CN114454929A - Intelligent power-assisted portable vehicle - Google Patents

Abstract

The invention provides an intelligent power-assisted carry-on vehicle, and relates to the technical field of transportation. The scheme comprises a rack, an axle position adjusting device and a sensing device, wherein the rack comprises a chassis and a backrest, the axle position adjusting device is fixedly arranged at the bottom of the chassis, a mounting bracket is fixedly arranged on the backrest, and the sensing device is arranged on the mounting bracket. The intelligent power-assisted hand-carried vehicle is connected with a waist connecting belt of the waist of an operator, and is suitable for being used in various application scenes.

Description

Intelligent power-assisted portable vehicle

Technical Field

The invention relates to the technical field of transportation, in particular to an intelligent power-assisted carry-on vehicle.

Background

The cart is a transport vehicle which is pushed and pulled by people and is the ancestor of all vehicles. Although the material handling technology of the trolley is continuously developed, the trolley is still used as an indispensable handling tool. The trolley is widely used in production and life because of its low cost, simple maintenance, convenient operation, light weight, ability to work in places where motor vehicles are not convenient to use, and convenience in carrying lighter objects in short distance.

Traditional shallow no matter possess electronic helping hand function, all have two big problems:

1. at least one hand is needed, and when the load is large, two hands are needed to operate, so that the control is inconvenient.

2. The push-type trolley can only deal with relatively flat road surfaces, cannot be used in various different environments, is difficult to operate particularly on muddy and bumpy road surfaces and mountainous roads, and has limited effectiveness for people with small self-strength.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide an intelligent power-assisted portable vehicle to solve the problems that the control is inconvenient and the portable vehicle cannot be used in different environments in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides an intelligent power-assisted personal vehicle which comprises a rack, an axle position adjusting device and a sensing device, wherein the rack comprises a chassis and a backrest, the axle position adjusting device is fixedly arranged at the bottom of the chassis, the chassis is rotatably connected with the backrest, an adjusting mechanism for adjusting the inclination of the backrest is arranged at the joint of the chassis and the backrest, a placing frame is fixedly arranged at the bottom of the chassis, a control box is fixedly arranged in the placing frame, a mounting bracket is fixedly arranged on the backrest, the sensing device is arranged on the mounting bracket, and a quick connector is arranged on the sensing device.

On the basis of the scheme, the axle position adjusting device further comprises an electric push rod and a sliding frame, the electric push rod and the sliding frame are oppositely arranged in two groups, the sliding frame is fixedly arranged at the bottom of the chassis, guide grooves are formed in the sliding frame, spring dampers are hinged to output shafts of the electric push rod, one ends of the spring dampers are respectively in sliding connection with the corresponding guide grooves, two wheel supports are hinged to the bottom of the chassis, wheels are arranged at the end portions of the wheel supports, and the other ends of the spring dampers are hinged to the end portions of the wheel supports respectively.

What need supplement is, the stroke route of electric putter output shaft with the interval phase-match of guide way length, the wheel internal fixation is provided with in-wheel motor, just in-wheel motor's pivot with wheel support tip fixed connection, electric putter is last to be provided with limit switch, can automatic stop after the flexible summit of electric putter output shaft, electric putter is last to be provided with the self-locking device that has outage self-locking function in the journey scope, the chassis is the steel frame, electric putter adopt the bolt with chassis fixed connection.

On the basis of the scheme, the intelligent power-assisted personal vehicle further comprises a load-bearing vest matched with the intelligent power-assisted personal vehicle, the load-bearing vest comprises a vest main body and a waist connecting band, the vest main body comprises a front plate and a back plate, the tops of the front plate and the back plate are connected through two shoulder connecting bands, a chest connecting band is fixedly arranged on the back surface of the back plate, a first magic tape is fixedly arranged on the front surface of the front plate, two ends of the chest connecting band are respectively and fixedly provided with a second magic tape, a first cover plate is fixedly arranged on the front surface of the front plate and positioned opposite to the first magic tape, a third magic tape is fixedly arranged on the back surface of the first cover plate, and the second magic tape is respectively matched with the first magic tape and the third magic tape; the backplate openly fixedly is provided with No. four magic subsides and No. two apron, No. two apron backs are fixed to be provided with No. five magic subsides, fixed being provided with on the waist connecting band leads the power board, lead fixed No. six magic subsides that are provided with on the power board, just No. five magic subsides respectively with No. four magic subsides reach No. six magic subsides phase-match.

What need supplement is, be provided with the tight regulation mechanism on the shoulder connecting band, just the preferred letter of a day of tight regulation mechanism is buckled, No. two magic subsides with No. five magic subsides are two-sided magic subsides, waist connecting band tip is provided with the buckle, waist connecting band back center department is fixed and is provided with quick detach joint, just quick detach joint with quick-operation joint phase-match, waist connecting band surface fabric is ventilative net material, just waist connecting band inner core sets up the hardboard, No. two apron quantity are two.

On the basis of the scheme, the intelligent power-assisted personal vehicle further comprises a manual controller matched with the intelligent power-assisted personal vehicle for use, the manual controller comprises a handle main body, a mounting groove is formed in the handle main body, a trigger is rotatably arranged on the handle main body and positioned at the opening of the mounting groove through a rotating shaft, a fixed seat is arranged in the mounting groove, a sensor base is fixedly arranged on the fixed seat, a Hall sensor cap is sleeved on the sensor base and is in contact with the inner wall of the trigger, compression grooves are formed in the sensor base and the Hall sensor cap, pressing springs are arranged in the compression grooves, a sensor is fixedly arranged on the sensor base, a magnet is fixedly arranged on the Hall sensor cap and is opposite to the sensor, and a processor is fixedly arranged in the mounting groove, the handle is characterized in that a damping rotating shaft is fixedly arranged in the handle body, one end of the damping rotating shaft is located a steering sensor is arranged in the mounting groove, the sensor and the steering sensor are electrically connected with the processor, a quick-release supporting plate is fixedly arranged at the other end of the damping rotating shaft, a quick-release clamp is fixedly arranged on the quick-release supporting plate, an aviation socket is fixedly arranged on the side wall of the handle body, and the aviation socket is electrically connected with the processor.

What needs to be supplemented is that an arc-shaped chute is arranged on the inner wall of the handle main body, a limit slider is fixedly arranged at the end part of the trigger and is connected with the arc-shaped chute in a sliding manner, a slide rail is arranged on the sensor base, a slide groove is arranged at the position opposite to the slide rail in the Hall sensor cap, the slide rail is connected with the slide groove in a sliding manner, a damping rotating shaft mounting hole, a rotation limit clamping groove and a quick-release clamp mounting hole are arranged on the quick-release support plate, a limit block is fixedly arranged at the position opposite to the rotation limit clamping groove on the handle main body and is connected with the rotation limit clamping groove in a sliding manner, the rotation limit clamping groove is an arc-shaped groove, the radian of the rotation limit clamping groove is 90 degrees, the damping rotating shaft is fixedly connected with the quick-release support plate through a damping rotating shaft mounting hole and a bolt, and the quick-release clamp is fixedly connected with the quick-release support plate through a quick-release clamp mounting hole and a bolt, just be located on the handle main part lateral wall the relative department of pivot is provided with from locking button, be provided with third gear knob switch on the handle main part lateral wall, just third gear knob switch with the sensor electricity is connected, the sensor is hall sensor, and the model is: 49E, the processor model is: ATMEGA32U4, the steering sensor model is: GT-A, the quick-release clamp is a Picatinny guide rail quick-release clamp, and the aviation socket is a six-core aviation socket.

On the basis of the above scheme, further, the sensing device includes a fixing frame, a plurality of side sensors are arranged on the fixing frame, a sleeve is arranged on the inner side of the fixing frame, one end of the sleeve is connected with the fixing frame in a universal manner, the other end of the sleeve is located between the side sensors and is attached to the input ends of the side sensors, a spindle is arranged in the sleeve, a spindle sensor is fixedly arranged at one end of the spindle, the quick connector is mounted at the end of the spindle sensor through a quick connector, a sliding block and buffer springs are further arranged in the sleeve, the number of the buffer springs is two and are respectively located on two sides of the sliding block, an end cover is arranged at one end of the sleeve, the spindle is arranged in the middle of the end cover in a sliding manner, and the other end of the spindle penetrates through the interior of one of the buffer springs and is fixedly connected with the sliding block, the other end of the sleeve is fixedly provided with a connecting seat, the inner side of the fixing frame is fixedly provided with a universal bearing, the fixing frame and the sleeve are in universal connection with the connecting seat through the universal bearing, the fixing frame is provided with a bracket base and a sensor mounting bracket, the bracket base is fixedly arranged at one end of the fixing frame, the sensor mounting bracket is detachably arranged at the other end of the fixing frame, the side sensors are arranged on the fixing frame through the sensor mounting bracket, the main shaft sensor is a tension and compression two-way sensor, the side sensors are single pressure sensors, the fixing frame is also provided with a connecting plug, the connecting plug is electrically connected with the side sensors, the number of the side sensors is at least four, the side sensors are uniformly distributed by taking the sleeve as the center, and the sliding block is preferably a linear bearing, and a protective cap is sleeved on the outer side of the input end of the lateral sensor.

On the basis of any one of the above schemes, further, a power supply module, a power supply management module, a control module, a communication module, a motor driving module and a force signal processing module are arranged in the control box;

the output end of the manual controller is electrically connected with the input end of the control module through the communication module, the output ends of the side sensor and the main shaft sensor are electrically connected with the input end of the control module through the force signal processing module, the output end of the control module is respectively electrically connected with the electric push rod, the power management module and the motor driving module, and the output end of the motor driving module is electrically connected with the hub motor;

the input end of the power management module is electrically connected with the power module, and the output end of the power management module is electrically connected with the electric push rod and the hub motor respectively.

A control method of an intelligent power-assisted portable vehicle,

an operator wears the weight bearing vest and is connected with the quick connector on the sensing device through the quick connector on the waist connecting belt;

when an operator pulls the intelligent power-assisted personal vehicle to accelerate to a stable speed, the input end of the main shaft sensor is pulled when the intelligent power-assisted personal vehicle accelerates, the main shaft sensor transmits signals to the force signal processing module, the force signal processing module processes the signals and then transmits data to the control module, the control module controls the hub motor to accelerate through the motor driving module, the input end of the main shaft sensor does not receive pulling force any more after the operator stops accelerating, the main shaft sensor does not transmit signals to the force signal processing module any more, and the speed of the operator is consistent with that of the intelligent power-assisted personal vehicle;

in the process that an operator pulls the intelligent power-assisted personal vehicle to decelerate to a stable speed, the input end of a main shaft sensor is stressed when decelerating, the main shaft sensor transmits signals to the force signal processing module, the force signal processing module processes the signals and then transmits the data to the control module, the control module controls the hub motor to decelerate through the motor driving module, the input end of the main shaft sensor is not stressed after the operator stops accelerating, the main shaft sensor does not transmit the signals to the force signal processing module, and the speed of the operator is consistent with that of the intelligent power-assisted personal vehicle;

when the load of the backrest is increased in the using process of the intelligent power-assisted personal vehicle, the side sensors at the top are stressed, the side sensors at the bottom are stressed, the side sensors at the top and the bottom transmit signals to the force signal processing module, the force signal processing module processes the signals and transmits the data to the control module, the control module controls the extension of the output shaft of the electric push rod, the axle of the intelligent power-assisted personal vehicle is positioned right below the gravity center of the intelligent power-assisted personal vehicle, and the back pressure of an operator is reduced;

when the load of the backrest is reduced in the use process of the intelligent power-assisted personal vehicle, the side sensors at the top are under tension, the side sensors at the bottom are under pressure, the side sensors at the top and the bottom transmit signals to the force signal processing module, the force signal processing module processes the signals and transmits the data to the control module, the control module controls the output shaft of the electric push rod to be shortened, the axle position of the intelligent power-assisted personal vehicle is positioned right below the gravity center of the intelligent power-assisted personal vehicle, and the tension of the back of an operator is reduced;

when an operator pulls the intelligent power-assisted personal vehicle to turn left, the lateral sensor on the left side is stressed, the lateral sensor on the right side is stressed, the lateral sensors on the left side and the right side are stressed, signal transmission is carried out on the lateral sensors on the left side and the right side to the force signal processing module, the force signal processing module processes signals and then carries out data transmission on the control module, the control module controls the hub motor on the left side to decelerate through the motor driving module, the hub motor on the right side to accelerate, and the intelligent power-assisted personal vehicle turns left along with the operator;

when an operator pulls the intelligent power-assisted personal vehicle to turn right, the lateral sensor on the left side is subjected to tension, the lateral sensor on the right side is subjected to pressure, the lateral sensors on the left side and the right side transmit signals to the force signal processing module, the force signal processing module processes the signals and then transmits data to the control module, the control module controls the hub motor on the left side to accelerate through the motor driving module, the hub motor on the right side to decelerate, and the intelligent power-assisted personal vehicle turns right along with the operator;

when an operator presses a trigger on the manual controller, the relative position of the magnet and the sensor is changed, the relative position is recorded by the sensor after being changed, and a signal is transmitted to the processor in an analog voltage mode;

when an operator releases a trigger on the manual controller, the relative position of the magnet and the sensor is changed, the change of the relative position can be recorded by the sensor and transmits a signal to the processor in the form of analog voltage, the processor transmits the signal to the control module through the communication module, and the control module controls the speed reduction of the hub motor through the motor driving module;

when an operator turns the handle main body to the left, the steering sensor records the rotation angle value of the handle main body and the quick-release supporting plate and transmits a signal to the processor in the form of analog voltage, the processor transmits the signal to the control module through the communication module, the control module controls the hub motor on the left side to decelerate through the motor driving module, the hub motor on the right side to accelerate, and the intelligent power-assisted hand-carried vehicle turns to the left;

when operating personnel turned the handle main part to the right, steering sensor recorded handle main part and quick detach layer board pivoted angle value to signal transmission to treater with analog voltage's form, the treater passes through communication module and transmits signal to control module, and control module controls left in-wheel motor through motor drive module and accelerates, and the in-wheel motor on right side decelerates, and intelligence helping hand is turned on the right side with the personal car.

The invention has the beneficial effects that:

the intelligent power-assisted portable vehicle provided by the invention can obtain the following effects:

1. when the device is used, the intelligent power-assisted personal vehicle is connected with the waist connecting belt at the waist of an operator, so that both hands are liberated, the intelligent power-assisted personal vehicle is suitable for being used in various application scenes, and meanwhile, the acting force is shared by the vest main body, so that the operation of the operator is easier, and various use requirements can be met;

2. the bottom of the chassis is fixedly provided with an axle position adjusting device, the relative position of the axle can be adjusted through the electric push rod, so that the axle is kept under the gravity center of the intelligent power-assisted personal vehicle, the waist oppression feeling of operators can be reduced through the arrangement, the use is convenient, and the output shaft of the electric push rod is also hinged with a damping spring device, so that the driving comfort level can be improved;

3. the speed and the steering of the intelligent power-assisted portable vehicle are controlled through the manual controller, the operation is simple and convenient, the operation can be carried out by one hand, the manual controller has strong anti-interference performance in the use process, the trigger can automatically reset under the action of the pressing spring after being loosened, the safety is good, and various crowd requirements can be met.

4. The lateral sensors are triggered by the movement of the sleeve, so that the force signal processing module can conveniently acquire data in an up-down direction, a left-right direction and a right-direction, the output state is adjusted in real time, and meanwhile, the buffer spring and the spindle sensor which are arranged in the sleeve can buffer when the force signal processing module is stopped suddenly or moves quickly while acquiring front and rear direction signals, so that the impact of impact force generated by inertia on a human body is reduced, and the injury of operators can be effectively avoided;

5. carry out diversified data acquisition through sensing device, realized intelligent helping hand personal vehicle and operating personnel's interaction, carry out data processing through the intelligent algorithm module in the power signal processing module to utilize control module signal output to control, thereby control intelligent helping hand personal vehicle and follow operating personnel motion state, realize that the car moves along with the people, reduce intelligent helping hand personal vehicle and control the degree of difficulty, use more facility.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic elevation structure view of an intelligent power-assisted carry-on vehicle provided by an embodiment of the invention;

fig. 2 is a schematic plan structure view of the intelligent power-assisted carry-on vehicle provided by the embodiment of the invention;

FIG. 3 is a schematic view of an elevation structure of an axle position adjustment device of the intelligent power-assisted carry-on vehicle provided by the embodiment of the invention;

fig. 4 is a left-view angle sectional view of an axle position adjustment device of the intelligent power-assisted personal vehicle provided by the embodiment of the invention;

FIG. 5 is a schematic view of a vertical structure of a loading vest of the intelligent power-assisted personal cart according to the embodiment of the present invention;

FIG. 6 is a schematic view of a vertical structure of a loading vest of the intelligent power-assisted carry-on vehicle according to the embodiment of the present invention;

FIG. 7 is a schematic view of a load-bearing vest unfolding structure of the intelligent power-assisted personal cart provided by the embodiment of the invention;

FIG. 8 is a cross-sectional view of a weight vest of the intelligent power-assisted personal cart provided in an embodiment of the present invention;

fig. 9 is a schematic view of a vertical structure of a manual controller of the intelligent power-assisted portable vehicle according to the embodiment of the present invention;

fig. 10 is a main view angle sectional view of a manual controller of an intelligent power-assisted portable vehicle according to an embodiment of the present invention;

fig. 11 is a schematic structural view of a quick-release supporting plate of a manual controller of the intelligent power-assisted portable vehicle according to the embodiment of the invention;

FIG. 12 is a schematic structural view showing the connection between the sensor base of the manual controller and the Hall sensor cap of the intelligent power-assisted carry-on vehicle provided by the embodiment of the invention;

fig. 13 is a schematic elevation structure view of a sensing device of the intelligent power-assisted carry-on vehicle according to the embodiment of the invention;

fig. 14 is a schematic plan structure view of a sensing device of the intelligent power-assisted carry-on vehicle according to the embodiment of the invention;

fig. 15 is a main perspective sectional view of a sensing device of the intelligent power-assisted carry-on vehicle provided by the embodiment of the invention;

FIG. 16 is an enlarged view of the structure of FIG. 15 at A;

fig. 17 is a main flow chart of the intelligent power-assisted carry-on vehicle provided by the embodiment of the invention.

Reference numerals:

1. a frame; 2. an axle position adjusting device; 3. a weight bearing vest; 4. a manual controller; 5. a sensing device; 6. a chassis; 7. a backrest; 8. placing a rack; 9. a control box; 10. an adjustment mechanism; 11. a reinforcing plate; 12. mounting a bracket; 13. a quick coupling; 14. an electric push rod; 15. a carriage; 16. a guide groove; 17. a spring damper; 18. a wheel carrier; 19. a wheel; 20. a hub motor; 21. a vest body; 2101. a front plate; 2102. a back plate; 22. a shoulder connecting strap; 2201. a tightness adjusting mechanism; 23. a chest connecting strap; 24. a first magic tape; 25. a second magic tape; 26. a first cover plate; 27. a third magic tape; 28. a fourth magic tape; 29. a second cover plate; 30. a lumbar connecting band; 31. a fifth magic tape; 32. a force guide plate; 33. a number six magic tape; 34. buckling; 35. a quick release joint; 36. a handle body; 37. mounting grooves; 38. a rotating shaft; 39. a trigger; 40. an arc-shaped chute; 41. a limiting slide block; 42. a fixed seat; 43. a sensor base; 44. a Hall sensor cap; 45. a compression groove; 46. a pressing spring; 47. a chute; 48. a slide rail; 49. a sensor; 50. a magnet; 51. a processor; 52. an aviation socket; 53. a damping rotating shaft; 54. a steering sensor; 55. a quick-release supporting plate; 56. a quick release clamp; 57. a damping rotating shaft mounting hole; 58. rotating the limiting clamping groove; 59. a limiting block; 60. a quick release clamp mounting hole; 61. a self-locking button; 62. a third-gear knob switch; 63. a bracket base; 64. a fixed mount; 65. a connecting seat; 66. a universal bearing; 67. a lateral sensor; 68. a buffer spring; 69. a main shaft; 70. a spindle sensor; 71. a sleeve; 72. a connecting plug; 73. an end cap; 74. a slider; 75. a sensor mounting bracket; 76. a protective cap.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Example 1

As shown in fig. 1 to 17, a schematic structural diagram of an intelligent power-assisted portable vehicle according to an embodiment of the present invention is shown, and the detailed structure and steps of the intelligent power-assisted portable vehicle and the control method of the intelligent power-assisted portable vehicle are described below with reference to the accompanying drawings.

The embodiment of the invention provides an intelligent power-assisted carry-on vehicle, as shown in figures 1-2, the intelligent power-assisted carry-on vehicle comprises a frame 1, an axle position adjusting device 2 and a sensing device 5, wherein the frame 1 comprises a chassis 6 and a backrest 7, the axle position adjusting device 2 is fixedly arranged at the bottom of the chassis 6, the chassis 6 is rotatably connected with the backrest 7, an adjusting mechanism 10 for adjusting the gradient of the backrest 7 is arranged at the joint of the chassis 6 and the backrest 7, the adjusting mechanism 10 is an existing product, the invention is not described in detail, a plurality of reinforcing plates 11 are fixedly arranged on the backrest 7 and used for improving the strength of the backrest 7, a placing frame 8 is fixedly arranged at the bottom of the chassis 6, a control box 9 is fixedly arranged in the placing frame 8, a mounting bracket 12 is fixedly arranged on the backrest 7, the sensing device 5 is arranged on the mounting bracket 12, and a quick connector 13 is arranged on the sensing device 5.

An alternative of this embodiment is, as shown in fig. 3-4, that the axle position adjusting device 2 includes an electric push rod 14 and a carriage 15, two sets of electric push rods 14 are disposed oppositely, and the carriages 15 corresponding to the electric push rods 14 one to one are all fixedly disposed at the bottom of the chassis 6, guide grooves 16 are all disposed on the carriages 15, spring dampers 17 are all hinged to output shafts of the electric push rods 14, and one end of each spring damper 17 is slidably connected to the corresponding guide groove 16, two wheel supports 18 are hinged to the bottom of the chassis 6, wheels 19 are disposed at ends of the wheel supports 18, and the other end of each spring damper 17 is hinged to the corresponding end of the wheel support 18.

It needs to be supplemented that, the stroke path of the output shaft of the electric push rod 14 is matched with the length interval of the guide groove 16, the wheel 19 is internally and fixedly provided with the in-wheel motor 20, the rotating shaft of the in-wheel motor 20 is fixedly connected with the end part of the wheel support 18, the electric push rod 14 is provided with a limit switch, the output shaft of the electric push rod 14 can automatically stop after stretching to the vertex, the electric push rod 14 is provided with a self-locking device with a power-off self-locking function in the stroke range, the chassis 6 is a steel frame, and the electric push rod 14 is fixedly connected with the chassis 6 through bolts.

The optional scheme of this embodiment is that, as shown in fig. 5-8, the intelligent power-assisted portable vehicle further includes a load-bearing vest 3 used in cooperation therewith, the load-bearing vest 3 includes a vest main body 21 and a waist connecting band 30, the vest main body 21 includes a front plate 2101 and a back plate 2102, the tops of the front plate 2101 and the back plate 2102 are connected by two shoulder connecting bands 22, a chest connecting band 23 is fixedly disposed on the back surface of the back plate 2102, a first magic tape 24 is fixedly disposed on the front surface of the front plate 2101, two magic tapes 25 are fixedly disposed at two ends of the chest connecting band 23, a first cover plate 26 is fixedly disposed on the front surface of the front plate 2101 and located opposite to the first magic tape 24, a third magic tape 27 is fixedly disposed on the back surface of the first cover plate 26, and the second magic tape 25 is respectively matched with the first magic tape 24 and the third magic tape 27; the backplate 2102 openly fixedly is provided with No. four magic subsides 28 and No. two apron 29, and No. two apron 29 backs are fixed to be provided with No. five magic subsides 31, and the fixed power guide plate 32 that is provided with on the waist connecting band 30, and fixed No. six magic subsides 33 that are provided with on the power guide plate 32, and No. five magic subsides 31 respectively with No. four magic subsides 28 and No. six magic subsides 33 phase-matchs.

What need supplement is, be provided with elasticity adjustment mechanism 2201 on the shoulder connecting band 22, and the preferred letter of a chinese character is detained for elasticity adjustment mechanism 2201, No. two magic subsides 25 are two-sided magic subsides with No. five magic subsides 31, the 30 tip of lumbar connecting band is provided with buckle 34, the fixed quick detach joint 35 that is provided with of the center department in the back of lumbar connecting band 30, and quick detach joint 35 and quick-operation joint 13 phase-match, the 30 surface fabrics of lumbar connecting band are ventilative net material, and the 30 inner cores of lumbar connecting band set up the hardboard, No. two apron 29 quantity are two.

An alternative of this embodiment is that, as shown in fig. 9-12, the intelligent power-assisted cart further includes a manual controller 4 used in cooperation with the intelligent power-assisted cart, the manual controller 4 includes a handle main body 36, a mounting groove 37 is formed in the handle main body 36, a trigger 39 is rotatably disposed on the handle main body 36 at the opening of the mounting groove 37 through a rotating shaft 38, a fixing seat 42 is disposed in the mounting groove 37, a sensor base 43 is fixedly disposed on the fixing seat 42, a hall sensor cap 44 is sleeved on the sensor base 43, the hall sensor cap 44 contacts with the inner wall of the trigger 39, compression grooves 45 are formed on the sensor base 43 and the hall sensor cap 44, a pressing spring 46 is disposed in the compression groove 45, a sensor 49 is fixedly disposed on the sensor base 43, a magnet 50 is fixedly disposed on the hall sensor cap 44 at a position opposite to the sensor 49, and a processor 51 is fixedly disposed in the mounting groove 37, the handle main body 36 is internally and fixedly provided with a damping rotating shaft 53, one end of the damping rotating shaft 53 is positioned in the mounting groove 37 and is provided with a steering sensor 54, the sensor 49 and the steering sensor 54 are electrically connected with the processor 51, the other end of the damping rotating shaft 53 is fixedly provided with a quick-release supporting plate 55, the quick-release supporting plate 55 is fixedly provided with a quick-release clamp 56, the side wall of the handle main body 36 is fixedly provided with an aviation socket 52, and the aviation socket 52 is electrically connected with the processor 51.

It is to be supplemented that an arc-shaped chute 40 is arranged on the inner wall of the handle main body 36, a limit slider 41 is fixedly arranged at the end of the trigger 39, the limit slider 41 is slidably connected with the arc-shaped chute 40, a slide rail 48 is arranged on the sensor base 43, a slide groove 47 is arranged in the hall sensor cap 44 at the position opposite to the slide rail 48, the slide rail 48 is slidably connected with the slide groove 47, a damping rotating shaft mounting hole 57, a rotation limit clamping groove 58 and a quick release clamp mounting hole 60 are arranged on the quick release support plate 55, a limit block 59 is fixedly arranged on the handle main body 36 at the position opposite to the rotation limit clamping groove 58, the limit block 59 is slidably connected with the rotation limit clamping groove 58, the rotation limit clamping groove 58 is an arc-shaped groove, the radian of the rotation limit clamping groove 58 is 90 degrees, the damping rotating shaft 53 is fixedly connected with the quick release support plate 55 through the damping rotating shaft mounting hole 57 and a bolt, the quick release clamp 56 is fixedly connected with the quick release support plate 55 through the quick release clamp mounting hole 60 and a bolt, on the handle main part 36 lateral wall and be located pivot 38 relative department and be provided with from locking button 61, be provided with third gear knob switch 62 on the handle main part 36 lateral wall, and third gear knob switch 62 is connected with sensor 49 electricity, and sensor 49 is hall sensor, and the model is: 49E, processor 51 model: ATMEGA32U4, steering sensor 54 model number: GT-A, the quick release clamp 56 is a Picatinny guide rail quick release clamp, and the aviation socket 52 is a six-core aviation socket.

An alternative of this embodiment is, as shown in fig. 13-16, that the sensing device 5 includes a fixing frame 64, a plurality of side sensors 67 are disposed on the fixing frame 64, a sleeve 71 is disposed on an inner side of the fixing frame 64, one end of the sleeve 71 is connected to the fixing frame 64 in a universal manner, the other end of the sleeve 71 is located between the side sensors 67 and is attached to input ends of the side sensors 67, a spindle 69 is disposed in the sleeve 71, a spindle sensor 70 is fixedly disposed at one end of the spindle 69, the quick coupling 13 is mounted at an end of the spindle sensor 70 through a quick coupling, a slider 74 and a buffer spring 68 are further disposed in the sleeve 71, the number of the buffer springs 68 is two and are respectively located at two sides of the slider 74, an end cap 73 is disposed at one end of the sleeve 71, the spindle 69 is slidably disposed in a middle of the end cap 73, and the other end passes through one of the buffer springs 68 and is fixedly connected to the slider 74, the fixed connecting seat 65 that sets up in the other end of sleeve 71, fixed universal bearing 66 that is provided with in the inboard of mount 64, mount 64 and sleeve 71 pass through universal bearing 66 and connecting seat 65 universal connection, be provided with support base 63 and sensor installing support 75 on the mount 64, the fixed one end that sets up at mount 64 of support base 63, sensor installing support 75 can dismantle the other end that sets up at mount 64, side direction sensor 67 passes through sensor installing support 75 and installs on mount 64, spindle sensor 70 is for drawing and pressing the two-way sensor, the model is: DYZ-101-70, the side direction sensor 67 is a single pressure sensor, and the model is as follows: DYZ-101-69, the fixing frame 64 is also provided with connecting plugs 72, the connecting plugs 72 are electrically connected with the side sensors 67, the number of the side sensors 67 is at least four, the side sensors 67 are uniformly distributed by taking the sleeve 71 as a center, the sliding blocks 74 are preferably linear bearings, and the outer sides of the input ends of the side sensors 67 are sleeved with protective caps 76.

The alternative of this embodiment is, as shown in fig. 17, that a power module, a power management module, a control module, a communication module, a motor driving module, and a force signal processing module are arranged in the control box 9, where the control module is an embedded chip and has a model: STM32F407, communication module are communication chip, and the model is: MAX232 RS232, the motor drive module is the customization product of Shenzhen Jinbaoguan technology Limited, the power signal processing module model is: the AD7124, the power module is a 36V, 1Kw lithium battery;

the output end of the manual controller 4 is electrically connected with the input end of the control module through the communication module, the output ends of the side sensor 67 and the main shaft sensor 70 are electrically connected with the input end of the control module through the force signal processing module, the output end of the control module is respectively electrically connected with the electric push rod 14, the power management module and the motor driving module, and the output end of the motor driving module is electrically connected with the hub motor 20;

the input end of the power management module is electrically connected with the power module, the output end of the power management module is electrically connected with the electric push rod 14 and the hub motor 20 respectively, and the power management module limits the voltage and the current which are output to the electric push rod 14, the hub motor 20 and each output port by the power module, so that each electric appliance can work normally.

The intelligent power-assisted portable vehicle provided by the embodiment of the invention can obtain the following effects: when the device is used, the intelligent power-assisted personal vehicle is connected with the waist connecting belt 30 at the waist of an operator, so that both hands are liberated, the intelligent power-assisted personal vehicle is suitable for being used in various application scenes, and meanwhile, the acting force is shared by the vest main body 21, so that the operator can operate more easily, and various use requirements can be met; the axle position adjusting device 2 is fixedly arranged at the bottom of the chassis 6, the electric push rod 14 can adjust the relative position of the axle, so that the axle is kept under the gravity center of the intelligent power-assisted personal vehicle, the waist oppression feeling of an operator can be reduced through the arrangement, the use is convenient, and the output shaft of the electric push rod 14 is also hinged with a damping spring 17, so that the driving comfort level can be improved; the speed and the steering of the intelligent power-assisted portable vehicle are controlled through the manual controller 4, the operation is simple and convenient, the operation can be carried out by one hand, the manual controller 4 has strong anti-interference performance in the use process, the trigger 39 can automatically reset under the action of the pressing spring 46 after being released, the safety is good, and the requirements of various people can be met; through setting up a plurality of side direction sensor 67 on the mount 64 at sensing device 5, and set up sleeve pipe 71 between side direction sensor 67, side direction sensor 67 is triggered through the removal of sleeve pipe 71, be convenient for power signal processing module goes on about, down, the diversified data acquisition in a left side and right side, real-time adjustment output state, simultaneously through buffer spring 68 and the main shaft sensor 70 of set up in the sleeve pipe, before gathering, can cushion when scram or when walking about fast in the time of rear direction signal, reduce the impact force of inertia production to the impact of human body, can effectively avoid operating personnel to be injured.

Example 2

The embodiment of the invention provides a control method of an intelligent power-assisted portable vehicle,

an operator wears the weight bearing vest 3 and is connected with the quick connector 13 on the sensing device 5 through the quick connector 35 on the waist connecting belt 30;

in the process that an operator pulls the intelligent power-assisted personal vehicle to accelerate to a stable speed, the input end of the spindle sensor 70 is pulled when accelerating, the spindle sensor 70 transmits signals to the force signal processing module, the force signal processing module processes the signals and then transmits data to the control module, the control module controls the hub motor 20 to accelerate through the motor driving module, the input end of the spindle sensor 70 does not receive pulling force after the operator stops accelerating, the spindle sensor 70 does not transmit signals to the force signal processing module any more, and the speed of the operator is consistent with that of the intelligent power-assisted personal vehicle;

in the process that an operator pulls the intelligent power-assisted personal vehicle to decelerate to a stable speed, the input end of the spindle sensor 70 is subjected to pressure during deceleration, the spindle sensor 70 carries out signal transmission to the force signal processing module, the force signal processing module carries out data transmission to the control module after signal processing, the control module controls the hub motor 20 to decelerate through the motor driving module, the input end of the spindle sensor 70 is not subjected to pressure after the operator stops accelerating, the spindle sensor 70 does not carry out signal transmission to the force signal processing module any more, and the speed of the operator is consistent with that of the intelligent power-assisted personal vehicle at the moment;

when the load of the backrest 7 is increased in the using process of the intelligent power-assisted personal vehicle, the side sensors 67 at the top are stressed, the side sensors 67 at the bottom are stressed, the side sensors 67 at the top and the bottom are subjected to tension, the side sensors 67 at the top and the bottom transmit signals to the force signal processing module, the force signal processing module processes the signals and transmits the data to the control module, the control module controls the extension of the output shaft of the electric push rod 14, the axle position of the intelligent power-assisted personal vehicle is adjusted to be right below the gravity center of the intelligent power-assisted personal vehicle, and the back pressure of an operator is reduced;

when the load of the backrest 7 is reduced in the using process of the intelligent power-assisted personal vehicle, the side sensors 67 at the top are under tension, the side sensors 67 at the bottom are under pressure, the side sensors 67 at the top and the bottom transmit signals to the force signal processing module, the force signal processing module processes the signals and transmits the data to the control module, the output shaft of the electric push rod 14 is controlled by the control module to be shortened, the axle position of the intelligent power-assisted personal vehicle is adjusted to be right below the gravity center of the intelligent power-assisted personal vehicle, and the back tension of an operator is reduced;

when an operator pulls the intelligent power-assisted personal vehicle to turn left, the lateral sensor 67 on the left side is stressed, the lateral sensor 67 on the right side is stressed, the lateral sensors 67 on the left side and the right side are stressed, signal transmission is carried out on the lateral sensors 67 on the left side and the right side to the force signal processing module, the force signal processing module processes the signals and then carries out data transmission on the control module, the control module controls the hub motor 20 on the left side to decelerate through the motor driving module, the hub motor 20 on the right side to accelerate, and the intelligent power-assisted personal vehicle turns left along with the operator;

when an operator pulls the intelligent power-assisted personal vehicle to turn right, the lateral sensor 67 on the left side is under tension, the lateral sensor 67 on the right side is under pressure, the lateral sensors 67 on the left side and the right side transmit signals to the force signal processing module, the force signal processing module processes the signals and transmits data to the control module, the control module controls the hub motor 20 on the left side to accelerate through the motor driving module, the hub motor 20 on the right side to decelerate, and the intelligent power-assisted personal vehicle turns right along with the operator;

when an operator presses a trigger 39 on the manual controller 4, the relative position of the magnet 50 and the sensor 49 is changed, the change of the relative position is recorded by the sensor 49 and a signal is transmitted to the processor 51 in the form of analog voltage, the processor 51 transmits the signal to the control module through the communication module, and the control module controls the acceleration of the in-wheel motor 20 through the motor driving module;

when an operator releases a trigger 39 on the manual controller 4, the relative position of the magnet 50 and the sensor 49 changes, the change of the relative position is recorded by the sensor 49 and transmits a signal to the processor 51 in the form of analog voltage, the processor 51 transmits the signal to the control module through the communication module, and the control module controls the speed reduction of the in-wheel motor 20 through the motor driving module;

it should be added that the signal output of the sensor 49 can be controlled by the three-gear knob switch 62, the options of stop, forward and backward can be selected, and when the option of stop is selected, the sensor 49 can not output signals; when the forward option is selected, the sensor 49 outputs a signal, and the control module controls the hub motor 20 to rotate towards the forward direction of the intelligent power-assisted portable vehicle through the motor driving module; when the backward option is selected, the sensor 49 outputs a signal, and the control module controls the hub motor 20 to rotate towards the backward direction of the intelligent power-assisted portable vehicle through the motor driving module;

when an operator turns the handle main body 36 to the left, the steering sensor 54 records the rotation angle value of the handle main body 36 and the quick-release supporting plate 55, and transmits a signal to the processor 51 in the form of analog voltage, the processor 51 transmits the signal to the control module through the communication module, the control module controls the hub motor 20 on the left side to decelerate through the motor driving module, the hub motor 20 on the right side to accelerate, and the intelligent power-assisted hand-carried vehicle turns to the left;

when an operator turns the handle main body 36 to the right, the steering sensor 54 records the rotation angle value of the handle main body 36 and the quick-release supporting plate 55, and transmits a signal to the processor 51 in the form of analog voltage, the processor 51 transmits the signal to the control module through the communication module, the control module controls the hub motor 20 on the left side to accelerate through the motor driving module, the hub motor 20 on the right side to decelerate, and the intelligent power-assisted hand-propelled vehicle turns to the right.

The intelligent power-assisted portable vehicle provided by the embodiment of the invention can obtain the following effects:

carry out diversified data acquisition through sensing device 5, realized intelligent helping hand personal vehicle and operating personnel's interaction, carry out data processing through the intelligent algorithm module in the power signal processing module to utilize control module signal output to control, thereby control intelligent helping hand personal vehicle and follow the operating personnel motion, realize that the car moves along with the people, reduce intelligent helping hand personal vehicle and control the degree of difficulty, use more facility.

Example 3

The embodiment of the invention provides an intelligent power-assisted portable vehicle using method,

the method comprises the following steps:

wearing the vest:

the extension length of the force guide plate 32 at the rear part of the waist connecting belt 30 and the length of the shoulder connecting belt 22 are adjusted according to the stature of an operator, so that the quick-release connector 35 on the waist connecting belt 30 is flush with the waist of the operator, the buckle 34 of the waist connecting belt 30 is fastened, and the tightness of the chest connecting belt 23 is adjusted, so that the vest main body 21 tightly wraps the human body, and the relative sliding is avoided.

The manual controller is connected with:

the manual controller 4 and the control box 9 are connected using a cable, and the "stop" option where the knob of the manual controller 4 is at the level is determined.

Starting up:

checking whether barriers exist around the intelligent power-assisted portable vehicle, particularly under wheels 19, checking whether an emergency stop switch on a control box 9 is in a closed state, pressing a starting button after the determination, completely starting the intelligent power-assisted portable vehicle after an indicator light flickers once, and checking whether only a green indicator light is turned on or not, wherein if a red light is turned on, the situation that the connection of a manual controller 4 is loosened and the checking is firm is shown;

the operator connects the quick release joint 35 on the waist connecting band 30 on the weight vest 3 with the quick release joint 13 on the sensing device 5, and notices that: effective firm connection is only indicated when a 'click' sound is heard

And step two, taking the passengers, which comprises the following specific steps:

an operator is connected with the intelligent power-assisted personal vehicle and then naturally stands, and passengers take the intelligent power-assisted personal vehicle from the side surface, sit well and lean backwards.

According to the stress condition of the backrest, the force signal processing module is subjected to signal transmission through the lateral sensor 67, the length of the electric push rod 14 telescopic rod is controlled through the control module, the axle position of the intelligent power-assisted hand-carried vehicle is adjusted to be right below the gravity center of the intelligent power-assisted hand-carried vehicle, and the back pressure or the pulling force of an operator is reduced.

Step three, operating the equipment, specifically comprising the following steps:

the manual controller 4 is turned to an upward 'forward' option by a knob, the trigger 39 is slightly pressed until the vehicle is started, and then the pressing degree of the trigger 39 can be adjusted to control the forward speed of the intelligent power-assisted personal vehicle, and attention is paid to: despite the acceleration and deceleration limitations of the device, it is recommended that the operator try to avoid slamming or slamming the trigger 39, if possible, in order to avoid the risk of too rapid a change in vehicle speed;

when the vehicle needs to turn, the handle body 36 is rotated towards the corresponding direction to realize turning, and the larger the rotation degree is, the smaller the turning radius is;

when backing is needed, the manual controller 4 is turned to a downward 'backing' option by a knob, the intelligent power-assisted bicycle can be backed by pressing the trigger 39, and the intelligent power-assisted bicycle is fixed in speed and cannot turn due to the consideration of driving safety;

step four, finishing the operation, specifically comprising the following steps:

after the intelligent power-assisted portable vehicle is used, the knob of the manual controller 4 must be rotated to a stop option at the horizontal position, and at the moment, the equipment is locked and does not receive instructions any more;

note that: when the equipment is in passive motion for a long distance (more than one meter), if the equipment is dragged, an 'emergency stop' switch on the control box 9 needs to be pressed, so that the counter electromotive force generated by the hub motor 20 during the passive motion can be prevented from burning other electronic components of the vehicle.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The utility model provides an intelligence helping hand personal car which characterized in that: including frame (1), axletree position adjustment device (2) and sensing device (5), frame (1) is including chassis (6) and back (7), axletree position adjustment device (2) are fixed to be set up in chassis (6) bottom, chassis (6) with back (7) are rotated and are connected, just chassis (6) with back (7) junction is provided with and is used for adjusting adjustment mechanism (10) of back (7) gradient, chassis (6) bottom is fixed and is provided with rack (8), rack (8) internal fixation is provided with control box (9), fixed installing support (12) that is provided with on back (7), sensing device (5) set up on installing support (12), be provided with quick-operation joint (13) on sensing device (5).

2. The intelligent power-assisted personal cart of claim 1, wherein the axle position adjusting device (2) comprises an electric push rod (14) and a carriage (15), two sets of electric push rods (14) are oppositely arranged, and the sliding frames (15) which are in one-to-one correspondence with the electric push rods (14) are all fixedly arranged at the bottom of the chassis (6), the sliding frames (15) are all provided with guide grooves (16), the output shafts of the electric push rods (14) are all hinged with spring shock absorbers (17), and one end of each spring shock absorber (17) is respectively connected with the corresponding guide groove (16) in a sliding way, the bottom of the chassis (6) is hinged with two wheel brackets (18), wheels (19) are arranged at the end parts of the wheel brackets (18), and the other end of each spring shock absorber (17) is hinged with the end part of the corresponding wheel bracket (18).

3. The intelligent power-assisted personal cart of claim 2, wherein the stroke path of the output shaft of the electric push rod (14) is matched with the length interval of the guide groove (16), a hub motor (20) is fixedly arranged in the wheel (19), and the rotating shaft of the hub motor (20) is fixedly connected with the end part of the wheel bracket (18).

4. The intelligent power-assisted walk-cart according to claim 1, further comprising a weight vest (3) used in cooperation with the intelligent power-assisted walk-cart, wherein the weight vest (3) comprises a vest main body (21) and a waist connecting band (30), the vest main body (21) comprises a front plate (2101) and a back plate (2102), the front plate (2101) and the top of the back plate (2102) are connected through two shoulder connecting bands (22), a chest connecting band (23) is fixedly arranged on the back of the back plate (2102), a first magic tape (24) is fixedly arranged on the front of the front plate (2101), a second magic tape (25) is fixedly arranged at both ends of the chest connecting band (23), a first cover plate (26) is fixedly arranged on the front of the front plate (2101) and is located opposite to the first magic tape (24), and a third magic tape (27) is fixedly arranged on the back of the first cover plate (26), the second magic tape (25) is respectively matched with the first magic tape (24) and the third magic tape (27); backplate (2102) openly fixed be provided with No. four magic subsides (28) and No. two apron (29), No. two apron (29) back is fixed to be provided with No. five magic subsides (31), fixed power guide plate (32) that are provided with on waist connecting band (30), fixed No. six magic subsides (33) that are provided with on power guide plate (32), just No. five magic subsides (31) respectively with No. four magic subsides (28) and No. six magic subsides (33) phase-match.

5. The intelligent power-assisted cart according to claim 4, wherein a tightness adjusting mechanism (2201) is arranged on the shoulder connecting belt (22), the tightness adjusting mechanism (2201) is preferably a Chinese character ri-shaped buckle, the second magic tape (25) and the fifth magic tape (31) are double-sided magic tapes, a buckle (34) is arranged at the end of the waist connecting belt (30), a quick-release joint (35) is fixedly arranged at the center of the back of the waist connecting belt (30), and the quick-release joint (35) is matched with the quick-release joint (13).

6. The intelligent power-assisted personal cart of claim 1, further comprising a manual controller (4) used in cooperation with the intelligent power-assisted personal cart, wherein the manual controller (4) comprises a handle main body (36), an installation groove (37) is formed in the handle main body (36), a trigger (39) is rotatably arranged on the handle main body (36) and located at an opening of the installation groove (37) through a rotating shaft (38), a fixed seat (42) is arranged in the installation groove (37), a sensor base (43) is fixedly arranged on the fixed seat (42), a Hall sensor cap (44) is sleeved on the sensor base (43), the Hall sensor cap (44) is in contact with the inner wall of the trigger (39), compression grooves (45) are formed in the sensor base (43) and the Hall sensor cap (44), a pressing spring (46) is arranged in the compression groove (45), a sensor (49) is fixedly arranged on the sensor base (43), a magnet (50) is fixedly arranged at the position, opposite to the sensor (49), on the Hall sensor cap (44), a processor (51) is fixedly arranged in the mounting groove (37), a damping rotating shaft (53) is fixedly arranged in the handle main body (36), one end of the damping rotating shaft (53) is positioned in the mounting groove (37) and is internally provided with a steering sensor (54), the sensor (49) and the steering sensor (54) are both electrically connected with the processor (51), a quick-release supporting plate (55) is fixedly arranged at the other end of the damping rotating shaft (53), a quick-release clamp (56) is fixedly arranged on the quick-release supporting plate (55), and an aviation socket (52) is fixedly arranged on the side wall of the handle main body (36), the aviation socket (52) is electrically connected with the processor (51).

7. The intelligent power-assisted carry-on vehicle according to claim 6, wherein an arc-shaped sliding groove (40) is formed in the inner wall of the handle main body (36), a limiting sliding block (41) is fixedly arranged at the end of the trigger (39), the limiting sliding block (41) is in sliding connection with the arc-shaped sliding groove (40), a sliding rail (48) is arranged on the sensor base (43), a sliding groove (47) is formed in the hall sensor cap (44) at the position opposite to the sliding rail (48), the sliding rail (48) is in sliding connection with the sliding groove (47), a damping rotating shaft mounting hole (57), a rotating limiting clamping groove (58) and a quick release clamp mounting hole (60) are formed in the quick release supporting plate (55), a limiting block (59) is fixedly arranged at the position opposite to the rotating limiting clamping groove (58) on the handle main body (36), and the limiting block (59) is in sliding connection with the rotating limiting clamping groove (58), rotate spacing draw-in groove (58) and be the arc wall, it is 90 to rotate spacing draw-in groove (58) radian, damping pivot (53) with quick detach layer board (55) are through damping pivot mounting hole (57) and bolt fixed connection, quick detach clamp (56) with quick detach layer board (55) are through quick detach clamp mounting hole (60) and bolt fixed connection.

8. The intelligent power-assisted personal cart of claim 1, wherein the sensing device (5) comprises a fixing frame (64), the fixing frame (64) is provided with a plurality of lateral sensors (67), a sleeve (71) is arranged on the inner side of the fixing frame (64), one end of the sleeve (71) is in universal connection with the fixing frame (64), the other end of the sleeve (71) is located between the lateral sensors (67) and attached to the input ends of the lateral sensors (67), a spindle (69) is arranged in the sleeve (71), one end of the spindle (69) is fixedly provided with a spindle sensor (70), and the quick coupling (13) is mounted at the end of the spindle sensor (70) through a quick coupling.

9. The intelligent power-assisted personal cart of any one of claims 1 to 8, wherein a power module, a power management module, a control module, a communication module, a motor driving module and a force signal processing module are arranged in the control box (9);

the output end of the manual controller (4) is electrically connected with the input end of a control module through a communication module, the output ends of the lateral sensor (67) and the main shaft sensor (70) are electrically connected with the input end of the control module through a force signal processing module, the output end of the control module is respectively and electrically connected with the electric push rod (14), the power management module and the motor driving module, and the output end of the motor driving module is electrically connected with the hub motor (20);

the input end of the power supply management module is electrically connected with the power supply module, and the output end of the power supply management module is electrically connected with the electric push rod (14) and the hub motor (20) respectively.

10. The intelligent power-assisted portable vehicle control method is characterized in that,

an operator wears the weight bearing vest (3) and is connected with the quick connector (13) on the sensing device (5) through the quick connector (35) on the waist connecting belt (30);

in the process that an operator pulls the intelligent power-assisted personal vehicle to accelerate to a stable speed, the input end of a main shaft sensor (70) is subjected to pulling force during acceleration, the main shaft sensor (70) transmits signals to a force signal processing module, the force signal processing module processes the signals and then transmits data to a control module, the control module controls a hub motor (20) to accelerate through a motor driving module, the input end of the main shaft sensor (70) is not subjected to the pulling force any more after the operator stops accelerating, the main shaft sensor (70) does not transmit the signals to the force signal processing module any more, and the speed of the operator is consistent with that of the intelligent power-assisted personal vehicle;

in the process that an operator pulls the intelligent power-assisted portable vehicle to decelerate to a stable speed, the input end of a main shaft sensor (70) is subjected to pressure during deceleration, the main shaft sensor (70) transmits signals to a force signal processing module, the force signal processing module processes the signals and then transmits data to a control module, the control module controls a hub motor (20) to decelerate through a motor driving module, the input end of the main shaft sensor (70) is not subjected to pressure any more after the operator stops accelerating, the main shaft sensor (70) does not transmit signals to the force signal processing module any more, and the speed of the operator is consistent with that of the intelligent power-assisted portable vehicle;

when the load of the backrest (7) is increased in the using process of the intelligent power-assisted personal vehicle, the side sensor (67) at the top is stressed, the side sensor (67) at the bottom is stressed by tension, the side sensors (67) at the top and the bottom transmit signals to the force signal processing module, the force signal processing module processes the signals and then transmits the data to the control module, the control module controls the extension of an output shaft of the electric push rod (14), the axle position of the intelligent power-assisted personal vehicle is right below the gravity center of the intelligent power-assisted personal vehicle, and the back pressure of an operator is reduced;

when the load of the backrest (7) is reduced in the using process of the intelligent power-assisted personal vehicle, the side sensor (67) at the top is subjected to tension, the side sensor (67) at the bottom is subjected to pressure, the side sensors (67) at the top and the bottom transmit signals to the force signal processing module, the force signal processing module processes the signals and transmits the data to the control module, the control module controls the output shaft of the electric push rod (14) to shorten, the axle position of the intelligent power-assisted personal vehicle is located right below the gravity center of the intelligent power-assisted personal vehicle, and the tension of the back of an operator is reduced;

when an operator pulls the intelligent power-assisted personal vehicle to turn left, the lateral sensor (67) on the left side is stressed, the lateral sensor (67) on the right side is stressed, the lateral sensors (67) on the left side and the right side transmit signals to the force signal processing module, the force signal processing module processes the signals and transmits data to the control module, the control module controls the hub motor (20) on the left side to decelerate through the motor driving module, the hub motor (20) on the right side to accelerate, and the intelligent power-assisted personal vehicle turns left along with the operator;

when an operator pulls the intelligent power-assisted personal vehicle to turn right, the lateral sensor (67) on the left side is subjected to tension, the lateral sensor (67) on the right side is subjected to pressure, the lateral sensors (67) on the left side and the right side transmit signals to the force signal processing module, the force signal processing module processes the signals and transmits data to the control module, the control module controls the hub motor (20) on the left side to accelerate through the motor driving module, the hub motor (20) on the right side to decelerate, and the intelligent power-assisted personal vehicle turns right along with the operator;

when an operator presses a trigger (39) on the manual controller (4), the relative position of the magnet (50) and the sensor (49) is changed, the relative position is recorded by the sensor (49) after being changed, and a signal is transmitted to the processor (51) in an analog voltage mode, the processor (51) transmits the signal to the control module through the communication module, and the control module controls the hub motor (20) to accelerate through the motor driving module;

when an operator releases a trigger (39) on the manual controller (4), the relative position of the magnet (50) and the sensor (49) is changed, the change of the relative position is recorded by the sensor (49) and transmits a signal to the processor (51) in the form of analog voltage, the processor (51) transmits the signal to the control module through the communication module, and the control module controls the hub motor (20) to decelerate through the motor driving module;

when an operator turns the handle main body (36) to the left, the steering sensor (54) records the rotation angle value of the handle main body (36) and the quick-release supporting plate (55), and transmits a signal to the processor (51) in the form of analog voltage, the processor (51) transmits the signal to the control module through the communication module, the control module controls the hub motor (20) on the left side to decelerate through the motor driving module, the hub motor (20) on the right side to accelerate, and the intelligent power-assisted hand-carried vehicle turns to the left;

when an operator turns the handle main body (36) to the right, the steering sensor (54) records the rotation angle value of the handle main body (36) and the quick-release supporting plate (55), and transmits a signal to the processor (51) in the form of analog voltage, the processor (51) transmits the signal to the control module through the communication module, the control module controls the hub motor (20) on the left side to accelerate through the motor driving module, the hub motor (20) on the right side to decelerate, and the intelligent power-assisted hand-propelled vehicle turns to the right.

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