CN211364762U

CN211364762U - Automatic drive manned trolley

Info

Publication number: CN211364762U
Application number: CN201922123978.8U
Authority: CN
Inventors: 王超; 宁岩; 谢艳芳; 柯知超; 杨建龙
Original assignee: Shanghai Liuzi Technology Co ltd; Shanghai Broadband Technology and Application Engineering Research Center
Current assignee: Shanghai Liuzi Technology Co ltd; Shanghai Broadband Technology and Application Engineering Research Center
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2020-08-28
Anticipated expiration: 2029-12-02

Abstract

The utility model provides an automatic driving manned trolley, which comprises a chassis, a driving wheel, a steering mechanism, a driving mechanism, a brake mechanism and a control mechanism; the driving wheel is positioned at the bottom of the chassis and comprises a front wheel and a rear wheel; the steering mechanism is positioned at the rear side of the chassis and is connected with the rear wheel; the driving mechanism is positioned on the front side of the chassis and is connected with the front wheel; the brake mechanism is positioned on the front side of the chassis and is connected with the front wheel; the control mechanism is connected with the steering mechanism, the driving mechanism and the brake mechanism, and comprises a controller and a wireless communication module connected with the controller. The utility model provides an autopilot manned dolly structure is light and handy, can drive into the narrow road that various bearing capacity is more weak non-motor way and traditional car can't drive in, can not cause the damage to the road surface. Just the utility model discloses an automatic drive manned dolly can realize complete autopilot, and convenient to use can fully liberate user's limbs and energy, and the experience of taking advantage of is felt and is promoted greatly.

Description

Automatic drive manned trolley

Technical Field

The utility model relates to a tool of riding instead of walk especially relates to an automatic drive manned dolly.

Background

The existing transportation tools usually work in a mode of manned driving or manual control, that is, an operator needs to directly give instructions to the movement of the trolley in a mode of direct driving or remote control. The travel tool needs manual direct intervention, so that the application time and space of the travel tool are limited to a certain extent, and meanwhile, certain inconvenience is brought to a user. With the development of economy and the progress of times, the demand of the public on intelligent transportation tools is gradually increased, but no better automatic driving transportation tool exists in the market at present. The traditional driving mode depending on manual operation causes huge manpower cost expenditure every year, and is not beneficial to social development. The automatic driving vehicle on the market is usually formed by improving the existing medium-sized sedan, is usually huge in size and more than 1 ton in mass, is mainly used for driving on a motor vehicle road, cannot be widely applied to various crowds, and cannot be used in narrow closed places of various roads such as parks, factories, scenic spots, campuses and the like.

SUMMERY OF THE UTILITY MODEL

In view of the above shortcoming of prior art, the utility model aims to provide an automatic drive manned dolly to remedy the defect that lacks the automatic drive instrument of riding instead of walk that is applicable to in the closed place on the existing market, help liberation user's limbs and energy scheduling problem.

In order to achieve the above objects and other related objects, the present invention provides an automatic manned vehicle, which comprises a chassis, a driving wheel, a steering mechanism, a driving mechanism, a braking mechanism and a control mechanism; the driving wheel is positioned at the bottom of the chassis and comprises a front wheel and a rear wheel; the steering mechanism is positioned at the rear side of the chassis and is connected with the rear wheels; the driving mechanism is positioned on the front side of the chassis and is connected with the front wheels; the brake mechanism is positioned on the front side of the chassis and is connected with the front wheel; the control mechanism is connected with the steering mechanism, the driving mechanism and the brake mechanism, and comprises a controller and a wireless communication module connected with the controller, wherein the length of the automatic driving manned trolley is less than or equal to 1 meter, the width of the automatic driving manned trolley is less than or equal to 1 meter, and the mass of the whole trolley is less than or equal to 200 kg.

Optionally, the driving mechanism includes a dc motor, a speed reducer and a differential, the dc motor is connected to the control mechanism, the speed reducer and the differential, and the speed reducer and the differential are connected to the front wheel; the steering mechanism comprises a stepping motor and a steering pull rod, the stepping motor is connected with the control mechanism, one end of the steering pull rod is connected with the stepping motor, and the other end of the steering pull rod is connected with the rear wheel; the brake mechanism comprises a drum brake, a metal cable and a servo motor, the servo motor is connected with the control mechanism, and the metal cable is connected with the servo motor and the drum brake.

Optionally, the autonomous manned vehicle further includes a battery located within the chassis.

Optionally, the automatic driving manned trolley further comprises a protective cover located on the chassis, the protective cover comprises a front cover, an upper cover, a rear cover and a side cover, and the side cover is connected with the front cover, the rear cover and the upper cover.

Optionally, the automatic driving manned trolley further comprises a front gear mechanism and a rear gear mechanism, the front gear mechanism is located on the chassis and located on the front side of the chassis, and the rear gear mechanism is located on the chassis and located on the rear side of the chassis.

Optionally, the automatic manned vehicle further comprises a plurality of sensors located on the front gear mechanism, and the sensors are connected with the control mechanism.

More optionally, the sensor includes a vision sensor and an obstacle avoidance sensor.

Optionally, the autonomous manned vehicle further comprises a positioning device located on the chassis and connected to the control mechanism.

Optionally, the autonomous manned vehicle further comprises a seat positioned on the chassis.

Optionally, the automatic driving manned trolley further comprises a direction measuring mechanism located on the chassis, the direction measuring mechanism is connected with the control mechanism, and the direction measuring mechanism comprises a heading angle sensor.

As mentioned above, the utility model discloses an automatic drive manned dolly has following beneficial effect: the utility model provides an automatic drive manned dolly total weight is light, carries out the bearing through a plurality of drive wheels and shares, can make the single round load control within 70kg when carrying the people to make this dolly can drive into various weak non-motor vehicle lanes of bearing capacity, can not cause the damage to the road surface; the car body has small volume and can drive into narrow roads which can not be driven into by various traditional cars. Just the utility model discloses an automatic drive manned dolly can realize complete autopilot, and the passenger only need send the instruction that contains place of departure and destination to the vehicle through network platform, need not manual drive or remote control, and it is extremely convenient to use, can fully liberate user's limbs and energy for the user can be absorbed in more other personal affairs such as sightseeing, conversation or use other equipment, and the experience of taking advantage of promotes greatly.

Drawings

Fig. 1-4 show the structure of the automatic manned vehicle according to the present invention, in which fig. 1 is a front view, fig. 2 and 3 are side views from different directions, and fig. 4 is a top view.

Description of the element reference numerals

1 base plate

21 front wheel

22 rear wheel

3 steering mechanism

4 driving mechanism

5 brake mechanism

6 control mechanism

71 front cover

72 upper cover

73 rear cover

74 side shell cover

8 front stop mechanism

81 arm

9 rear gear mechanism

10 sensor

11 seat

12-direction measuring mechanism

13 positioning device

Detailed Description

The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.

Please refer to fig. 1 to 4. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope covered by the technical content disclosed in the present invention without affecting the function and the achievable purpose of the present invention. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.

As shown in fig. 1 to 4, the utility model provides an automatic driving manned trolley, which comprises a chassis 1, a driving wheel, a steering mechanism 3, a driving mechanism 4, a brake mechanism 5 and a control mechanism 6; the driving wheel is positioned at the bottom of the chassis 1 and comprises a front wheel 21 and a rear wheel 22; the steering mechanism 3 is positioned at the rear side of the chassis 1 and is connected with the rear wheel 22; the driving mechanism 4 is positioned at the front side of the chassis 1 and is connected with the front wheel 21; the brake mechanism 5 is positioned on the front side of the chassis 1 and is connected with the front wheel 21; the control mechanism 6 is connected with the steering mechanism 3, the driving mechanism 4 and the braking mechanism 5, the control mechanism 6 comprises a controller and a wireless communication module connected with the controller, the wireless communication module is used for receiving an instruction sent by a client and transmitting the instruction to the controller, and the controller controls the driving mechanism 4, the steering mechanism 3 and the braking mechanism 5 to operate according to the instruction so as to realize the automatic driving of the automatic driving manned trolley, wherein the length of the automatic driving manned trolley is less than or equal to 1 meter, the width of the automatic driving manned trolley is less than or equal to 1 meter, and the whole trolley mass is less than or equal to 200 kg. The utility model provides an automatic drive manned dolly total weight is light, carries out the bearing through a plurality of drive wheels and shares, can make the single round load control within 70kg when carrying the people to make this dolly can drive into various weak non-motor vehicle lanes of bearing capacity, can not cause the damage to the road surface; the car body has small volume and can drive into narrow roads which can not be driven into by various traditional cars. Just the utility model discloses an automatic drive manned dolly can realize complete autopilot, and the passenger only need send the instruction that contains place of departure and destination to the vehicle through network platform, need not manual drive or remote control, and it is extremely convenient to use, can fully liberate user's limbs and energy for the user can be absorbed in more other personal affairs such as sightseeing, conversation or use other equipment, and the experience of taking advantage of promotes greatly.

In this specification, "front" and "rear" are merely relative concepts, and for example, the aforementioned "front wheel 21", "rear wheel 22", "front side", "rear side", and the like refer to a position in front of the chassis 1 by a half of a center line of the length (i.e., a dimension measured in the vehicle traveling direction) of the chassis 1 as "front", and a position in rear by a half of the center line as "rear".

As an example, the front wheels 21 and the rear wheels 22 are 2, the distance between the 2 front wheels 21 is the same as the distance between the 2 rear wheels 22, and the distance between the front wheel 21 and the rear wheel 22 on one side is the same as the distance between the front wheel 21 and the rear wheel 22 on the other side, that is, the front wheel 21 and the rear wheel 22 are located at four corners of a virtual rectangle, and the balance of the cart is improved by the cooperation of the front wheel 21 and the rear wheel 22. The diameters of the front wheel 21 and the rear wheel 22 are the same, and the specific size can be set according to the requirement. In one example, the diameter of the front wheel 21 and the rear wheel 22 is preferably no greater than 50cm, and more preferably 20-40 cm.

To improve riding comfort, the self-propelled people-carrying vehicle further comprises a seat 11, the seat 11 can be fixed on the chassis 1 through a plurality of screws at the bottom to strengthen the stability of the seat, the seat 11 can be provided with a chair back and armrests at two sides, the height of the seat can be set according to requirements, or the seat 11 can be set into a height-adjustable structure. And to further improve the safety of the ride, the autonomous buggy may further comprise an armrest fixed to the base and located in front of the seat 11 for the passenger to hold when the vehicle is turning or when it is accidentally bumpy.

By way of example, the autonomous manned vehicle may further include batteries (not shown) located within the chassis 1, including but not limited to lithium ion battery packs and storage batteries, and to prevent contamination of the batteries, the autonomous manned vehicle may include a battery housing located within the chassis 1 and batteries located within the battery housing for providing electrical power to the entire autonomous manned vehicle. Of course, correspondingly, a charging jack may be provided on the vehicle body for charging the battery, and a USB jack for charging the passenger may be provided on the seat 11 or other places easily accessible to the passenger.

In order to improve riding comfort, in an example, the automatic manned vehicle further includes a front shift mechanism 8 and a rear shift mechanism 9, the front shift mechanism 8 is located on the chassis 1 and located at the front side of the chassis 1, for example, the front shift mechanism 8 and the front side edge of the chassis 1 are located on the same straight line, the rear shift mechanism is located on the chassis 1 and located at the rear side of the chassis 1, for example, the rear shift mechanism and the rear side edge of the chassis 1 are located on the same straight line, and the edges of the front shift mechanism 8 and the rear shift mechanism can be bent towards the length direction of the chassis 1 to enable the portions of the edges to be located at the side portion of the chassis 1, so that the front shift mechanism 8 and the rear shift mechanism 9 can be more stably fixed on the chassis 1. The front stop mechanism 8 and the rear stop mechanism 9 may be made of a transparent engineering plastic baffle or a toughened glass baffle to ensure that the view of passengers is not blocked, or may be made of a metal baffle, which is not strictly limited in this embodiment. The aforementioned armrest may be disposed on the front stop mechanism 8 and on an upper portion of the front stop mechanism 8 (the front stop mechanism 8 and the armrest are preferably an integral structure), and the seat 11 may be closely adjacent to the front stop mechanism 8 (for example, 20-60 cm apart) and the rear stop mechanism 9. The front gear mechanism 8 and the rear gear mechanism 9 can play a role in wind shielding and shielding. According to the requirement, the automatic driving manned trolley can further comprise a top cover and a side cover which are connected with the front gear mechanism 8 and the rear gear mechanism 9 so as to form a closed or semi-closed riding space, so that the vehicle can be suitable for various weather environments such as rainy and snowy weather or sunny day and the like.

As an example, the autonomous man car may also be provided with music playing means and/or broadcast receiving means, such as inside the front gear 8, for passenger entertainment.

As an example, the automatic manned vehicle may further include a display screen, the display screen may be disposed in front of the seat 11, for example, on the front-end mechanism 8, the display screen is connected to the control mechanism 6 and the battery, and the control mechanism 6 may transmit received information such as environment information around the vehicle or the advancing direction to the display screen for playing, so that the passenger knows the current position of the vehicle, and of course, the passenger may also use the display screen to play entertainment such as video playing and games.

As an example, the autonomous manned vehicle further includes a plurality of sensors 10 located on the front-end stop mechanism 8, the sensors 10 are connected to the control mechanism 6, the sensors 10 include a vision sensor and an obstacle avoidance sensor, the vision sensor includes but is not limited to a high-definition camera, the obstacle avoidance sensor includes but is not limited to one or more of an ultrasonic distance measurement sensor, a laser distance measurement sensor and an infrared distance measurement sensor, and the vision sensor and the obstacle avoidance sensor may be one or more. When there are a plurality of sensors of each type, at least one sensor may be located on the front stop mechanism 8 (for example, an obstacle avoidance sensor may be located on an armrest of the front stop mechanism 8), and the sensors may be further disposed on the left and right sides and/or the rear side of the autonomous vehicle to collect environmental information in multiple directions of the traveling process, for example, the vision sensor photographs the environment in front of and behind the vehicle and transmits the image information to the control mechanism 6, the obstacle avoidance sensor transmits the distance between the object in front of and behind the vehicle to the control mechanism 6, so that the vehicle can acquire the environmental information in front of and behind the vehicle and the information from the obstacle, and the control mechanism 6 makes an analysis and judgment based on the acquired information to adjust the traveling route of the vehicle. Of course, the specific installation position of the sensor can also be adjusted according to the specific shape structure of the automatic manned vehicle and/or the type of the sensor, for example, a vision sensor can also be arranged on the chassis 1 (of course, the premise is to ensure that the vision sensor is not shielded). The driveable manned vehicle may further include an alarm device, such as a voice operated alarm, to send an alarm message to alert passengers when the sensor detects that the vehicle is too close to an obstacle (the distance criteria may be set as desired).

As an example, the autonomous manned vehicle further comprises a positioning device 13, located on the chassis 1 and connected to the control mechanism 6. The positioning device 13 includes, but is not limited to, a satellite positioning device 13, which can be installed at any position on the surface of the vehicle body, but needs to ensure that it is not covered seriously and is not interfered by external signals, and the positioning device 13 generates positioning and speed information during the driving process of the vehicle, so that the current speed and position of the automatic manned vehicle can be known.

As an example, the autonomous manned vehicle further comprises a direction measuring mechanism 12, which is located on the chassis 1, the direction measuring mechanism 12 being connected to the control mechanism 6. The direction measuring mechanism 12 includes, but is not limited to, a heading angle sensor, and further, may be a declination angle sensor, which can be installed at any position of the vehicle, but needs to ensure that the plane where the declination angle sensor is located is parallel to the horizontal plane where the driving wheels are located, the positive direction of the declination angle sensor is located is parallel to the positive direction of the chassis 1, and the front of the declination angle sensor is upward. The heading angle sensor generates an angle signal in the running process of the vehicle, so that the automatic driving manned vehicle can know the current advancing direction.

As an example, the driving mechanism 4 includes a dc motor, a speed reducer, and a differential, the dc motor is connected to the control mechanism 6, the speed reducer, and the differential, the speed reducer and the differential are connected to the front wheels 21, the differential is connected between different front wheels 21, and the differential is used for adjusting the difference of the rotational speeds of different wheels when the vehicle turns or runs on an uneven road surface, so as to ensure the safety of the vehicle; in order to achieve real-time adjustment of the travel speed, the control mechanism 6 changes the instantaneous power of the dc motor by sending a specific PWM (pulse width modulation) signal to the dc motor to change the real-time vehicle speed.

As an example, the steering mechanism 3 includes a step motor and a steering rod, the step motor is connected to the control mechanism 6, one end of the steering rod is connected to the step motor, and the other end of the steering rod is connected to the rear wheel 22 (only one of the rear wheels 22 is connected, and the two rear wheels 22 are connected through a linkage rod, so as to achieve synchronous steering of the two rear wheels 22), when steering is required, the control mechanism 6 sends a steering instruction to the step motor, so that the step motor can control the steering rod to pull the rear wheel 22 to achieve steering, and the step motor can directly return its rotation angle to the control mechanism 6.

As an example, the brake mechanism 5 includes a drum brake, a metal cable and a servo motor, the servo motor is connected with the control mechanism 6, and the metal cable is connected with the servo motor and the drum brake; when braking is needed, the control mechanism 6 sends a braking signal to the servo motor, the servo motor receives the braking signal of the control mechanism 6 and then realizes high-precision rotation to drive the metal inhaul cable to pull the drum brake, and the drum brake is attached to the front wheel 21, so that the control on the braking force is realized. The drum brake is not only beneficial to reducing the cost, but also beneficial to ensuring good braking performance of the vehicle. Certainly, in order to avoid an emergency, the automatic driving manned vehicle may further include a manual brake mechanism 5, for example, the manual brake mechanism 5 including a brake pedal or a manual brake pull rod is further provided, so as to further improve the driving safety, and in this embodiment, strict limitations are not imposed.

The control mechanism 6 is arranged on the chassis 1. The controller of the control mechanism 6 can be selected from, but not limited to, a single chip microcomputer. For example, the singlechip can be selected from STM32 series of intentional semiconductors, and the cost is low; or the ARM-based raspberry pi platform has strong functions and high cost performance, can also select an Intel or AMD X86 platform, has strong performance and can adapt to more complicated road conditions; the wireless communication module can adopt one or more communication modules in the mature wireless communication modes based on Zigbee, Bluetooth, wi-fi, mobile communication and the like on the market. From the point of view of signal reception distance, the wireless communication module preferably comprises at least a mobile communication module, and in order to improve the sensitivity of the control mechanism 6 for receiving signals, an antenna may be provided on the autonomous man-carrying vehicle. The control means 6 may further comprise a voice receiving and outputting module connected to the control means 6 so that the user can control the vehicle by voice. The control mechanism is internally pre-stored with a high-precision map of a closed place where the control mechanism is located, after the wireless communication module is connected with a network, a passenger can issue an instruction including a departure point and a destination to a vehicle through a client such as a computer or a mobile phone, and the control mechanism realizes the perception of the position, the speed, the posture and the external environment of the control mechanism through the vision sensor, the obstacle avoidance sensor, the course sensor, the positioning device and the like so as to realize automatic driving. And the control mechanism can automatically set a reasonable route to drive from a specified departure point to a specified destination according to the requirement of a preset driving instruction. When the automatic manned vehicle is used, if the automatic manned vehicle is not located at the departure point position indicated in the command, the automatic manned vehicle can drive to the departure point position according to a preset path, and after the automatic manned vehicle reaches or is located at the departure point position, the automatic manned vehicle can continue to drive to the destination. In the driving process, the automatic driving manned trolley reasonably avoids obstacles on a route through environmental information obtained by a sensor, such as a vision sensor and an obstacle avoidance sensor, so as to ensure the driving safety.

The autonomous buggy further comprises, as an example, a protective cover on the chassis 1 to protect the aforementioned components, such as the steering mechanism 3, the drive mechanism 4 and the brake mechanism 5. The material of the protective cover can be selected according to the requirement, for example, the protective cover is made of metal materials such as stainless steel. The protective cover comprises a front cover 71, an upper cover 72, a rear cover 73 and a side cover 74, wherein the side cover 74 is connected with the front cover 71, the rear cover 73 and the upper cover 72. The front cover 71, the rear cover 73 and the side cover 74 may be integrally connected, that is, the protective cover entirely covers the chassis 1, the protective cover may be fixed to the chassis 1 by screws to improve stability of the chassis 1, and a space enough to accommodate the driving wheel is provided on the side cover 74. Of course, in other examples, the front cover 71, the rear cover 73, the upper cover 72 and the side cover 74 may also be movably connected, and each cover is fixed on the chassis 1 by screws, which is not limited in this embodiment. The aforementioned sensors may also be fixed to the protective cover, for example to the front cover 71. The protective cover needs to be at a certain distance from the ground so as to avoid obstruction in the process of vehicle running.

As mentioned above, the utility model provides an automatic drive manned dolly makes its total weight little through optimized structural design, and shares through a plurality of drive wheels bearing, can make the single round load control within 70kg when carrying the people, thereby makes this dolly can drive into various weak non-motor vehicle lanes of bearing capacity, can not cause the damage to the road surface; the car body has small volume and can drive into narrow roads which can not be driven into by various traditional cars. And simultaneously, the utility model discloses an automatic drive manned dolly can realize complete autopilot, and the passenger only need send the instruction that contains place of departure and destination to the vehicle through network platform, need not manual drive or remote control, and it is extremely convenient to use, can fully liberate user's limbs and energy for the user can be absorbed in other personal affairs such as touring, conversation or use other equipment more, takes experience and feels and promotes greatly. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. An autonomous manned vehicle, comprising:

a chassis;

the driving wheel is positioned at the bottom of the chassis and comprises a front wheel and a rear wheel;

the steering mechanism is positioned on the rear side of the chassis and is connected with the rear wheels;

the driving mechanism is positioned on the front side of the chassis and is connected with the front wheels;

the brake mechanism is positioned on the front side of the chassis and is connected with the front wheel;

the control mechanism is connected with the steering mechanism, the driving mechanism and the brake mechanism and comprises a controller and a wireless communication module connected with the controller;

wherein, the length of the automatic drive manned trolley is less than or equal to 1 meter, the width of the automatic drive manned trolley is less than or equal to 1 meter, and the mass of the whole trolley is less than or equal to 200 kg.

2. The autonomous-driven manned vehicle of claim 1, wherein: the driving mechanism comprises a direct current motor, a speed reducer and a differential mechanism, the direct current motor is connected with the control mechanism, the speed reducer and the differential mechanism, and the speed reducer and the differential mechanism are connected with the front wheel; the steering mechanism comprises a stepping motor and a steering pull rod, the stepping motor is connected with the control mechanism, one end of the steering pull rod is connected with the stepping motor, and the other end of the steering pull rod is connected with the rear wheel; the brake mechanism comprises a drum brake, a metal cable and a servo motor, the servo motor is connected with the control mechanism, and the metal cable is connected with the servo motor and the drum brake.

3. The autonomous-driven manned vehicle of claim 1, wherein: the automatic driving manned trolley also comprises a battery which is positioned in the chassis.

4. The autonomous-driven manned vehicle of claim 1, wherein: the automatic driving manned trolley further comprises a protective cover located on the chassis, the protective cover comprises a front cover, an upper cover, a rear cover and a side shell cover, and the side shell cover is connected with the front cover, the rear cover and the upper cover.

5. The autonomous-driven manned vehicle of claim 1, wherein: the automatic driving manned trolley further comprises a front gear mechanism and a rear gear mechanism, the front gear mechanism is located on the chassis and located on the front side of the chassis, and the rear gear mechanism is located on the chassis and located on the rear side of the chassis.

6. The autonomous-driven manned vehicle of claim 5, wherein: the automatic driving manned trolley further comprises a plurality of sensors, the sensors are located on the front gear mechanism, and the sensors are connected with the control mechanism.

7. The autonomous-driven manned vehicle of claim 6, wherein: the sensor comprises a vision sensor and an obstacle avoidance sensor.

8. The autonomous-driven manned vehicle of claim 1, wherein: the automatic driving manned trolley also comprises a positioning device which is positioned on the chassis and connected with the control mechanism.

9. The autonomous-driven manned vehicle of claim 1, wherein: the automatic driving manned trolley also comprises a seat which is positioned on the chassis.

10. The autonomous-capable man-carrying vehicle of any one of claims 1-9, wherein: the automatic driving manned trolley further comprises a direction measuring mechanism which is positioned on the chassis and connected with the control mechanism, and the direction measuring mechanism comprises a course angle sensor.