistor, and the sliding varistor extends from the top to the bottom in the mounting hole; When the shaft body moves to the lower side of the mounting hole, the resistance value of the sliding varistor increases, and the self-driving mechanism reduces the traveling speed of the traveling mechanism; When the shaft body moves to the upper side of the mounting hole, the resistance value of the sliding varistor becomes smaller, and the self-driving mechanism restores the traveling speed of the traveling mechanism. 13. The hand-wheeled vehicle of claim 3, wherein The first self-propelled control device further includes a control component; When the control part determines that the front wheel is high off the ground according to the angle and pressure detected by the identification sensor, the control part sends a first control signal to the self-driving mechanism, and the self-driving mechanism The first control signal reduces the running speed of the running mechanism or stops driving the running mechanism; When the control part determines that the front wheel contacts the ground according to the angle and pressure detected by the identification sensor, the control part sends a second control signal to the self-driving mechanism, and the self-driving mechanism The second control signal restores the walking speed of the walking mechanism. 14. The hand wheeled vehicle of claim 13, wherein The hand-push wheeled vehicle further comprises: a bottom case, the front wheel is mounted on one side of the bottom case through a front wheel axle, and the front wheel is rotatably connected to the front wheel axle; The first sensor is an angle sensor, and the first sensor is installed on the bottom case or the front wheel axle; The second sensor is a pressure sensor, and the second sensor is installed at one or more of the following positions: on the front wheel, between the front wheel axle and the front wheel, or between the bottom case and the front wheel. between the front axles. 15. The hand wheeled vehicle of claim 14, wherein The pressure sensor is a capacitive pressure sensor. 16. The hand wheeled vehicle of claim 14, wherein The angle sensor sends the detected angle to the control part, and the pressure sensor sends the detected pressure to the control part. 17. The hand wheeled vehicle of claim 16, wherein When the control part determines that the front wheel is raised according to the angle, and judges that the pressure is less than a preset threshold, the control part judges that the front wheel is raised above the ground. 18. The hand wheeled vehicle of claim 16, wherein When the control part determines that the front wheel is raised according to the angle, and judges that the pressure is greater than a preset threshold, the control part judges that the front wheel is in contact with the ground. 19. The hand wheeled vehicle of claim 17 or 18, wherein There is a corresponding relationship between the preset threshold and the angle signal. 20. The hand-wheeled vehicle according to any one of claims 1-19, wherein the hand-wheeled vehicle further comprises: An operation lever, the operation lever includes a holding part, a second self-propelled control device is installed on the holding part, and the first self-propelled control device works normally when the second self-propelled control device is turned on. 21. The hand-wheeled vehicle of claim 1, wherein: The self-driving mechanism is used to drive at least the rear wheel.

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