TWI739590B - Cart and control method thereof - Google Patents

Abstract

The present invention discloses a cart, which includes a handle, and further includes a sensor for detecting whether the handle of the cart is touched, and for judging the road condition when the sensor detects that the handle is not touched, calculating the braking distance according to the judgment of the road condition, and pushing A brake control device that brakes after the car has advanced the braking distance and prompts after braking. The invention further discloses a cart control method and a computer readable medium. According to the control method, computer-readable instructions and cart provided by the present invention, the design is simple and reasonable, and can eliminate potential safety hazards.

Description

Cart and its control method

The present invention relates to the field of manual vehicles, and particularly relates to a cart and a control method thereof.

Strollers are a must for parents when traveling with their babies. The traditional baby stroller adopts the wheel foot brake method. The user needs to hold the baby stroller to stop the baby stroller completely, step on the foot brake to make sure that the stroller stops, and then let go. The baby needs to be supported before pushing the stroller. The stroller can only move when the stroller is held in the stroller and the foot brake is lifted with the foot. This method is very cumbersome to operate in the case of walking and stopping.

In order to solve the above-mentioned technical problems, a stroller with a hand brake has appeared in the prior art. For example, a utility model patent with an authorized announcement number CN 203805967 U discloses a stroller, which includes a frame and a seat fixed in the frame. The chair, the front wheels and wheels installed on the lower end of the frame, and the handle installed on the frame. The wheels are equipped with a brake device. The brake device includes a brake assembly for controlling the rotation or stopping of the wheel and a brake for driving the brake assembly to work. Steel wire; The handle includes a lower handle fixedly installed on the frame and an upper handle hinged on the lower handle. An elastic device is provided at the hinged position of the upper handle and the lower handle. Open; the end of the upper handle is connected with the end of the brake steel wire, and the upper handle is pressed down with the lower handle to pull the brake steel wire to generate displacement, drive the brake assembly away from the wheel, and the wheel can rotate; after releasing the upper handle , The upper handle is automatically reset, and the brake assembly is driven to hold the wheel to stop the rotation of the wheel. The patent is safe and convenient to use. However, the baby stroller described in the above patent needs to use both hands to pull the handbrake when braking, which is inconvenient to operate and cumbersome. At the same time, if the user forgets to step on the brake on a sloped road section, the baby stroller will slide, causing the baby stroller to roll over or crash, causing great harm to the baby in the car and posing a great safety hazard.

In addition, some baby strollers in the prior art use mechanical buttons to trigger the brakes. This method is complicated in structure and high in cost. It requires additional exterior components to damage the appearance of the entire vehicle; it is not waterproof and dustproof, and it is easy to cause damage to the internal mechanism. Thereby affecting the performance of the whole vehicle.

It can be seen that based on the shortcomings of the prior art, whether an improved stroller and its control method can be provided with a simple and reasonable structure design, which can eliminate the hidden safety hazards of the stroller, and has an automatic braking function, which is an urgent need for those skilled in the art Technical problems solved.

One purpose of the present invention is to overcome the defects of the prior art, provide a cart with a simple and reasonable design and eliminate potential safety hazards, and a control method thereof. According to the stroller disclosed in the present invention, the design is simple and reasonable. When applied to application scenarios such as escalators, subway station platforms, roadsides, railway station platforms, etc., it can solve the problem of accidental level sliding and slope sliding of the stroller. Hazardous hazards, so that the safety performance of the cart is higher.

In order to achieve the above objective, the present invention proposes the following technical solutions:

A cart, including a handle, and a sensor for detecting whether the handle of the cart is touched, and for judging the road condition when the sensor detects that the handle is not touched, calculating the braking distance based on the judgment of the road condition, and braking when the cart is moving forward A brake control device that brakes after the distance and prompts after the brake.

A cart control method, the cart includes a sensor for detecting whether the cart handle is touched, the control method includes judging the road condition when the sensor detects that the handle is not touched, calculating the braking distance according to the road condition, and braking when the cart is moving forward Braking after the distance, and prompting after braking.

A computer program product with a built-in program. When the program is loaded and executed by the computer, the above-mentioned cart control method can be completed.

A computer-readable medium with a program stored therein, and each step of the above-mentioned cart control method is performed when the computer executes the program.

According to the brake control method, computer-readable media, and cart provided by the present invention, the design is simple and reasonable, can eliminate potential safety hazards, and has considerable economic and safety benefits.

In some embodiments, the stroller of the present invention is a baby stroller, and the control method of the present invention is a control method of the baby stroller.

In some embodiments, judging the road condition when the sensor detects that the handle is not touched includes calculating the angle between the cart and the ground based on the three-axis acceleration measurement value and the three-axis angular velocity measurement value. In some embodiments, when the sensor detects that the angle between the cart and the ground is less than a predetermined angle, it is determined that the road condition is flat. In some embodiments, when the sensor detects that the angle between the cart and the ground is greater than or equal to a prescribed angle, it is determined that the road condition is a slope.

In some embodiments, the road condition is judged to be flat, and calculating the braking distance according to the road condition includes: calculating the sensing distance of the handle, calculating the movement distance of the brake pin of the cart, calculating the arc length of the wheel rolling after the cart, and The sensing distance, the movement distance of the brake lock needle and the arc length are added together as the braking distance.

In some embodiments, the road condition is judged to be a slope, and calculating the braking distance according to the road condition includes: calculating the slope movement distance of the cart, and using the slope movement distance as the braking distance.

In some embodiments, the sensing distance is the sensing response time of the handle multiplied by the moving speed of the cart. In some embodiments, the movement distance is the movement time of the brake pin multiplied by the movement speed of the cart. In some embodiments, the arc length distance is between one-half to one-third of the circumference of the rear wheel. In some embodiments, the slope movement distance is the square of the sum of the response time of the handle and the movement time of the brake pin of the cart multiplied by one-half of the acceleration of the cart.

In some embodiments, the cart of the present invention further includes induction magnets located on the rear wheels of the cart. In some embodiments, the cart of the present invention further includes a button for starting the control method of the present invention. In some embodiments, the stroller of the present invention further includes a reminder light for indicating whether the stroller activates the control method of the present invention. In some embodiments, the cart further includes a battery for powering brake devices, buttons, and/or sensors. In some embodiments, the cart further includes a low battery indicator light for indicating whether the battery is low. In some embodiments, the prompting after braking is audio prompting.

The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention.

The first embodiment of the present invention is a baby stroller control method.

Fig. 1 is a schematic diagram of a baby stroller control method according to the first embodiment of the present invention. 2 is a schematic diagram of the button part of the stroller handle 16 of the first embodiment of the present invention. Fig. 3 is a schematic view of the entire baby stroller according to the first embodiment of the present invention. As shown in FIG. 1, the control method 100 includes: a smart brake activation step 110, a touch detection step 120, a road condition judgment step 130, a braking distance calculation step 140, a braking step 150, and a prompt step 160.

As shown in Figure 3, the stroller may include a body body 13, front wheels 15, rear wheels 14, and handles 16, as well as sensors and brake control devices not shown. A front LED light 19 may be provided on the front side of the body body 13. . As shown in Fig. 2, two buttons can be provided on the handle 16, wherein the left button is the smart brake mode switch button, and the right button is the front LED light switch button. Both buttons can be equipped with prompt lights and can be powered by rechargeable batteries and AAA batteries respectively. In some embodiments, when the charge of the rechargeable battery is low, the light on the left button lights up in red. When the No. 4 battery is low, the light on the right button lights up red. The front LED light switch button on the right side can be used to control the on/off of the front LED light 19 on the front side of the baby stroller, which is not specifically explained here. In addition, the handle 16 can also be provided with a handle LED light strip. As shown in FIG. 2, the handle LED light strip can extend in the horizontal direction to almost occupy the entire handle 16 and surround the two buttons inside. In the smart brake activation step 110, the smart brake mode can be activated by long pressing the left button. Specifically, you can press and hold the left button until the light on the button lights up in blue to activate the smart brake mode. In this embodiment, although the brake control device and the front LED lights 19 can be powered by a rechargeable battery, and the sensors and the handle LED light strip can be powered by the AAA battery, it is not limited to the power supply described above. Various power supply methods are also applicable to this embodiment. In this embodiment, although the indicator light on the smart brake mode switch button lights up red when the rechargeable battery is low, when the battery power is low, the indicator light on the front LED light switch button lights up red. When the brake mode is activated, the reminder light on the smart brake mode switch button lights up in blue, but it is not limited to the mentioned reminder method. Other reminder methods, such as reminder lights in other colors, or not reminder lights but in The voice prompt is also applicable to this embodiment. In this embodiment, although the front LED lamp switching button is provided on the handle 16, it is not limited to this, and this button may not be provided.

The sensor of the stroller shown in FIG. 3 can light up the handle when the handle 16 is touched. At this time, the handle LED strip will light up in blue, and will go out after a few seconds. In the touch detection step 120, the sensor may detect whether the handle 16 is touched. If it is detected that the handle 16 is not touched, the road condition determination step 130 is performed.

In the road condition judging step 130, the road condition can be judged, for example, it is judged whether the road condition is flat or slope. Of course, judging the road condition is not limited to this, and it can also be other road conditions. The calculation of the angle between the stroller and the ground will be described with reference to FIG. 4.

As shown in Figure 4, the three-axis acceleration measurement value and the three-axis angular velocity measurement value of the six-axis sensor can be read first, and the measurement value can be filtered to improve the accuracy. Then, the acceleration measurement value can be used to calculate the change value Δ A _{acc of the} current angle relative to the last angle measurement, and the angular velocity measurement value integration can be used to calculate the change value Δ A _{gyro of the} current angle relative to the last angle measurement. Then, the acceleration value weight W _acc and the angular velocity value weight W _gyro can be calculated according to the changes of the acceleration value and the angular velocity value, where W _acc + W _gyro = 1, through the calculation formula Δ A = W _acc × Δ A _acc + W _gyro × Δ A _gyro , the angle change calculated by the acceleration value and the angular velocity value is weighted and averaged to obtain the angle change value Δ A. Finally, according to the value of the last angle A _{n -1} and the present value of angle variation Δ A followed to obtain the angle of the current calculated value _{A n, A n = Δ A} + A n -1. A _n is equal to the angle value of the stroller ground angle θ. Through this calculation method based on the six-axis sensor, the calculated angle θ has a higher accuracy.

When the sensor detects that the angle θ between the stroller and the ground is less than the specified angle, the road condition can be judged to be flat. When the sensor detects that the angle θ between the stroller and the ground is greater than or equal to the specified angle, it can be judged as the road condition is slope. The predetermined angle may be 3°, for example, but is not limited to this, and may be other angles.

Figure 5 is a schematic diagram of the stroller braking when the road condition is flat. Figure 6 is a schematic diagram of the stroller braking when the road is on a slope. FIG. 7 is a schematic diagram of the step 140 of calculating the braking distance when the ground is level in the control method 100 of FIG. 1. FIG. 8 is another schematic diagram of the step 140 of calculating the braking distance when the ground is level in the control method 100 of FIG. 1. FIG. 9 is another schematic diagram of the step 140 of calculating the braking distance when the ground is level in the control method 100 of FIG. 1.

In the braking distance calculation step 140, the corresponding braking distance can be calculated according to the determined road conditions. Specifically, for example, when the road condition is judged to be flat in the road condition judging step 130, the handle sensing distance L ₁ can be calculated, the brake pin movement distance L ₂ of the rear wheel 14 can be calculated, and the arc length of the rear wheel 14 rolling L _{3 can be calculated} , Add the handle sensing distance L _1, the brake lock needle movement distance L ₂ and the arc length distance L ₃ together as the first braking distance L. The handle sensing distance L ₁ may be, for example, the distance obtained by multiplying the handle sensing time t ₁ by the stroller moving speed v. The movement distance L _{2 of the} brake pin may be, for example, the distance obtained by multiplying the movement time t ₂ of the brake pin provided on the rear wheel 14 by the moving speed v of the stroller. As shown in FIG. 8 and FIG. 9, the arc length L ₃ can be the arc length that the rear wheel 14 rolls after the sensor detects that the induction magnet 12 provided on the rear wheel 14 changes its level three times. The calculation principle of the arc length distance L _{3 is described below based on the diagram.} As shown, induction magnet 12 away from sensor 11, 7, the sensor 11 may output a low level, when the sensor 12 from the sensor 11 near the magnet, such as between points P ₁ and point P _2, the sensor 11 may output a high electric Flat, the sensing magnet 12 moves from a position far away from the sensor 11 toward the direction close to the sensor 11, and then moves in a direction away from the sensor 11 after reaching the position closest to the sensor 11, for example, toward the moving direction U of the magnet. In this process, the level E of the sensor 11 may change from low→high→low. As shown in Figures 8 and 9, suppose that the rear wheel is divided into six fan-shaped areas 1, 2, 3, 4, 5, and 6 in Figures 8 and 9, and the three induction magnets 12 are roughly separated by 120°. The sensor 11 is evenly distributed on the rear wheel 14. The sensor 11 moves around the center of the rear wheel. For each induction magnet 12, there is a process of approaching and then moving away. Therefore, there will be two level changes when passing through each induction magnet. The sensor 11 Around the rear wheel, a total of 6 changes in level. When the rear wheel is divided into 6 sector areas 1, 2, 3, 4, 5, 6 as shown in Fig. 8 and Fig. 9, the level E will change every time the sensor 11 crosses the boundary of the two sector areas when it moves. 1 time. Specifically, when the sensor 11 recognizes three level changes and brakes, the arc length L ₃ can be, for example, ¹ ⁄ ₃ π D ≤ L ₃ ≤ ¹ ⁄ ₂ π D , where D is the diameter of the rear wheel 14. For example, when the wheel diameter D is 150 mm and the wheel circumference C is 471.24 mm, according to the above calculation method, the value range of L ₃ is 157.08 mm-235.62 mm. The moving speed v of the stroller can generally be 4.0-5.0 km/h. At this time, for example, when the handle sensing time t ₁ is 0.02 s, the movement time t ₂ of the brake lock needle is 0.25 s, and the stroller moving speed v is 4.0 km/h or 1.1 m/s, it can be known from the above calculation method: Since the first braking distance L = L ₁ + L ₂ + L ₃ , the value range of the first braking distance L at this time can be 454.08 mm-532.62 mm.

FIG. 10 is a schematic diagram of the step 140 of calculating the braking distance on a slope in the braking control method of FIG. 1. For example, when it is determined that the road condition is a slope in the road condition judgment step 130, the slope movement distance, that is, the distance between the initial position X ₁ and the braking position X ₂ can be calculated, and the slope movement distance can be used as the second braking distance L ′. As shown in Figure 10, the angle between the stroller and the ground is θ , then the acceleration of the stroller a = g sin θ , where g is the gravitational constant, and the stroller moving time t = t ₁ + t ₂ , ignoring friction In the case of force, the second braking distance L ′ = ¹ ⁄ ₂ at ² . For example, when the moving time t is 0.32 s and the angle θ is 12°, according to the above calculation method, the value of the second braking distance L ′ can be about 104 mm.

In the braking step 150, the stroller may be braked after the stroller has advanced the braking distance according to the calculated braking distance. Specifically, for example, as shown in FIG. 5, when it is determined that the road condition is flat, the first braking distance L can be calculated based on the first braking distance L during flat ground, and the first braking distance L when the stroller moves forward on flat ground in the braking step 150 Braking after the braking distance L ; as shown in Figure 6, when the road condition is judged to be a slope, the second braking distance L ′ can be calculated according to the calculated slope when the stroller advances the second braking distance in the braking step 150 Brake after L ′; wherein the first braking distance L is greater than the second braking distance L ′. The first braking distance L is, for example, preferably 450-550 mm, and more preferably 500 mm. The second braking distance L ′ is, for example, preferably 75-145 mm, and more preferably 80 mm.

In the prompting step 160, after braking, an audio prompt can be made that the braking has been performed. For example, after braking, you can hear a "click" sound to confirm that the brake has been braked.

As mentioned above, with the baby stroller of the first embodiment, when the hand leaves the stroller handle, the stroller can automatically brake as long as the stroller advances a certain distance, thereby ensuring that the stroller will not slide too long due to the stroller. But it is dangerous to the baby, the design is simple and reasonable, and can eliminate the safety hazard of the baby stroller.

It should be noted that each unit mentioned in each device embodiment of the present invention can be a logical unit. Physically, a logical unit can be a physical unit, or a part of a physical unit, or even one of a plurality of physical units. Combined realization. The physical implementation of these logical units is not the most important, and the combination of the functions implemented by these logical units is the key to solving the technical problems proposed by the present invention. In addition, in order to highlight the innovative part of the present invention, the foregoing device embodiments of the present invention do not introduce units that are not closely related to solving the technical problems proposed by the present invention. This does not mean that there are no other units in the foregoing device embodiments. .

In one embodiment, the above-mentioned brake control device may include an intelligent brake activation module, a road condition judgment module, a braking distance calculation module, a brake module, and a prompt module, which can be used to implement the above-mentioned intelligent brake activation step 110 and road condition judgment. Step 130, braking distance calculation step 140, braking step 150, and prompting step 160.

In one embodiment, the aforementioned brake control device includes a processor and a computer-readable storage medium connected via a system bus. Among them, the processor of the brake control device is used to provide calculation and control capabilities. The computer-readable storage medium of the brake control device may include a non-transitory computer-readable storage medium and internal memory. The non-transitory computer-readable storage medium stores an operating system and computer-readable instructions. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-transitory computer-readable storage medium. The network interface of the brake control device is used to communicate with external sensors.

In one embodiment, an embodiment of a computer-readable storage medium is disclosed, wherein the computer-readable medium stores a software program. In one embodiment, the control method 100 can be executed by a computer readable medium with a plurality of program instructions, for example, a smart brake activation module and a road condition judgment module in a program stored in the computer readable medium , The braking distance calculation module, the braking module, and the prompting module implement the above-mentioned intelligent braking activation step 110, road condition judgment step 130, braking distance calculation step 140, braking step 150, and prompt step 160.

Smart brake activation step 110, touch detection step 110, road condition determination step 130, braking distance calculation step 140, braking step 150, and prompt step 160 can be implemented individually as software units or hardware units, or some modules can be combined with software. , Part of the modules are merged and implemented in hardware. The software-implemented module can be regarded as an operation process, that is, the intelligent brake activation process, the road condition judgment process, the braking distance calculation process, the braking process and the prompt process, etc., which can be loaded by the processor to perform the corresponding functions. Modules implemented in hardware can be implemented as micro-control units, microprocessors, digital signal processors, special application integrated circuits, digital logic circuits, or field programmable logic gate arrays, for example.

In one embodiment, an embodiment of a computer program product is disclosed. The computer program product is, for example, composed of a plurality of code fragments, and the computer program product can be implemented as an application program or exist in a system program, for example. When the program product is loaded into the electronic device with buffer memory, the electronic device can execute a plurality of program instructions. These program instructions are used to execute the above-mentioned control method embodiments, for example, including the smart brake activation step 110 and the road condition determination step 130. The braking distance calculation step 140, the braking step 150, and the prompting step 160. In addition, this kind of computer program product can be regarded as covering a computer-readable information storage medium on which at least one program or software module is stored. It can be regarded as a presentation method of the above-mentioned computer program product. An embodiment of the event reminding method. The computer-readable information storage medium of this embodiment, such as but not limited to: optical information storage medium, magnetic information storage medium or firmware, can also be transmitted on a network/transmission medium (such as air, etc.) The code, etc.

It should be noted that in the scope and specification of the patent application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and not It must be required or implied that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes those that are not explicitly listed. Other elements, or more include elements inherent to this process, method, article or equipment. If there are no more restrictions, the element defined by the sentence "includes one" does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

In summary, although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Those with ordinary knowledge in the technical field to which the present invention belongs can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to those defined by the attached patent application scope.

1, 2, 3, 4, 5, 6: sector area 11: sensor 12: induction magnet 13: body 14: rear wheel 15: front wheel 16: handle 19: front LED light 100: control method 110: smart brake activation Step 120: Touch Detection Step 130: Road Condition Judgment Step 140: Braking Distance Calculation Step 150: Braking Step 160: Prompt Steps A _n , A _{n -1} : Angle values Δ A , Δ A _acc , Δ A _gyro : change value E : Level P ₁ , P ₂ : Point U : Direction X ₁ : Initial position X ₂ : Brake position θ : Angle

Fig. 1 is a schematic diagram of a baby stroller control method according to the first embodiment of the present invention. Fig. 2 is a schematic diagram of the push button part of the stroller handle according to the first embodiment of the present invention. Fig. 3 is a schematic view of the entire baby stroller according to the first embodiment of the present invention. Fig. 4 is a schematic diagram of the road condition judgment step in the brake control method of Fig. 1. Figure 5 is a schematic diagram of the stroller braking when the road condition is flat. Figure 6 is a schematic diagram of the stroller braking when the road is on a slope. Fig. 7 is a schematic diagram of the step of calculating the braking distance when the ground is level in the braking control method of Fig. 1. Fig. 8 is another schematic diagram of the step of calculating the braking distance when the ground is level in the braking control method of Fig. 1. Fig. 9 is another schematic diagram of the step of calculating the braking distance when leveling in the braking control method of Fig. 1. Fig. 10 is a schematic diagram of the step of calculating the braking distance on a slope in the braking control method of Fig. 1.

100: control method

110: Smart brake activation steps

120: Touch detection steps

130: Road condition judgment steps

140: Braking distance calculation steps

150: Braking step

160: Prompt step

Claims (8)

A method for controlling a cart. The cart includes a sensor for detecting whether a handle of the cart is touched. The method includes: judging a road condition when the sensor detects that the handle is not touched; and calculating a road condition according to the road condition. Braking distance; performing a braking after the cart has advanced the braking distance; and performing a prompt after the braking; wherein the judging the road condition when the sensor detects that the handle is not touched includes: based on three-axis acceleration measurement values Calculate an angle between the cart and the ground with the measured value of the three-axis angular velocity; and when the sensor detects that the angle between the cart and the ground is less than a prescribed angle, it is determined that the road condition is flat; and/or when the sensor detects When the angle between the cart and the ground is greater than or equal to a predetermined angle, the road condition is judged to be a slope; wherein when the road condition is judged to be flat, calculating the braking distance according to the road condition includes: calculating a sensing distance of the handle ; Calculate the movement distance of one of the brake pins of the cart; calculate the arc length of the rolling of the rear wheel of the cart; and add the sensing distance, the movement distance of the brake pin and the arc length as the Braking distance. A method for controlling a cart, the cart includes a sensor for detecting whether one of the handles of the cart is touched, and the method includes: When the sensor detects that the handle is not touched, judge the road condition; calculate a braking distance according to the road condition; perform a brake after the cart has advanced the braking distance; and perform a prompt after the brake; When the sensor detects that the handle is not touched, judging the road condition includes: calculating an angle between the cart and the ground based on the three-axis acceleration measurement value and the three-axis angular velocity measurement value; and when the sensor detects the relationship between the cart and the ground When the angle is less than a prescribed angle, the road condition is judged to be flat; and/or when the sensor detects that the angle between the cart and the ground is greater than or equal to a prescribed angle, the road condition is judged to be a slope; where the road condition is judged to be When it is on a slope, calculating the braking distance according to the road condition includes: calculating a slope movement distance of the cart; and using the slope movement distance as the braking distance. The cart control method according to claim 1, wherein the sensing distance is a sensing response time of the handle multiplied by a moving speed of the cart; and/or the moving distance of the brake pin is the brake lock The movement time of the needle is multiplied by the movement speed of the cart; and/or the arc length is between one-half to one-third of the circumference of the rear wheel. The cart control method according to claim 2, wherein the slope movement distance is the square of the sum of a response time of the handle and the movement time of the brake pin of the cart multiplied by the cart One-half acceleration. The cart control method according to claim 1 or 2, wherein the cart further includes an induction magnet located on the rear wheel of the cart; The cart further includes a button for activating an intelligent braking mode of the cart; and/or the cart further includes a reminder light for indicating whether an intelligent braking mode of the cart is activated; and/or the The cart further includes a battery for powering the brake device, the button and/or the sensor; and/or the cart further includes a low battery indicator light for indicating whether the battery is low; and/or the battery The prompt is made after the brake, and the prompt is made with an audio tone. A control method of a baby stroller includes the control method of a stroller as described in any one of claims 1 to 5. A computer program product applied to a program stored in a cart. When the program is loaded and executed by the computer, the control method described in any one of request items 1 to 6 can be completed. A cart includes: a handle; a sensor for detecting whether the handle is touched; and a brake control device for executing the control method according to any one of claims 1 to 6.

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