阅读说明：本技术 一种推力恒定的智能助力行李箱 (Intelligent power-assisted luggage case with constant thrust ) 是由 黄佰凡 于 2019-09-20 设计创作，主要内容包括：本发明提供一种智能助力行李箱,包括拉杆把手、拉杆中轴、弹性体、压力传感器、伸缩拉杆、箱体前盖、箱体后盖、手提带、称重模块、微处理器、三轴陀螺仪、锂电池、BMS系统、USB接口、左后驱动轮、右后驱动轮、旋转供电接口、左前普通轮、右前普通轮；拉杆把手处检测水平推力F作为反馈,利用PID算法自动控制电机的速度,使人手部施加的推力稳定在设定推力F<Sub>SET</Sub>,是一种不管箱子多重,路面多陡,都能将人对箱子的推力F稳定为设定推力F<Sub>SET</Sub>的一种可沿任意方向推动的智能助力行李箱。(The invention provides an intelligent power-assisted luggage case which comprises a pull rod handle, a pull rod middle shaft, an elastic body, a pressure sensor, a telescopic pull rod, a case front cover, a case rear cover, a hand-held belt, a weighing module, a microprocessor, a three-axis gyroscope, a lithium battery, a BMS system, a USB interface, a left rear driving wheel, a right rear driving wheel, a rotary power supply interface, a left front common wheel and a right front common wheel, wherein the pull rod handle detects horizontal thrust F as feedback, the speed of a motor is automatically controlled by utilizing a PID algorithm, so that the thrust applied by a human hand is stabilized at a set thrust F SET , and the intelligent power-assisted luggage case can stabilize the thrust F of the human to the case into the set thrust F SET and can be pushed in any direction no matter the case is multiple and the road surface is steep.)

1. An intelligent power-assisted luggage case with constant thrust comprises a pull rod handle, a pull rod middle shaft, an elastic body, a pressure sensor, a telescopic pull rod, a case front cover, a case rear cover, a microprocessor, a three-axis gyroscope, a lithium battery, a BMS system, a Bluetooth module, a USB interface, a left rear driving wheel, a right rear driving wheel, a rotary power supply interface, a left front common wheel and a right front common wheel; the pressure sensors are fixed on two sides of a pull rod handle which is movable outside a pull rod middle shaft through elastic bodies; the telescopic pull rod is fixed on the rear cover of the suitcase body and forms a suitcase main body with the front cover of the suitcase body; the microprocessor, the three-axis gyroscope, the BMS system, the Bluetooth module and the lithium battery are positioned in the middle of the telescopic pull rod of the rear cover of the box body, and the USB interface is exposed outside the box body; the left rear driving wheel and the right rear driving wheel are fixed on the outer side below the rear cover of the box body through a rotary power supply interface; the left front common wheel and the right front common wheel are fixed on the outer side below the front cover of the box body.

2. The power-assisted luggage case as claimed in claim 1, wherein when the handle of the pull rod is held by hand and pushes the luggage case, a horizontal thrust force F is applied to the pressure sensor through the elastic body, the pressure sensor collects the thrust force F and transmits the same as a feedback signal to the microprocessor, and then the speed of the motor is automatically controlled by using a PID algorithm, so that the thrust force applied by the hand is stabilized at the set thrust force FSET.

3. The PID algorithm of claim 2, of the formula:

e(t)＝F_SET-F(t)

where F _SET is the set thrust, t is the time variable, F (t) is the thrust at time t, e (t) is the error, and Kp, Ki, and Kd are the proportional, integral, and derivative constants, respectively.

4. The triaxial gyroscope of claim 1, wherein the steepness of the road surface can be identified, the pressure sensors at the two ends of the pull rod handle can be used to determine the uphill or downhill, the motor drive is increased when the uphill or downhill, and the motor brake is applied when no thrust is detected, so that the luggage case does not slide.

5. The lithium battery and BMS system of claim 1 in a trunk can enable capacity monitoring, cell balancing, overcharge protection, overdischarge protection, and temperature monitoring of the lithium battery.

6. The interface of claim 1, wherein the interface is formed by two circular metal conductors, which are respectively connected to the positive pole and the negative pole of the power supply, and can supply power to the motor during rotation.

Technical Field

the invention relates to the technical field of luggage cases, in particular to an intelligent power-assisted luggage case capable of keeping constant thrust by using a PID (proportion integration differentiation) intelligent control algorithm.

Background

The suitcase has obtained general use in daily trip, and the comfort level of trip has been influenced to a certain extent to the good or bad of suitcase, has then appeared the solution of some intelligent suitcases in the market.

The intelligent power-assisted luggage case on the market at present generally has many shortcomings: the luggage case is too heavy, so that the luggage case cannot be moved and stopped when being stopped, speed regulation is required to be considered while the luggage case is pushed, the luggage case cannot be quickly stopped when meeting an emergency, the driving wheels cannot be pushed in any direction, and the cost is high; these disadvantages make it impossible to better meet the needs of people, especially women, the elderly and disabled.

Disclosure of Invention

The invention aims to provide an intelligent power-assisted luggage case with constant thrust, which can intelligently regulate speed, can stabilize the thrust F at the set thrust F _SET when the thrust F of a person to the case exceeds the set thrust F _SET no matter how steep the case is and the road surface is.

In order to achieve the purpose, the technical scheme of the invention is as follows: an intelligent power-assisted luggage case with constant thrust comprises a pull rod handle, a pull rod middle shaft, an elastic body, a pressure sensor, a telescopic pull rod, a case front cover, a case rear cover, a microprocessor, a three-axis gyroscope, a lithium battery, a BMS system, a Bluetooth module, a USB interface, a left rear driving wheel, a right rear driving wheel, a rotary power supply interface, a left front common wheel and a right front common wheel; the pressure sensors are fixed on two sides of a pull rod handle which is movable outside a pull rod middle shaft through elastic bodies; the telescopic pull rod is fixed on the rear cover of the suitcase body and forms a suitcase main body with the front cover of the suitcase body; the microprocessor, the three-axis gyroscope, the BMS system, the Bluetooth module and the lithium battery are positioned in the middle of the telescopic pull rod of the rear cover of the box body, and the USB interface is exposed outside the box body; the left rear driving wheel and the right rear driving wheel are fixed on the outer side below the rear cover of the box body through a rotary power supply interface; the left front common wheel and the right front common wheel are fixed on the outer side below the front cover of the box body.

according to the intelligent power-assisted luggage case, when the pull rod handle is held by a hand and pushes the case, the elastic body can apply a horizontal pushing force F to the pressure sensor, when a person does not push the case any more, the elastic body resets to the initial state, and the pressure sensor is not stressed any more.

In the above intelligent power-assisted luggage, the microprocessor receives the horizontal thrust F collected by the pressure sensor as feedback, and automatically controls the speed of the motor by using a PID algorithm, so that the thrust exerted by the human hand is stabilized at the set thrust F _SET.

The intelligent power-assisted luggage case is characterized in that the PID algorithm has the formula:

e(t)＝F_SET-F(t)

Where F _SET is the set thrust, t is the time variable, F (t) is the thrust at time t, e (t) is the error, and Kp, Ki, and Kd are the proportional, integral, and derivative constants, respectively.

According to the intelligent power-assisted luggage case, the three-axis gyroscope can identify the steep degree of a road surface, the pressure sensors at the two ends of the pull rod handle can be used for judging ascending and descending, the motor drive is properly increased when the vehicle ascends the slope, and the motor brake is realized when no thrust is detected when the vehicle descends the slope, so that the luggage case cannot slide the slope.

the above-mentioned intelligence helping hand suitcase, wherein, bluetooth module can be connected with cell-phone APP, the state of monitoring suitcase sets up thrust F _SET.

The intelligent power-assisted luggage case is characterized in that the USB interface can charge the mobile phone and can be connected with an upper computer to debug the luggage case.

In the intelligent power-assisted luggage case, the universal wheel rotary power supply interface is of a nested structure with two annular metals, and when the driving wheel rotates along the circumferential direction, the universal wheel rotary power supply interface can supply power to the motor through the power supply and the ground respectively.

The intelligent power-assisted luggage case has the advantages that the BMS system can realize the functions of capacity monitoring, battery cell balancing, overcharge protection, overdischarge protection, temperature monitoring and the like of the lithium battery.

After the technical scheme is adopted, the invention has the following advantages.

1. In the invention, after the driving mechanism is adopted, when the pushing force F of a person to the box exceeds the set pushing force F _SET, the pushing force F can be stabilized at the set pushing force F _SET, namely, the hand can feel comfortable as flat as the ground no matter how many boxes are arranged and the road surface is steep, and the hand can not feel uncomfortable because of always changing the force.

2. Because the motor is driven only under the condition that the stress exceeds the set value, and a set thrust F _SET is provided by human hands, the loss of the electric quantity of the battery is reduced, and the cruising ability can be improved.

3. Utilize rotatory power supply interface, can realize that the motor is 360 degrees free rotations along circumference, solved the problem of the unable power supply of motor when rotatory.

4. The service life of the lithium battery can be effectively prolonged through the charging and discharging management of the BMS on the lithium battery, and the use cost is further reduced.

Drawings

Fig. 1 is a schematic diagram of a PID algorithm in a first embodiment of the luggage of the present invention.

Fig. 2 is a graph of thrust versus motor output for a first embodiment of the luggage of the present invention.

Fig. 3 is a schematic view of a handle structure of a first embodiment of the luggage of the present invention.

Fig. 4 is a schematic view of the overall structure of the luggage case according to the first embodiment of the present invention.

Fig. 5 is a schematic view of a rotary power interface according to a first embodiment of the luggage of the present invention.

Fig. 6 is a schematic view of a motor driving structure in a first embodiment of the luggage of the present invention.

Fig. 7 is a schematic view of a handle structure of a second embodiment of the luggage of the present invention.

Detailed Description

Embodiments of the present invention will be further described with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part, and not all, of the 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.