TWI878715B - Hand-push movable carrier and wheel control method - Google Patents

Abstract

A hand-push movable carrier and a wheel control method are disclosed. The hand-push movable carrier includes a frame, a wheel group, a motor, a wheel speed sensor and a control module. The wheel group includes a wheel pivotally connected to the frame. The motor is mounted on the frame and coupled to a wheel. The wheel speed sensor is coupled to the wheel and outputs a signal according to a rotation speed of the wheel. The control module is communicatively connected to the motor and the wheel speed sensor, and controls the motor according to the signal, so as to rotate the wheel at a constant speed or a variable speed. According to the hand-push movable carrier and the wheel control method, the rotation speed of the wheel can be actively controlled in responding to an actual rotation state of the wheel.

Description

Hand-pushed mobile vehicle and wheel control method

This application relates to a hand-pushed mobile vehicle, and more particularly to a hand-pushed mobile vehicle and a wheel control method.

Traditional baby strollers are pushed by human power. When pushing on a flat road, the user can push the baby stroller easily in principle. However, when going uphill or downhill, the user needs to push it with great effort. When the baby stroller has a considerable load, the user needs to push it with even greater effort. Currently, there are electric power-assisted baby strollers on the market, which can reduce the burden of users pushing baby strollers. However, general electric power-assisted baby strollers usually only provide power assistance based on the preset value or the user's operation, and in principle will not actively provide power assistance based on the actual movement status of the baby stroller.

According to various embodiments of the present application, a hand-pushed mobile vehicle and a wheel control method are provided.

According to an embodiment of the present application, a hand-pushed mobile vehicle includes a frame, a wheel set, a first motor, a first wheel speed sensor, and a control module. The wheel set includes a first wheel pivotally connected to the frame. The motor is mounted on the frame and coupled to the first wheel. The first wheel speed sensor is coupled to the first wheel and outputs a first signal according to the rotation speed of the first wheel. The control module is communicatively connected to the first motor and the first wheel speed sensor, and controls the first motor according to the first signal to make the first wheel rotate at a uniform speed or at an uneven speed. Thereby, the hand-pushed mobile vehicle can actively respond to the actual rotation speed of the first wheel to control the rotation of the first wheel, so as to be close to the actual usage scenario. The user can effectively push the hand-pushed mobile vehicle with less effort, and it helps to avoid the danger that may be caused by the hand-pushed mobile vehicle losing control (for example, when going downhill, the hand-pushed mobile vehicle loses control of the user and accelerates out of control).

According to another embodiment of the present application, a hand-pushed mobile vehicle includes a frame, a wheel set, a third motor and a control module. The wheel set includes a first wheel, a second wheel and a rotating shaft. The first wheel and the second wheel are pivotally connected to the frame, and the rotating shaft connects the first wheel and the second wheel. The third motor is mounted on the frame and coupled to the rotating shaft. The control module is communicatively connected to the third motor and can control the third motor to drive the first wheel and the second wheel to rotate synchronously via the rotating shaft.

According to another embodiment of the present application, a wheel control method is implemented in a hand-pushed mobile vehicle, wherein the hand-pushed mobile vehicle includes a frame, a wheel set, a first motor, a first wheel speed sensor, and a control module. The wheel set includes a first wheel pivotally connected to the frame. The first motor is mounted on the frame and coupled to the first wheel. The first wheel speed sensor is coupled to the first wheel. The control module is communicatively connected to the first motor and the first wheel speed sensor. The wheel control method includes the following steps: the first wheel speed sensor outputs a first signal according to the rotational speed of the first wheel; and the control module controls the first motor according to the first signal so that the first wheel rotates at a uniform speed or an uneven speed. Similarly, the control module can actively respond to the actual rotation speed of the first wheel to control the rotation of the first wheel to be close to the actual usage scenario. The user can effectively push the hand-push mobile vehicle with less effort, and it helps to avoid the danger that may be caused by the hand-push mobile vehicle losing control (for example, when going downhill, the hand-push mobile vehicle loses control of the user and accelerates out of control).

Details of one or more embodiments of the present application are set forth in the following drawings and description. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims.

In order to make the purpose, technical solution and advantages of this application more clear, the following is a further detailed description of this application in conjunction with the attached drawings and specific implementation methods. It should be understood that the specific implementation methods described here are only used to explain this application and do not limit the scope of protection of this application.

It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific implementations and are not intended to limit this application. The term "and/or" used herein includes any and all combinations of one or more related listed items.

Please refer to FIG. 1 and FIG. 2. The push-type mobile vehicle 1 according to the embodiment of the present application includes a frame 12, a front wheel set 14 and a rear wheel set 16. The front wheel set 14 is mounted on the front side of the frame 12, and the front wheel set 14 includes two wheels, which are respectively pivoted to the two sides of the frame 12. The rear wheel set 16 is mounted on the rear side of the frame 12, and the rear wheel set 16 includes a first wheel 16a and a second wheel 16b, which are respectively pivoted to the two sides of the frame 12. The push-type mobile vehicle 1 can travel on the ground via the front wheel set 14 and the rear wheel set 16. The frame 12 has a push handle 122, which can be used by the user to push the push-type mobile vehicle 1.

In this embodiment, the hand-pushing mobile vehicle 1 further includes a control circuit 10. The control circuit 10 includes a first motor 102, a second motor 104, a first wheel speed sensor 106, a second wheel speed sensor 108, and a control module 110. The first motor 102 is mounted on the frame 12 and coupled to the first wheel 16a. The second motor 104 is mounted on the frame 12 and coupled to the second wheel 16b. The first wheel speed sensor 106 is coupled to the first wheel 16a and outputs a first signal S1 according to the rotation speed of the first wheel 16a. The second wheel speed sensor 108 is coupled to the second wheel 16b and outputs a second signal S2 according to the rotation speed of the second wheel 16b. The control module 110 is communicatively connected to the first motor 102, the second motor 104, the first wheel speed sensor 106, and the second wheel speed sensor 108. The control module 110 can control the operation of the first motor 102 and the second motor 104 to change the rotation state of the first wheel 16a and the second wheel 16b (e.g., rotation speed, acceleration, deceleration, stop), thereby providing the user with a pushing force, and can also independently move the hand-pushing mobile vehicle 1. The first wheel speed sensor 106 and the second wheel speed sensor 108 can be general sensors that can detect rotation speed, and will not be described separately. Therefore, the control module 110 can sense the rotation state of the first wheel 16a and the second wheel 16b through the first wheel speed sensor 106 and the second wheel speed sensor 108. In actual operation, the control module 110 can control the first motor 102 according to the first signal S1 to make the first wheel 16a rotate at a uniform speed or at an uneven speed; similarly, the control module 110 can control the second motor 104 according to the second signal S2 to make the second wheel 16b rotate at a uniform speed or at an uneven speed. In this way, the control module 110 can control the first motor 102 and the second motor 104 according to the first signal S1 and the second signal S2 to make the first wheel 16a and the second wheel 16b stop, rotate at the same speed or at different speeds (including rotating in opposite directions), thereby enabling the hand-pushed mobile vehicle 1 to move forward, backward, turn, etc.

In addition, in practical applications, the hand-pushed mobile vehicle 1 may be, but is not limited to, an electric stroller. In this embodiment, the hand-push mobile vehicle 1 uses the same power source 18 (For example, a rechargeable battery is electrically connected to the control module 110, the first motor 102, the second motor 104, the first wheel speed sensor 106, and the second wheel speed sensor 108) to provide the power required for the operation of the control module 110, the first motor 102, the second motor 104, the first wheel speed sensor 106, and the second wheel speed sensor 108; but the implementation is not limited to this. For example, the control module 110, the first motor 102, the second motor 104, the first wheel speed sensor 106 and the second wheel speed sensor 108 are respectively powered by corresponding power sources. In this embodiment, the control module 110 and the power source 18 are disposed at the lower portion of the frame 12. In addition, the communication connection between the control module 110 and the first motor 102, the second motor 104, the first wheel speed sensor 106, and the second wheel speed sensor 108 may be a wired or wireless connection (e.g., Wi-Fi technology, Bluetooth technology, or other short-range communication technology). In addition, the first motor 102 and the second motor 104 may be wheel hub motors, and integrated with the wheel hubs of the first wheel 16a and the second wheel 16b; but this is not limited to the actual operation. For example, the first motor 102 is connected to the first wheel 16a via other transmission mechanisms (e.g., chains, belts, etc.). Furthermore, the wheel motor may be integrated with an electronic brake, so that the control module 110 may control the first motor 102 and the second motor 104 to brake the first wheel 16a and the second wheel 16b. In actual operation, the electronic brake may also be independent of the motor and controlled by the control module 110 to directly brake the wheel. In addition, the aforementioned wheel motor may adopt an existing wheel motor on the market, and the working principle and structural details are not elaborated separately. In actual operation, the aforementioned electronic brake may be an electronically controlled drum brake or disc brake, which is not elaborated separately. In addition, in actual operation, the control module 110 may be implemented by hardware (for example, including a circuit board, a processing chip carried thereon, a communication chip, a connection interface and other required electronic components), software or a combination thereof, which is not elaborated separately.

In this embodiment, the control circuit 10 further includes a presence sensor 112, which is mounted on the frame 12 and is communicatively connected to the control module 110. The control module 110 receives the third signal S3 from the presence sensor 112, and determines whether the user of the hand-pushing mobile vehicle 1 is present according to the third signal S3. The control module 110 controls the first motor 102 and the second motor 104 according to the triggering state of the presence sensor 112, the first signal S1, and the second signal S2, so as to rotate or stop the first wheel 16a and the second wheel 16b. Similarly, the communication connection can be a wired or wireless (e.g., Wi-Fi technology, Bluetooth technology, or other short-range communication technology) connection. Among them, in the case of wired connection, the control module 110 can provide the power required for the operation of the presence sensor 112 via wires; in the case of wireless connection, the presence sensor 112 can be configured with a battery to obtain the power required for operation. In this embodiment, the presence sensor 112 is arranged on the push handle 122 of the frame 12. In actual operation, the push handle 122 may be held by the user at any place to push the hand-pushing mobile vehicle 1, so multiple presence sensors 112 can be used to increase the sensing area. When the user holds the push handle 122, the user triggers the presence sensor 112; in other words, the control module 110 can determine whether the user is present through the presence sensor 112 (that is, whether the user holds the push handle 122). The presence sensor 112 can be a general sensor that can detect contact (such as but not limited to capacitance), which will not be described separately. In addition, the presence sensor 112 can also add a fingerprint recognition function (such as using an image sensor), so that the hand-pushed mobile vehicle 1 has a certain degree of anti-theft and anti-misoperation functions to prevent accidents caused by the hand-pushed mobile vehicle 1 being accidentally pushed.

In actual application of the hand-pushed mobile vehicle 1, when the control module 110 determines that the presence sensor 112 is triggered (i.e., the control module 110 determines that the user is present according to the third signal S3) and the control module 110 determines that the first wheel 16a is accelerated according to the first signal S1, the control module 110 controls the first motor 102 to drive the first wheel 16a to rotate at a constant speed; similarly, when the presence sensor 112 is triggered and when the control module 110 determines that the second wheel 16b is accelerated according to the second signal S2, the control module 110 controls the second motor 104 to make the second wheel 16b move at a constant speed. This control mechanism can prevent the hand-pushed mobile vehicle 1 from accidentally accelerating (for example, when going downhill) when the user is pushing the hand-pushed mobile vehicle 1 (i.e., driving the hand-pushed mobile vehicle 1 to move, including moving forward/backward/rotating). Thereafter, when the presence sensor 112 is not triggered (i.e., the control module 110 determines that the user is not present according to the third signal S3) or the control module 110 determines that the first wheel 16a and the second wheel 16b are decelerating or stopping according to the first signal S1 and the second signal S2, the control module 110 turns off the first motor 102 and the second motor 104 or controls the first motor 102 and the second motor 104 to brake the first wheel 16a and the second wheel 16b. For example, when the hand-pushed mobile vehicle 1 is out of the control of the user, the hand-pushed mobile vehicle 1 can be controlled by the first motor 102, the second motor 104 and/or the control module 110, such as controlling the electronic brake to stop the hand-pushed mobile vehicle 1 to avoid the danger caused by loss of control. For another example, when the hand-pushed mobile vehicle 1 has stopped, the hand-pushed mobile vehicle 1 can actively maintain the stopped state to avoid the danger caused by the hand-pushed mobile vehicle 1 being accidentally pushed.

In addition, in the present embodiment, the control circuit 10 further includes an input interface 114, which is disposed on the frame 12 and is communicatively connected to the control module 110. Similarly, this communication connection can be a wired or wireless (such as Wi-Fi technology, Bluetooth technology or other short-range communication technology) connection. In the case of a wired connection, the control module 110 can provide the power required for the operation of the input interface 114 via a wire; in the case of a wireless connection, the input interface 114 can be configured with a battery to obtain the power required for operation. In the present embodiment, the input interface 114 is disposed on the push handle 122 of the frame 12 for user convenience. In actual operation, the input interface 114 can be a physical interface (such as a touch panel, physical keys, etc.), a virtual interface (such as a projection key) or a combination thereof. The control module 110 receives a speed setting input by the user through the input interface 114 (for example, input by the user in advance and stored in the control module 110) and controls the first motor 102 and the second motor 104 to drive the first wheel 16a and the second wheel 16b to rotate according to the speed setting, thereby causing the hand-pushed mobile vehicle 1 to move according to the speed setting.

Furthermore, in this embodiment, the control circuit 10 further includes a communication module 116, which is electrically connected to the control module 110 and is communicatively connected to the external mobile device 3 (e.g., a mobile phone, a tablet, etc.). The control module 110 receives the speed setting from the external mobile device 3 and controls the first motor 102 and the second motor 104 to drive the first wheel 16a and the second wheel 16b to rotate according to the speed setting. In actual operation, a corresponding mobile application can be run on the external mobile device 3 to provide an input interface for user input. Similarly, the user can also input the speed setting in advance and store it in the mobile application. When the external mobile device 3 runs the mobile application and is connected to the control module 110 of the push-type mobile vehicle 1, the external mobile device 3 transmits the speed setting to the control module 110. In addition, the aforementioned communication connection can be a wired or wireless (such as Wi-Fi technology, Bluetooth technology or other short-range communication technology) connection. In the case of a wired connection, the control module 110 is connected to the external mobile device 3 via a connection interface (such as a Universal Serial Bus (USB) interface) or a connection cable.

In addition, in this embodiment, the presence sensor 112 (disposed on the push handle 122 of the frame 12) is a contact sensor, and the user needs to touch to trigger the presence sensor 112; but the actual operation is not limited to this. For example, a user presence sensor 113 (shown by a dotted line in FIG. 2) is disposed on the rear side of the frame 12, which can be a non-contact sensor (such as but not limited to an infrared sensor, an image sensor, etc.), so that the user can trigger the presence sensor 113 without touching. In actual application, when the user pushes the hand-pushing mobile vehicle 1, the user is usually behind the frame 12, so that the control module 110 can receive a signal (equivalent to the aforementioned third signal S3) from the presence sensor 113 to determine whether the user is present according to the signal, so as to control the first motor 102 and the second motor 104 (as described above). In addition, this structural configuration is also applicable to the use scenario of the portable hand-pushing mobile vehicle 1. For example, when the user is walking, the control module 110 of the hand-pushing mobile vehicle 1 controls the first motor 102 and the second motor 104 to drive the first wheel 16a and the second wheel 16b to move according to the aforementioned speed setting, and the user follows closely. In actual operation, the presence sensor 113 can be disposed at the lower rear portion of the frame 12 (for example, disposed on a bracket at the lower portion of the frame 12 together with the control module 110 and the power supply 18) to sense the user's feet (that is, the user's foot following state). In addition, in actual operation, one or both of the presence sensors 112 and 113 can be disposed on the hand-pushed mobile vehicle 1.

In addition, in the hand-pushed mobile vehicle 1, the first wheel 16a and the second wheel 16b are the rear wheel set 16 of the hand-pushed mobile vehicle 1 and are non-steering wheel sets, which are hinged to the rear legs of the frame 12; but this is not limited to the actual operation. For example, the first motor 102 and the second motor 104 are changed to drive the front wheel set 14 of the hand-pushed mobile vehicle 1, and can also control the rotation of the wheels of the front wheel set 14 (for example, constant speed, unequal speed, deceleration, braking, etc.). For another example, the rear wheel set 16 can be designed to be a steering wheel set.

In addition, in the hand-pushed mobile vehicle 1, the first wheel 16a and the second wheel 16b are driven by the first motor 102 and the second motor 104 respectively; but the actual operation is not limited to this. For example, as shown in FIG. 3, the hand-pushed mobile vehicle 4 according to another embodiment of the present application is similar in structure to the hand-pushed mobile vehicle 1, so the hand-pushed mobile vehicle 4 uses the component symbols of the hand-pushed mobile vehicle 1. For other descriptions of the hand-pushed mobile vehicle 4, please refer to the relevant descriptions and drawings of the hand-pushed mobile vehicle 1 and its variations. The hand-pushed mobile vehicle 4 is different from the hand-pushed mobile vehicle 1 mainly in that the hand-pushed mobile vehicle 4 includes a shaft 16c connecting the first wheel 16a and the second wheel 16b, and the hand-pushed mobile vehicle 4 uses a single third motor 105 to drive the first wheel 16a and the second wheel 16b. The third motor 105 is connected to the shaft 16c (for example, through a gear set, a chain or a differential mechanism) and is in communication with the control module 110. The control module 110 can control the third motor 105 to drive the first wheel 16a and the second wheel 16b to rotate synchronously (for example, for acceleration, deceleration, etc.) through the shaft 16c.

Please refer to Figure 4. The wheel control method according to the present application is applied to a hand-pushed mobile vehicle. For simplicity of explanation, the hand-pushed mobile vehicle 1 mentioned above is used as an example. For the explanation of the components of the hand-pushed mobile vehicle 1 and its operation, please refer to the relevant explanations mentioned above, which will not be elaborated on separately. In principle, the first wheel speed sensor 106 outputs a first signal S1 according to the rotation speed of the first wheel 16a, and the second wheel speed sensor 108 outputs a second signal S2 according to the rotation speed of the second wheel 16b. The control module 110 controls the first motor 102 and the second motor 104 according to the first signal S1 and the second signal S2, respectively, so that the first wheel 16a and the second wheel 16b rotate at a uniform speed or at an unequal speed, and the first wheel 16a and the second wheel 16b rotate at the same speed or at different speeds. In actual application, the wheel control method may also consider whether the user is present (determined by the triggering state of the presence sensors 112, 113) to rotate or stop the first wheel 16a and the second wheel 16b. As shown in step S102, it is determined whether the presence sensors 112, 113 are triggered. If the determination is no, the control module 110 turns off the first motor 102 and the second motor 104 or controls the first motor 102 and the second motor 104 to stop the first wheel 16a and the second wheel 16b, as shown in step S104. If the determination is yes, different controls may be performed according to different situations. For example, when the control module 110 determines that the first wheel 16a or the second wheel 16b is accelerating according to the first signal S1 or the second signal S2, the control module 110 controls the first motor 102 or the second motor 104 to make the first wheel 16a or the second wheel 16b rotate at a constant speed, as shown in step S106. For another example, when the control module 110 determines that the first wheel 16a or the second wheel 16b is decelerating or stopping according to the first signal S1 or the second signal S2, the control module 110 turns off the first motor 102 or the second motor 104 or controls the first motor 102 or the second motor 104 to brake the first wheel 16a or the second wheel 16b, as shown in step S108. For another example, in a use scenario of traveling, the control module 110 controls the first motor 102 or the second motor 104 to drive the first wheel 16a or the second wheel 16b to rotate according to the speed setting, as shown in step S110.

As described above, the hand-pushed mobile vehicle 1, 4 and the wheel control method according to the present application will consider whether the user is present, so as to increase the accuracy of the operation of the motors 102, 104, 105, avoid the danger caused by erroneous operation, and improve the effect of the push assist. For example, when the user fails to control the hand-pushed mobile vehicle 1, 4, the operation of the motors 102, 104, 105 can be actively stopped, or the motors 102, 104, 105 can keep braking the first wheel 16a and the second wheel 16b, thereby avoiding the hand-pushed mobile vehicle 1, 4 that is still driven by the motors 102, 104, 105 to rotate or stop, and may cause the hand-pushed mobile vehicle 1, 4 to lose control. Furthermore, the hand-pushed mobile vehicles 1, 4 and the wheel control method can also simultaneously consider whether a user is present and the state of the wheels 16a, 16b, and control the operation of the motors 102, 104, 105 to prevent danger from occurring. For example, even if a user is present, if the hand-pushed mobile vehicle 1, 4 is accidentally accelerated (for example, when going downhill), the wheel speed can still be actively controlled (for example, to rotate at a constant speed) to avoid danger that may be caused by acceleration (for example, the hand-pushed mobile vehicle 1, 4 is over-accelerated, causing the user to be unable to effectively control the hand-pushed mobile vehicle 1, 4). For another example, even if a user is present and the hand-pushed mobile vehicle 1, 4 is in a stationary state, the hand-pushed mobile vehicle 1, 4 can actively remain in a stopped state to avoid danger that may be caused by the hand-pushed mobile vehicle 1, 4 being accidentally pushed.

The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

The above-mentioned embodiments only express several implementation methods of the present application, and the description is relatively specific and detailed, but it should not be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the scope of protection of the patent of the present application shall be based on the attached claims.

1,4: Hand-pushed mobile vehicle 3: External mobile device 10: Control circuit 102: First motor 104: Second motor 105: Third motor 106: First wheel speed sensor 108: Second wheel speed sensor 110: Control module 112,113: Presence sensor 114: Input interface 116: Communication module 12: Frame 122: Push handle 14: Front wheel set 16: Rear wheel set 16a: First wheel 16b: Second wheel 16c: Rotating shaft 18: Power supply S1: First signal S2: Second signal S3: Third signal S102,S104,S106,S108,S110: Steps

FIG. 1 is a functional block diagram of a hand-pushed mobile vehicle according to an embodiment of the present application. FIG. 2 is a schematic diagram of the hand-pushed mobile vehicle in FIG. 1. FIG. 3 is a schematic diagram of a hand-pushed mobile vehicle according to another embodiment of the present application. FIG. 4 is a flow chart of a wheel control method according to another embodiment of the present application.

1: Hand-pushed mobile vehicle 102: First motor 104: Second motor 110: Control module 112,113: Presence sensor 114: Input interface 12: Frame 122: Push handle 14: Front wheel set 16: Rear wheel set 16a: First wheel 16b: Second wheel 18: Power supply

Claims (18)

A hand-pushing mobile vehicle comprises: a frame; a wheel set, comprising a first wheel, pivotally connected to the frame; a first motor, mounted on the frame and coupled to the first wheel; a first wheel speed sensor, coupled to the first wheel, and outputting a first signal according to the rotation speed of the first wheel; a control module, communicatively connected to the first motor and the first wheel speed sensor, and controlling the first motor according to the first signal to make the first wheel rotate at a uniform speed or at an uneven speed; and a presence sensor, mounted on the frame and communicatively connected to the control module, the control module controlling the first motor according to the triggering state of the presence sensor and the first signal to make the first wheel rotate or stop; When the presence sensor is triggered and the control module determines that the first wheel is decelerating or stopping according to the first signal, the control module controls the first motor to brake the first wheel. A hand-pushed mobile vehicle as described in claim 1, wherein the wheel set also includes a second wheel pivotally connected to the frame, and the hand-pushed mobile vehicle also includes a second motor and a second wheel speed sensor, the second motor is mounted on the frame and coupled to the second wheel, the second wheel speed sensor is coupled to the second wheel and outputs a second signal according to the rotational speed of the second wheel, the control module is communicatively connected to the second motor and the second wheel speed sensor, and controls the first motor and the second motor according to the first signal and the second signal so that the first wheel and the second wheel rotate at the same speed or at different speeds. A hand-pushed mobile vehicle as described in claim 1, wherein the wheel set is a non-steering wheel set. A hand-pushed mobile vehicle as described in claim 1, wherein the wheel set is a rear wheel set or a front wheel set. A hand-pushed mobile vehicle as described in claim 1, wherein when the presence sensor is triggered and the control module determines that the first wheel is accelerated based on the first signal, the control module controls the first motor to make the first wheel rotate at a constant speed. A hand-pushed mobile vehicle as described in claim 1, wherein when the presence sensor is not triggered, the control module turns off the first motor or controls the first motor to stop the first wheel. A hand-pushed mobile vehicle as described in claim 1, wherein when the presence sensor is triggered and the control module determines that the first wheel slows down or stops based on the first signal, the control module turns off the first motor. A hand-pushed mobile vehicle as described in claim 1, wherein the presence sensor is arranged on the rear side of the frame. A hand-pushed mobile vehicle as described in claim 1, wherein the presence sensor is a contact sensor and is disposed on the handle of the frame. The hand-pushed mobile vehicle as described in any one of claims 1 to 9 also includes an input interface, which is arranged on the frame and communicatively connected to the control module. The control module receives a speed setting input by a user via the input interface and controls the first motor to drive the first wheel to rotate according to the speed setting. The hand-pushed mobile vehicle as described in any one of claims 1 to 9 also includes a communication module, which is electrically connected to the control module and communicatively connected to the external mobile device. The control module receives a speed setting from the external mobile device and controls the first motor to drive the first wheel to rotate according to the speed setting. A hand-pushed mobile vehicle comprises: a frame; a wheel set comprising a first wheel, a second wheel and a rotating shaft, wherein the first wheel and the second wheel are pivotally connected to the frame, and the rotating shaft connects the first wheel and the second wheel; a first wheel speed sensor coupled to the first wheel and outputting a first signal according to the rotation speed of the first wheel; a third motor mounted on the frame and coupled to the rotating shaft; and a control module, which is communicatively connected to the third motor and the first wheel speed sensor, and can control the third motor to drive the first wheel and the second wheel to rotate synchronously via the rotating shaft, and control the third motor according to the first signal to make the first wheel and the second wheel rotate at a uniform speed or at unequal speeds; and A presence sensor is mounted on the frame and is communicatively connected to the control module. The control module controls the third motor according to the triggering state of the presence sensor and the first signal to rotate or stop the first wheel and the second wheel. Wherein, the presence sensor is arranged at the lower rear part of the frame to sense the user's feet. When the presence sensor is triggered and the control module determines that the first wheel is accelerated according to the first signal, the control module controls the third motor to rotate the first wheel and the second wheel at a uniform speed. A wheel control method for a hand-pushed mobile vehicle, the hand-pushed mobile vehicle comprises a frame, a wheel set, a first motor, a first wheel speed sensor, a control module and a presence sensor, the wheel set comprises a first wheel pivotally connected to the frame, the first motor is mounted on the frame and coupled to the first wheel, the first wheel speed sensor is coupled to the first wheel, the control module is communicatively connected to the first motor and the first wheel speed sensor, the presence sensor is mounted on the frame and communicatively connected to the control module, the wheel control method comprises the following steps: The first wheel speed sensor outputs a first signal according to the rotation speed of the first wheel; The control module controls the first motor according to the first signal to make the first wheel rotate at a uniform speed or an uneven speed; and The control module controls the first motor according to the triggering state of the presence sensor and the first signal to rotate or stop the first wheel; Wherein, when the presence sensor is triggered and the control module determines that the first wheel decelerates or stops according to the first signal, the control module controls the first motor to brake the first wheel. The wheel control method as described in claim 13, wherein the wheel set includes a second wheel pivotally connected to the frame, the push-type mobile vehicle includes a second motor and a second wheel speed sensor, the second motor is mounted on the frame and coupled to the first wheel, the second wheel speed sensor is coupled to the second wheel, and the wheel control method further includes the following steps: The second wheel speed sensor outputs a second signal according to the rotation speed of the second wheel; and The control module controls the first motor and the second motor according to the first signal and the second signal, so that the first wheel and the second wheel rotate at the same speed or at different speeds. The wheel control method as described in claim 13 further comprises the following steps: When the presence sensor is not triggered, the control module turns off the first motor or controls the first motor to stop the first wheel. The wheel control method as described in claim 13 further comprises the following steps: When the presence sensor is triggered and the control module determines that the first wheel is accelerated according to the first signal, the control module controls the first motor to rotate the first wheel at a constant speed. A wheel control method as described in any one of claims 13 to 16, wherein the push-type mobile vehicle further comprises an input interface, which is disposed on the frame and is communicatively connected to the control module, and the wheel control method further comprises the following steps: The control module receives a speed setting input by a user via the input interface and controls the first motor to drive the first wheel to rotate according to the speed setting. A wheel control method as described in any one of claims 13 to 16, wherein the push-type mobile vehicle further comprises a communication module electrically connected to the control module and communicatively connected to an external mobile device, and the wheel control method further comprises the following steps: The control module receives a speed setting from the external mobile device and controls the first motor to drive the first wheel to rotate according to the speed setting.