Intelligent control system and method for touring car traction robot

Abstract

The invention provides an intelligent control system and method for a touring car traction robot, and belongs to the technical field of automatic control. The motor driving module drives a traction motor of the traction robot; the current detection module collects the working current of the traction motor; the speed detection module collects the rotating speed of the traction motor; the wireless receiving module receives a control signal of the portable control terminal; the microcontroller is configured to generate a preliminary motor driving signal according to a control signal of the portable control terminal to drive the traction motor; load self-adaptive control is executed, and a motor driving signal is adjusted based on the collected current value of the traction motor and the collected rotating speed value of the traction motor; safety monitoring is executed, and brake protection is triggered when the signal is abnormal or the speed is abnormal; and when the traction target is executed or brake protection is triggered, tactile feedback is sent to the user through the portable control terminal. Intelligent traction control is achieved, efficiency and safety are improved, and user experience is optimized.

Description

Technical Field

[0001] This application belongs to the field of automatic control technology, specifically relating to an intelligent control system and method for a motorhome towing robot. Background Technology

[0002] With the increasing popularity of RVs, the need for RV mobility in confined spaces such as campsites and garages, as well as location tracking within scenic areas, is becoming increasingly prominent. Currently, there are three main solutions for RV mobility: The first option is to use a towing vehicle (such as a car or truck). This solution connects the towing vehicle and the RV via a towing bar, utilizing the motor vehicle for towing. However, this solution requires a large operating space, making it difficult to implement in confined areas; secondly, the operation process is complex and requires experienced drivers; thirdly, due to the inner wheel difference and blind spots of the vehicle, precise control is difficult and the margin for error is low; and it also requires additional towing vehicles, resulting in higher costs. The second option is to use general-purpose mobile equipment (such as forklifts or industrial remote-controlled flatbed trucks). This solution uses general-purpose handling equipment to move the RV. However, this solution has several drawbacks. Firstly, the equipment's functionality is incompatible with the RV's towing requirements, posing risks of unsafe docking and equipment damage; secondly, it lacks dedicated safety mechanisms for RV towing conditions, with insufficient safety redundancy for features such as preventing rollover on slopes; thirdly, the control method is rudimentary, lacking smooth start-stop control and requiring significant restarts; and the equipment is typically large, making it inconvenient to carry and store. The third option is to use traditional RV towing robots. These robots are usually low-profile, able to enter under the vehicle, and are controlled by wired or simple wireless remote controls. However, this solution has several drawbacks. First, it uses an open-loop control system, which cannot intelligently adjust the motor output according to the actual load, leading to motor overload or insufficient power. Second, the safety protection mechanism is rudimentary, usually relying on a single passive protection that brakes when the power is cut off, which may fail under complex working conditions. Third, the human-machine interaction experience is poor, and the operator cannot know the robot's real-time status. Finally, it has limited functionality and lacks the ability to switch between multiple modes to adapt to different scenarios.

[0003] Therefore, there is an urgent need for a motorhome traction control system and method that can achieve intelligent load adaptation, has multiple safety protections, supports high-precision operation, and is user-friendly. Summary of the Invention

[0004] In a first aspect, embodiments of this application provide an intelligent control system for a motorhome towing robot, including a microcontroller connected to a motor drive module, a wireless receiver module, a speed detection module, a current detection module, and a power supply module. Motor drive module, used to drive the traction motor of the RV towing robot; A current detection module is used to collect the operating current of the traction motor in real time; The speed detection module is used to collect the rotational speed of the traction motor in real time; A wireless receiver module is used to receive control signals from a portable control terminal; The portable control terminal connects to the wireless receiving module via wireless communication and is used to send control commands to the microcontroller and receive feedback commands from the microcontroller. The power module is also connected to the motor drive module and the wireless receiver module to provide power to the microcontroller, the motor drive module and the wireless receiver module; The microcontroller is configured as follows: The portable control terminal generates a preliminary motor drive signal to drive the traction motor of the RV towing robot. The load adaptive control is implemented by adjusting the motor drive signal based on the current value of the traction motor collected by the current detection module and the speed value of the traction motor collected by the speed detection module. Perform safety monitoring and trigger braking protection when there is an abnormal signal or speed. When the RV towing robot completes its towing objective or triggers braking protection, it sends tactile feedback to the user via a portable control terminal.

[0005] Furthermore, the microcontroller is also connected to a voltage detection module; The voltage detection module is used to detect the supply voltage of the power module. The microcontroller is configured as follows: When the power supply voltage of the power module is lower than the voltage threshold, a low voltage alarm is sent to the user via a portable control terminal.

[0006] Furthermore, the microcontroller is also connected to a docking status sensing module and a docking execution module; The docking status sensing module is used to detect the connection status between the RV towing robot's towing hook and the RV towing disc; The docking execution module is used to lock or unlock the RV towing disc according to the instructions of the microcontroller; The microcontroller is also configured as follows: The system executes docking and disengagement control logic, determines the connection or disengagement status of the RV towing robot's towing hook and the RV towing disc based on the signals from the docking status sensing module, controls the actions of the docking execution module, and provides tactile feedback to the user through a portable control terminal when the status changes.

[0007] Secondly, embodiments of this application also provide an intelligent control method for a motorhome towing robot, applied to the system described in the first aspect, comprising the following steps: S1. The microcontroller initializes peripherals and calibrates the control signals of the portable control terminal; S2. The microcontroller decodes the data packets sent by the portable control terminal to obtain the joystick status and button status; S3. The microcontroller selects the corresponding traction mode according to the button state, and generates a preliminary motor drive signal based on the selected traction mode and the joystick state to drive the traction motor. S4. The microcontroller collects the motor operating current of the traction motor in real time, adjusts the preliminary motor drive signal according to the collected motor operating current, and determines the working status of the RV traction robot. S5. The microcontroller monitors the communication signals and output status of the RV towing robot and triggers braking protection in case of abnormality; S6. When the RV towing robot completes its towing target task, triggers braking protection, or completes the towing mode switch, the microcontroller sends tactile feedback to the user through the portable control terminal.

[0008] Furthermore, the following docking control steps are also included between steps S2 and S3: The S3A microcontroller controls the movement of the RV towing robot to align the towing hook with the towing disc and detects the contact status. When docking is confirmed, it locks the towing hook and the towing disc and generates a tactile feedback signal indicating successful docking. Step S6 also includes the following docking separation steps: When the microcontroller receives a separation command from the portable control terminal or detects that the RV towing robot has completed its towing target execution, it controls the towing hook to unlock from the towing disc, and controls the RV towing robot to move to separate from the towing disc. After confirming the separation, it generates a tactile feedback signal indicating successful separation.

[0009] Furthermore, the specific steps of step S1 are as follows: S11. The RV towing robot system is powered on, and the microcontroller initializes its internal peripherals, including an analog-to-digital converter, a pulse width modulator, a timer, a communication interface, and a task scheduling table for the target towing task. S12. The microcontroller acquires the original signal values ​​of each joystick and button of the portable control terminal in the initial static state, sets the original signal values ​​as the software reference zero point, and generates calibrated reference parameters to eliminate the inherent signal offset error of the hardware. S13. The microcontroller stores the calibrated reference parameters; The specific steps of step S2 are as follows: S21. The microcontroller listens to the data packets of the portable control terminal through the wireless receiving module and verifies the data packets. If the verification fails, the corresponding data packet is discarded and the system waits for the next data packet. S22. The microcontroller parses the data packets that pass the verification, extracts the analog signal values ​​of the joystick and the digital status values ​​of the buttons, and performs software filtering on the extracted analog signal of the joystick to eliminate signal jitter.

[0010] Furthermore, the specific steps of step S3 are as follows: S31. The microcontroller listens to and identifies combination key signals based on key states; When the first combination key signal is detected, proceed to step S32; When the second combination key signal is detected, proceed to step S33; When the third combination key signal is detected, proceed to step S34; S32. Set the current traction mode to high-precision mode and control the physical displacement input value of the joystick. With the target motor drive signal output value Between according to The first nonlinear functional relationship, where, The output gain is less than 1; proceed to step S35; S33. Set the current traction mode to standard traction mode and control the physical displacement input value of the joystick. With the target motor drive signal output value Between according to The linear proportional function relationship, where, The scaling factor is fixed; proceed to step S35; S34. Set the current traction mode to high-speed mode and control the physical displacement input value of the joystick. With the target motor drive signal output value The relationship between them is as follows: : in, The preset displacement threshold is between 0% and 100%. This is the first nonlinear functional relationship. The output gain is a second nonlinear function relationship greater than the scaling factor K; S35. Obtain the currently set traction mode and joystick status value; S36. Based on the functional relationship corresponding to the current traction mode, convert the joystick state value into a preliminary target speed value using a lookup table method or linear interpolation method. ; S37. Based on the preliminary target speed value This generates the corresponding initial motor drive signal to drive the traction motor.

[0011] Furthermore, the specific steps of step S4 are as follows: S41. The microcontroller acquires the real-time sampled operating current of the traction motor. ; S42. Based on the collected operating current of the traction motor and the rated current of the traction motor Calculate the current ratio : ; S43. The current ratio With the preset first threshold and the second threshold In comparison, among which, ; like If the condition is normal, the system will determine that the load is under normal conditions and output a preliminary motor drive signal. like If the signal is overloaded, the output power of the motor drive signal will be limited and the primary vibration alarm of the portable control terminal will be triggered. like If the signal is detected as stuck, the braking protection program will be triggered immediately, and the advanced vibration alarm on the portable control terminal will also be triggered.

[0012] Furthermore, the specific steps of step S5 are as follows: The microcontroller determines whether any of the following conditions are met: The microcontroller polls the wireless communication status during the timer interrupt. If no valid data packet is received for N consecutive communication cycles, it is determined that the signal is lost. When parsing data packets, the microcontroller determines in real time whether it contains an emergency stop button instruction; The microcontroller acquires the real-time rotational speed of the traction motor and compares it with the output motor drive signal. When unexpected movement is detected, it is determined to be a runaway vehicle. When any one of these conditions is met, the microcontroller controls the output of a reverse braking signal to the traction motor that is opposite to the current direction of motion, and performs software-based energy-efficient braking.

[0013] Furthermore, step S6 is detailed as follows: S61. When the microcontroller determines that the traction hook and traction disc have successfully docked and locked, it generates and sends the first vibration command to drive the portable control terminal to generate a vibration of the first duration. S62. When the microcontroller detects that the traction mode switching is complete, it generates and sends a second vibration command to drive the portable control terminal to generate a vibration of a second duration; the first duration is greater than the second duration, and the difference between the two is greater than a set duration threshold. S63. When the microcontroller detects that the braking protection has been triggered, it generates and sends a third vibration command to drive the portable control terminal to generate vibration that meets the first set frequency, wherein the first set frequency is greater than the set frequency threshold. S64. When the microcontroller detects that the power module voltage is lower than the power threshold, it generates and sends a fourth vibration command to drive the portable control terminal to generate vibration that meets the second set frequency to issue an alarm. The second set frequency is less than the set frequency threshold.

[0014] As can be seen from the above technical solutions, this application has the following advantages: The intelligent control system and method for the RV towing robot provided in this application achieve efficient, safe, and precise operation of the RV towing robot; it can intelligently adjust the motor output according to the actual working conditions to improve traction efficiency and protect the motor; at the same time, the multi-mode switching function meets the operational needs of different scenarios and enhances the user experience; through multi-level safety protection mechanisms and tactile feedback, the safety and intuitiveness of operation are enhanced, solving the problems of complex operation, low safety, and poor user experience. Attached Figure Description

[0015] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of an embodiment of the intelligent control system for the RV towing robot of the present invention.

[0017] Figure 2 This is a schematic diagram of another embodiment of the intelligent control system for the RV towing robot of the present invention.

[0018] Figure 3 This is a flowchart illustrating the intelligent control method for the RV towing robot of the present invention. Detailed Implementation

[0019] The various embodiments of this disclosure will be described more fully in the following detailed description of the intelligent control system for the RV towing robot. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0020] This embodiment provides an intelligent control system for a motorhome towing robot. Through load adaptive control and multi-level safety protection mechanisms, it improves the towing efficiency and safety of motorhomes. At the same time, the multi-mode switching function meets the needs of different scenarios and optimizes the user experience.

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figure 1 The diagram shown is a schematic of the intelligent control system of a motorhome towing robot in a specific embodiment. The system includes a microcontroller, which is connected to a motor drive module, a wireless receiving module, a speed detection module, a current detection module, and a power supply module. Motor drive module, used to drive the traction motor of the RV towing robot; A current detection module is used to collect the operating current of the traction motor in real time; The speed detection module is used to collect the rotational speed of the traction motor in real time; A wireless receiver module is used to receive control signals from a portable control terminal; The portable control terminal connects to the wireless receiving module via wireless communication and is used to send control commands to the microcontroller and receive feedback commands from the microcontroller. The power module is also connected to the motor drive module and the wireless receiver module to provide power to the microcontroller, the motor drive module and the wireless receiver module; The microcontroller is configured as follows: The portable control terminal generates a preliminary motor drive signal to drive the traction motor of the RV towing robot. The load adaptive control is implemented by adjusting the motor drive signal based on the current value of the traction motor collected by the current detection module and the speed value of the traction motor collected by the speed detection module. Perform safety monitoring and trigger braking protection when there is an abnormal signal or speed. When the RV towing robot completes its towing target or triggers braking protection, it sends tactile feedback to the user via a portable control terminal. It should be noted that the microcontroller's ability to coordinate and control various modules and make intelligent decisions is the foundation of intelligentization. The motor drive module ensures the smooth movement of the RV by precisely driving the traction motor; The current detection module monitors the motor current in real time, providing data support for load adaptive control and preventing motor overload. The speed detection module collects motor speed data in real time to help determine the traction status and ensure operational safety. The wireless receiving module enables wireless communication with the portable control terminal, improving operational flexibility and convenience. The power module provides stable power support to all parts of the system, ensuring the normal operation of the system.

[0023] This embodiment integrates multiple functional modules through a microcontroller to realize the intelligent operation of the RV towing robot; the system has the functions of load adaptive control, multi-mode switching, safety monitoring and tactile feedback, and can intelligently adjust the motor output according to the actual working conditions to improve traction efficiency and protect the motor; at the same time, a multi-level safety protection mechanism ensures operational safety and optimizes the user experience.

[0024] Furthermore, as a refinement and extension of the specific implementation methods described above, and to fully illustrate the specific implementation process in this embodiment, another intelligent control system for a motorhome towing robot is provided, such as... Figure 2 As shown, the system includes a microcontroller, which is connected to a motor drive module, a wireless receiver module, a speed detection module, a current detection module, and a power supply module. Motor drive module, used to drive the traction motor of the RV towing robot; A current detection module is used to collect the operating current of the traction motor in real time; The speed detection module is used to collect the rotational speed of the traction motor in real time; A wireless receiver module is used to receive control signals from a portable control terminal; The portable control terminal connects to the wireless receiving module via wireless communication and is used to send control commands to the microcontroller and receive feedback commands from the microcontroller. The power module is also connected to the motor drive module and the wireless receiver module to provide power to the microcontroller, the motor drive module and the wireless receiver module; The microcontroller is configured as follows: The portable control terminal generates a preliminary motor drive signal to drive the traction motor of the RV towing robot. The load adaptive control is implemented by adjusting the motor drive signal based on the current value of the traction motor collected by the current detection module and the speed value of the traction motor collected by the speed detection module. Perform safety monitoring and trigger braking protection when there is an abnormal signal or speed. When the RV towing robot completes its towing target or triggers braking protection, it sends tactile feedback to the user via a portable control terminal. The microcontroller is also connected to a voltage detection module; The voltage detection module is used to detect the supply voltage of the power module. The microcontroller is configured as follows: When the power supply voltage of the power module is lower than the voltage threshold, a low voltage alarm is sent to the user via the portable control terminal. The microcontroller is also connected to a docking status sensing module and a docking execution module; The docking status sensing module is used to detect the connection status between the RV towing robot's towing hook and the RV towing disc; The docking execution module is used to lock or unlock the RV towing disc according to the instructions of the microcontroller; The microcontroller is also configured as follows: The system executes docking and disengagement control logic, determines the connection or disengagement status of the RV towing robot's towing hook and the RV towing disc based on the signals from the docking status sensing module, controls the actions of the docking execution module, and provides tactile feedback to the user through a portable control terminal when the status changes. For example, the hardware configuration of the intelligent control system for the RV towing robot is as follows: The microcontroller (MCU) uses the STM32H7 series high-performance microcontroller, which has high-speed computing power and rich peripheral interfaces, and can simultaneously process data acquisition and control command output from multiple modules. The motor drive module uses a dual-channel DC motor drive chip, which supports a maximum continuous output current of 30A and is compatible with the high-power traction motor required for RV towing. The current detection module uses a series shunt resistor combined with an operational amplifier, achieving a detection accuracy of ±0.1A, and can acquire the traction motor operating current in real time. The speed detection module uses an incremental photoelectric encoder with a resolution of 1024 lines. It calculates the moving speed of the traction robot by collecting the rotational speed of the motor shaft, and the measurement error is less than 0.01m / s. The wireless receiving module adopts a 2.4GHz wireless communication module with a communication distance of up to 50 meters. It supports data packet verification and retransmission mechanisms and has strong anti-interference capabilities. The voltage detection module uses voltage divider resistors and ADC sampling circuit, with a detection range of 9V-30V, which is suitable for robot lithium battery power supply scenarios; The docking status sensing module integrates a pressure sensor and a Hall sensor to achieve dual detection of the connection status between the tow hook and the RV tow plate; The docking execution module adopts an electromagnetic lock structure with a response time of less than 100ms and a locking force of more than 5000N, ensuring connection reliability. The portable control terminal uses a wireless remote control handle, equipped with dual joysticks, multi-function buttons and a vibration feedback motor, and supports combination button operation and multi-level vibration prompts; The power module uses a 24V lithium battery pack with a capacity of 100Ah, supports fast charging, and can meet 8 hours of continuous traction operation on a single charge.

[0025] like Figure 3As shown, the following are embodiments of the intelligent control method for a motorhome towing robot provided in this disclosure. This method and the intelligent control system for the motorhome towing robot in the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the intelligent control method for the motorhome towing robot, please refer to the embodiments of the intelligent control system for the motorhome towing robot described above.

[0026] The method includes the following steps: S1. The microcontroller initializes peripherals and calibrates the control signals of the portable control terminal; It should be noted that peripheral initialization and signal calibration ensure that the system is in optimal condition at startup; this eliminates inherent signal offset errors in the hardware, improves the system's accuracy and stability, and provides a foundation for control operations. S2. The microcontroller decodes the data packets sent by the portable control terminal to obtain the joystick status and button status; It should be noted that by verifying and parsing data packets, the state information of the joystick and buttons is extracted and then filtered by software, which enhances the system's anti-interference capability; ensures the accuracy and reliability of the signals, and provides precise input data for the control logic; S3. The microcontroller selects the corresponding traction mode according to the button state, and generates a preliminary motor drive signal based on the selected traction mode and the joystick state to drive the traction motor. It should be noted that different traction modes are selected according to the button status, and preliminary motor drive signals are generated based on the mode and joystick status; by switching between multiple traction modes, the operational needs of different scenarios are met, improving flexibility and adaptability, while achieving fine control. S4. The microcontroller collects the motor operating current of the traction motor in real time, adjusts the preliminary motor drive signal according to the collected motor operating current, and determines the working status of the RV traction robot. It should be noted that by collecting the motor's operating current in real time and calculating the current ratio, intelligent judgment of the load status is achieved; corresponding control measures are taken according to different load statuses, such as limiting power output or triggering braking protection, which effectively protects the motor and equipment and improves the reliability and safety of the system. S5. The microcontroller monitors the communication signals and output status of the RV towing robot and triggers braking protection in case of abnormality; It should be noted that a multi-level safety monitoring mechanism is used to comprehensively monitor the operating status of the traction robot; when an abnormal situation is detected, braking protection is immediately triggered to ensure the safety of equipment and personnel, thereby improving the safety and reliability of the system. S6. When the RV towing robot completes its towing target task, triggers braking protection, or completes the towing mode switch, the microcontroller sends tactile feedback to the user through the portable control terminal. It should be noted that by generating tactile feedback signals with different vibration rhythms and intensities, intuitive interaction with the user is achieved; the user can understand the system status in a timely manner through vibration feedback, solve problems in the operation process, and improve the convenience and safety of operation.

[0027] This embodiment achieves high-precision traction, efficient operation, and comprehensive safety protection through load adaptive control, multi-mode switching, and tactile feedback, thereby enhancing user experience and ease of operation.

[0028] Furthermore, as a refinement and extension of the specific implementation methods of the above embodiments, in order to fully illustrate the specific implementation process in this embodiment, another intelligent control method for RV towing robots is provided. Taking the entire process of precise docking with a parking space in a confined space at an RV campsite, towing, and safe separation as an example, after the user drives the RV to the campsite, the RV needs to be towed from the temporary parking point to a confined parking space (specifically, the parking space is only 0.8 meters wider than the RV, with a length margin of 1.2 meters). The entire process involves five stages: docking of the towing robot with the RV, high-precision vehicle relocation, standard-speed towing, precise positioning, and safe separation. The entire process places extremely high demands on towing accuracy, operational safety, and equipment adaptability. This method includes the following steps: S1. The microcontroller initializes peripherals and calibrates the control signals of the portable control terminal; The specific steps of step S1 are as follows: S11. The RV towing robot system is powered on, and the microcontroller initializes its internal peripherals, including an analog-to-digital converter, a pulse width modulator, a timer, a communication interface, and a task scheduling table for the target towing task. S12. The microcontroller acquires the original signal values ​​of each joystick and button of the portable control terminal in the initial static state, sets the original signal values ​​as the software reference zero point, and generates calibrated reference parameters to eliminate the inherent signal offset error of the hardware. S13. The microcontroller stores the calibrated reference parameters; For example, the user places the RV towing robot on the ground directly behind the RV, turns on the robot's power, and the system automatically powers on and starts up; the microcontroller immediately initializes the internal peripherals, including the analog-to-digital converter (ADC), pulse width modulator (PWM), timer, UART communication interface and towing task scheduler, and completes the system hardware ready configuration; The microcontroller establishes a communication connection with the portable control terminal through a wireless receiving module, obtains the original signal values ​​of each joystick (left and right joysticks, which control forward, backward, and steering respectively) and function button of the gamepad in a static state, and sets them as the software reference zero point; for example, the original signal value of the left joystick when it is stationary is 1500, which is used as the reference point for forward and backward control after calibration, eliminating the signal offset error generated during the hardware manufacturing process. The microcontroller stores the calibrated reference parameters in its internal Flash memory, which is automatically loaded upon the next startup, eliminating the need for repeated calibration and improving ease of use. S2. The microcontroller decodes the data packets sent by the portable control terminal to obtain the joystick status and button status; The specific steps of step S2 are as follows: S21. The microcontroller listens to the data packets of the portable control terminal through the wireless receiving module and verifies the data packets. If the verification fails, the corresponding data packet is discarded and the system waits for the next data packet. S22. The microcontroller parses the data packets that pass the verification, extracts the analog signal values ​​of the joystick and the digital status values ​​of the buttons, and performs software filtering on the extracted analog signal of the joystick to eliminate signal jitter; S3. The microcontroller selects the corresponding traction mode according to the button state, and generates a preliminary motor drive signal based on the selected traction mode and the joystick state to drive the traction motor. The S3A microcontroller controls the movement of the RV towing robot to align the towing hook with the towing disc and detects the contact status. When docking is confirmed, it locks the towing hook and the towing disc and generates a tactile feedback signal indicating successful docking. For example, when a user operates the "Dock Mode" combination button (first combination button: SELECT+L1) on the portable control terminal, the microcontroller receives the combination button signal through the wireless receiving module, enters the docking preparation state, and sends a vibration command to the portable control terminal, driving the handle to generate a vibration lasting 0.3 seconds (second duration vibration), indicating that the mode switch was successful. The microcontroller controls the traction robot to start and moves towards the RV traction disc according to the preset low-speed movement algorithm (initial speed 0.05m / s). At the same time, the relative position of the traction hook and the traction disc is detected in real time through the docking status sensing module. When the traction hook approaches the traction disk (distance less than 5cm), the Hall sensor of the docking status perception module detects the metal structure of the traction disk, and the microcontroller controls the robot to decelerate to 0.02m / s, entering the precise alignment stage; When the traction hook and the traction disc are in full contact, the pressure sensor of the docking status sensing module detects that the contact pressure has reached the preset threshold (50N). The microcontroller determines that the docking is in place and immediately controls the electromagnetic lock action of the docking execution module to complete the locking of the traction hook and the traction disc. Once the lock is engaged, the microcontroller sends the first vibration command to the portable control terminal, which drives the handle to vibrate for 1 second (the first duration vibration). The user confirms the successful docking through tactile feedback without having to get out of the vehicle to observe. The specific steps of step S3 are as follows: S31. The microcontroller listens to and identifies combination key signals based on key states; When the first combination key signal is detected, proceed to step S32; When the second combination key signal is detected, proceed to step S33; When the third combination key signal is detected, proceed to step S34; S32. Set the current traction mode to high-precision mode and control the physical displacement input value of the joystick. With the target motor drive signal output value Between according to The first nonlinear functional relationship, where, The output gain is less than 1; proceed to step S35; It should be noted that in high-precision mode, the first nonlinear function relationship is adopted, so that the physical displacement of the joystick and the final motor drive signal have nonlinear saturation characteristics. That is, a large change in the joystick displacement only causes a small change in the motor drive signal, so as to achieve low sensitivity and high precision millimeter-level micro-motion control. S33. Set the current traction mode to standard traction mode and control the physical displacement input value of the joystick. With the target motor drive signal output value Between according to The linear proportional function relationship, where, The scaling factor is fixed; proceed to step S35; It should be noted that in standard traction mode, a linear proportional function relationship is used, so that the physical displacement of the joystick and the final motor drive signal have a fixed linear relationship, in order to achieve moderate sensitivity and control feedback that is intuitive to operate. S34. Set the current traction mode to high-speed mode and control the physical displacement input value of the joystick. With the target motor drive signal output value The relationship between them is as follows: : in, The preset displacement threshold is between 0% and 100%. This is the first nonlinear functional relationship. The output gain is a second nonlinear function relationship greater than the scaling factor K; It should be noted that in high-speed mode, a third nonlinear function relationship is adopted, which is a piecewise function: in the range of 0% to M% of the joystick displacement, its mapping characteristics are consistent with the first nonlinear function relationship to achieve a smooth start; in the range of M% to 100% of the joystick displacement, its mapping characteristics exhibit a second nonlinear function relationship, that is, a small change in the joystick displacement can cause a significant increase in the motor drive signal to achieve high sensitivity and high speed traction. S35. Obtain the currently set traction mode and joystick status value; S36. Based on the functional relationship corresponding to the current traction mode, convert the joystick state value into a preliminary target speed value using a lookup table method or linear interpolation method. ; S37. Based on the preliminary target speed value This generates the corresponding initial motor drive signal to drive the traction motor; For example, after successful connection, the user selects the traction mode according to the current scenario requirements: Phase 1: Moving the robot in confined spaces. The user presses the "High Precision Mode" combination button (i.e., the first combination button: SELECT+L1), and the microcontroller switches the traction mode to high precision mode. In this mode, the input value of the joystick's physical displacement and the output value of the target motor drive signal are mapped according to a first nonlinear function relationship (output gain 0.3). That is, when the joystick's physical displacement moves by 50%, the motor drive signal outputs only 15%, achieving millimeter-level precise control. For example, if the user slightly pushes the left joystick to a physical displacement of 30%, after function mapping, the motor drive signal outputs 9%, and the robot moves slowly at a speed of 0.08m / s, making it easy to adjust the direction. Phase Two: Open Channel Traction. When the user presses the "Standard Traction Mode" combination button (i.e., the second combination button: SELECT+L2), the microcontroller switches to standard mode. The joystick input and the motor drive signal are linearly proportional (proportional coefficient K=0.8). 50% joystick displacement corresponds to 40% of the motor drive signal, and the robot moves at a speed of 0.4m / s, balancing efficiency and control stability. Phase 3: Long-distance rapid traction. When the user presses the "High-speed mode" combination button (i.e., the third combination button: SELECT+R1), the microcontroller switches to high-speed mode. This mode uses a piecewise function relationship: when the physical displacement of the joystick is less than 50% of the preset threshold, it is mapped according to the first nonlinear function relationship (output gain 0.5) to ensure a smooth start; when the displacement is greater than 50%, it is mapped according to the second nonlinear function relationship (output gain 1.2, greater than the proportional coefficient K=0.8). A 60% joystick displacement corresponds to 72% of the motor drive signal, and the robot's moving speed is 0.7m / s, improving the efficiency of long-distance traction. The microcontroller monitors the data packets of the portable control terminal in real time through the wireless receiving module, performs CRC check on the data packets, and after the check passes, parses the analog signal value of the joystick and the digital status value of the button, and performs moving average filtering on the joystick signal to eliminate control fluctuations caused by signal jitter. Based on the currently selected traction mode and the filtered joystick state value, the microcontroller converts the joystick signal into a preliminary target speed value using a lookup table method, and then generates the corresponding preliminary motor drive signal through a pulse width modulator (PWM) to drive the traction motor to operate. S4. The microcontroller collects the motor operating current of the traction motor in real time, adjusts the preliminary motor drive signal according to the collected motor operating current, and determines the working status of the RV traction robot. The specific steps of step S4 are as follows: S41. The microcontroller acquires the real-time sampled operating current of the traction motor. ; S42. Based on the collected operating current of the traction motor and the rated current of the traction motor Calculate the current ratio : ; S43. The current ratio With the preset first threshold and the second threshold In comparison, among which, ; like If the condition is normal, the system will determine that the load is under normal conditions and output a preliminary motor drive signal. like If the signal is overloaded, the output power of the motor drive signal will be limited and the primary vibration alarm of the portable control terminal will be triggered. It should be noted that the primary vibration alarm refers to driving the portable control terminal to generate one or more short, single vibrations to warn the operator that the system is currently in an overload state and has automatically limited the power. like If the condition is detected as stuck, the braking protection program will be triggered immediately, and the advanced vibration alarm on the portable control terminal will also be triggered. It should be noted that the advanced vibration alarm refers to driving the portable control terminal to generate continuous and rapid vibrations, in order to urgently warn the operator that they are currently in a dangerous stuck state and that the braking protection program has been triggered. For example, during traction, the current detection module collects the operating current of the traction motor in real time at a sampling frequency of 100Hz and transmits the collected current signal to the microcontroller. The microcontroller calculates the current ratio K based on the traction motor's rated current (preset to 20A): Actual operating current / Rated current. Scenario 1: Standard traction mode on flat road, actual working current is 10A, current ratio K=0.5, which is less than the first threshold (preset to 0.8), so it is judged as a normal load state. The microcontroller outputs a preliminary motor drive signal to maintain the current traction speed. Scenario 2: When towing a motorhome uphill (15° incline), the actual operating current is 18A, and the current ratio K=0.9, which is between the first threshold (0.8) and the second threshold (1.2), indicating an overload condition. The microcontroller immediately limits the output power of the motor drive signal (reducing it by 30%) and sends a primary vibration alarm command to the portable control terminal. The drive handle generates three short vibrations (0.1 seconds each, with an interval of 0.2 seconds) to alert the user that the motor is currently in an overload condition, thus preventing damage from prolonged overload. Scenario 3: During traction, the towing hook gets stuck on a ground obstacle, and the actual working current suddenly rises to 25A. The current ratio K=1.25, which is greater than the second threshold (1.2), and it is determined to be stuck. The microcontroller immediately triggers the braking protection program, cuts off the motor drive signal and outputs a reverse braking signal. At the same time, it sends an advanced vibration alarm command to the portable control terminal, and drives the handle to generate continuous rapid vibration (frequency 10Hz, first set frequency, greater than the set frequency threshold of 5Hz) until the user troubleshoots the fault and resets it. S5. The microcontroller monitors the communication signals and output status of the RV towing robot and triggers braking protection in case of abnormality; The specific steps of step S5 are as follows: The microcontroller determines whether any of the following conditions are met: The microcontroller polls the wireless communication status during the timer interrupt. If no valid data packet is received for N consecutive communication cycles, it is determined that the signal is lost. When parsing data packets, the microcontroller determines in real time whether it contains an emergency stop button instruction; The microcontroller acquires the real-time rotational speed of the traction motor and compares it with the output motor drive signal. When unexpected movement is detected, it is determined to be a runaway vehicle. When any one of these conditions is met, the microcontroller controls the output of a reverse braking signal to the traction motor that is opposite to the current direction of motion, and performs software-based energy-efficient braking. For example, signal loss protection is implemented: the microcontroller polls the wireless communication status every 10ms via a timer interrupt. If no valid data packet is received from the portable control terminal for 5 consecutive communication cycles (50ms), it is determined that the signal is lost. At this time, the microcontroller immediately outputs a reverse braking signal to the traction motor in the opposite direction of the current movement, and simultaneously starts software energy-consuming braking to stop the robot from moving within 0.5 seconds, thus avoiding loss of control due to signal interruption. Emergency stop protection: If the user discovers an emergency during operation (such as an obstacle in front), presses the emergency stop button on the portable control terminal. When the microcontroller parses the data packet, it detects the emergency stop command, immediately executes the emergency braking program, outputs a reverse braking signal and cuts off the motor power to ensure instantaneous stop. Implement rollaway protection: The speed detection module collects the traction motor speed in real time and converts it into the robot's moving speed; when the microcontroller outputs a stationary command, if the detected speed is greater than 0.01m / s (unexpected movement), it is determined to be rollaway; immediately output a reverse braking signal, and at the same time send a high-frequency vibration alarm through the portable control terminal to prevent the RV from rolling away and causing safety accidents; S6. When the RV towing robot completes its towing target task, triggers braking protection, or completes the towing mode switch, the microcontroller sends tactile feedback to the user through the portable control terminal. In step S6, the microcontroller generates tactile feedback with different vibration rhythms and intensities based on the system status of the RV towing robot. The specific steps are as follows: S61. When the microcontroller determines that the traction hook and traction disc have successfully docked and locked, it generates and sends the first vibration command to drive the portable control terminal to generate a vibration of the first duration. S62. When the microcontroller detects that the traction mode switching is complete, it generates and sends a second vibration command to drive the portable control terminal to generate a vibration of a second duration; the first duration is greater than the second duration, and the difference between the two is greater than a set duration threshold. S63. When the microcontroller detects that the braking protection has been triggered, it generates and sends a third vibration command to drive the portable control terminal to generate vibration that meets the first set frequency, wherein the first set frequency is greater than the set frequency threshold. S64. When the microcontroller detects that the power module voltage is lower than the power threshold, it generates and sends a fourth vibration command to drive the portable control terminal to generate vibration that meets the second set frequency to issue an alarm. The second set frequency is less than the set frequency threshold. Step S6 also includes the following docking separation steps: When the microcontroller receives a separation command from the portable control terminal or detects that the RV towing robot has completed its towing target execution, it controls the towing hook to unlock from the towing disc, and controls the RV towing robot to move to separate from the towing disc. After confirming the separation, it generates a tactile feedback signal indicating successful separation. For example, when the RV approaches the target parking space, the user switches to high-precision mode and controls the robot to move at a speed of 0.05m / s by fine-tuning the joystick until the RV is accurately parked in the parking space (position error less than 5cm). After the target is towed, the user presses the "separate" button on the portable control terminal. After receiving the separation command, the microcontroller controls the electromagnetic lock of the docking execution module to unlock, and at the same time controls the robot to move backward 0.3 meters to completely separate from the RV towing plate. The docking status sensing module detects that the traction hook and traction disc have separated (i.e., the pressure sensor value is less than 5N and the Hall sensor has no signal), and determines that the separation is successful. The microcontroller sends a tactile feedback signal of successful separation to the portable control terminal, which drives the handle to generate a vibration for 0.5 seconds. After separation, the user turns off the portable control terminal. The microcontroller detects the communication interruption, automatically cuts off the motor drive power, and enters a low-power standby state to save power. Throughout the traction process, the voltage detection module monitors the power supply voltage of the power module in real time, with a preset voltage threshold of 18V. When the power module voltage is below 18V, the microcontroller determines that it is in a low voltage state and sends a fourth vibration command to the portable control terminal, driving the handle to generate low-frequency vibration (frequency 2Hz, second set frequency, less than the set frequency threshold of 5Hz), continuously reminding the user to charge in time to avoid traction interruption due to power depletion.

[0029] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0030] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent control system of a recreational vehicle towing robot, characterized in that, The microcontroller is connected with a motor driving module, a wireless receiving module, a speed detecting module, a current detecting module and a power module; The motor driving module is used for driving the traction motor of the house car traction robot; The current detecting module is used for collecting the working current of the traction motor in real time; The speed detecting module is used for collecting the rotating speed of the traction motor in real time; The wireless receiving module is used for receiving the control signal of the portable control terminal; The portable control terminal is connected with the wireless receiving module through wireless communication mode, and is used for sending the control instruction to the microcontroller and receiving the feedback instruction of the microcontroller; The power module is also connected with the motor driving module and the wireless receiving module, and is used for supplying power for the microcontroller, the motor driving module and the wireless receiving module; The microcontroller is configured to: generate the preliminary motor driving signal according to the control signal of the portable control terminal, and drive the traction motor of the house car traction robot; execute the load adaptive control, adjust the motor driving signal based on the current value of the traction motor collected by the current detecting module and the rotating speed value of the traction motor collected by the speed detecting module; execute the safety monitoring, and trigger the brake protection when the signal is abnormal or the speed is abnormal; when the traction target of the house car traction robot is executed or the brake protection is triggered, send the tactile feedback to the user through the portable control terminal.

2. The intelligent control system of the RV towing robot according to claim 1, wherein, The microcontroller is also connected with a voltage detecting module; The voltage detecting module is used for detecting the power supply voltage of the power module; The microcontroller is configured to: when the power supply voltage of the power module is lower than the voltage threshold, send the low voltage alarm to the user through the portable control terminal.

3. The intelligent control system of the RV towing robot according to claim 1, wherein, The microcontroller is also connected with a docking state sensing module and a docking execution module; The docking state sensing module is used for detecting the connection state of the house car traction hook and the house car traction disc of the house car traction robot; The docking execution module is used for executing the locking or unlocking of the house car traction disc according to the instruction of the microcontroller; The microcontroller is also configured to: execute the docking and separation control logic, judge the connection or separation state of the house car traction hook and the house car traction disc of the house car traction robot according to the signal of the docking state sensing module, control the action of the docking execution module, and provide the tactile feedback to the user through the portable control terminal when the state is changed.

4. The intelligent control method of the RV towing robot, applied to the system of any one of claims 1-3, characterized in that, The method comprises the following steps: S1. The microcontroller initializes the peripheral device, and calibrates the control signal of the portable control terminal; S2. The microcontroller decodes the data packet sent by the portable control terminal, and obtains the rocker state and the key state; S3. The microcontroller selects the corresponding traction mode according to the key state, and maps the preliminary motor driving signal according to the selected traction mode and the rocker state, and drives the traction motor; S4. The microcontroller collects the motor working current of the traction motor in real time, adjusts the preliminary motor driving signal according to the collected motor working current, and judges the working state of the house car traction robot; S5. The microcontroller monitors the communication signal and the output state of the house car traction robot, and triggers the brake protection when the state is abnormal. S6. When the trailer towing robot finishes the towing target task, triggers the brake protection, or the towing mode is switched, the microcontroller sends tactile feedback to the user through the portable control terminal.

5. The intelligent control method of the RV towing robot according to claim 4, characterized in that The docking control step between step S2 and step S3 is as follows: S3A. The microcontroller controls the trailer towing robot to move to align the towing hook with the towing disc, detects the contact state, and performs locking on the towing hook and the towing disc when the docking is confirmed, and generates a tactile feedback signal indicating successful docking; The docking separation step in step S6 is as follows: When the microcontroller receives the separation instruction from the portable control terminal or detects that the trailer towing robot has finished the towing target task, it controls the towing hook to unlock from the towing disc, controls the trailer towing robot to move away from the towing disc, and generates a tactile feedback signal indicating successful separation after confirming the separation.

6. The intelligent control method of the RV towing robot according to claim 5, characterized in that, The specific steps of step S1 are as follows: S11. The trailer towing robot system is powered on, and the microcontroller initializes the internal peripherals, including the analog-to-digital converter, pulse width modulator, timer, communication interface, and task scheduling table of the target towing task; S12. The microcontroller obtains the original signal values of each joystick and button of the portable control terminal in the initial static state, sets the original signal values as the software reference zero point, generates calibrated reference parameters to eliminate the inherent signal offset error of the hardware, and generates calibrated reference parameters to eliminate the inherent signal offset error of the hardware; S13. The microcontroller stores the calibrated reference parameters; The specific steps of step S2 are as follows: S21. The microcontroller listens to the data packets of the portable control terminal through the wireless receiving module, and checks the data packets. If the check fails, the corresponding data packet is discarded and the next data packet is waited for; S22. The microcontroller analyzes the data packets that pass the check, extracts the analog signal values of the joysticks and the digital state values of the buttons, and performs software filtering on the extracted analog signal values of the joysticks to eliminate signal jitter.

7. The intelligent control method of the RV towing robot according to claim 5, characterized in that, The specific steps of step S3 are as follows: S31. The microcontroller listens to the combined button signal according to the button state; When the first combined button signal is detected, step S32 is entered; When the second combined button signal is detected, step S33 is entered; When the third combined button signal is detected, step S34 is entered; S32. Set the current traction mode to the high precision mode, control the physical displacement input value of the joystick to the target motor drive signal output value according to a first nonlinear function relationship , wherein The output gain of is less than 1; enter step S35; S33. Set the current traction mode to the standard traction mode, control the physical displacement input value of the joystick to the target motor drive signal output value in accordance with a linear proportional function relationship wherein is a fixed proportional coefficient; proceed to step S35; S34. Set the current traction mode to high speed mode, control the physical displacement input value of the joystick to the target motor drive signal output value according to the following piecewise function relationship: ： wherein, is a preset displacement threshold between 0% and 100%, is a first nonlinear function relationship, is a second nonlinear function relationship with an output gain greater than the proportional coefficient K; S35. Obtain the current set towing mode and joystick state value; S36. According to the function relationship corresponding to the current traction mode, the rocker state value is converted into a preliminary target speed value by table lookup method or linear interpolation calculation method ; S37. generating a corresponding preliminary motor drive signal to drive the traction motor in accordance with the preliminary target speed value , generate a corresponding preliminary motor drive signal to drive the traction motor.

8. The intelligent control method of the RV towing robot according to claim 5, characterized in that, The specific steps of step S4 are as follows: S41. The microcontroller acquires the real-time sampled operating current of the traction motor ; S42. Calculate the current ratio based on the acquired operating current of the traction motor and the rated current of the traction motor S43. Calculate the current ratio based on the acquired operating current of the traction motor : ； S43. The current ratio With the preset first threshold and the second threshold In comparison, among which, ; If then the normal load state is determined and the preliminary motor drive signal is output. If , it is determined as overload state, the output power of motor drive signal is limited and the primary vibration alarm of portable control terminal is triggered. If If the card is in the jammed state, the brake protection program is triggered immediately and the advanced vibration alarm of the portable control terminal is triggered.

9. The intelligent control method of the RV towing robot according to claim 5, characterized in that, The specific steps of step S5 are as follows: The microcontroller determines whether any of the following conditions is met: The microcontroller polls the wireless communication state in the timer interrupt. If no valid data packet is received for N consecutive communication periods, it is determined that the signal is lost; The microcontroller determines whether the emergency stop button instruction is included in real time when analyzing the data packet; The microcontroller obtains the real-time speed of the towing motor and compares it with the output motor drive signal. When an unexpected movement is detected, it is determined that the vehicle is rolling; When any of the above conditions is met, the microcontroller controls the output of the reverse brake signal opposite to the current movement direction to the towing motor and performs software energy consumption braking.

10. The intelligent control method of the RV towing robot according to claim 5, wherein, In step S6, the microcontroller generates different vibration rhythms and intensities of tactile feedback according to the system state of the trailer towing robot. The specific steps are as follows: S61. When the microcontroller determines that the traction hook and the traction disc are successfully docked and locked, a first vibration instruction is generated and sent to drive the portable control terminal to vibrate for a first time length; S62. When the microcontroller detects that the traction mode switching is completed, a second vibration instruction is generated and sent to drive the portable control terminal to vibrate for a second time length; the first time length is greater than the second time length, and the difference between the two is greater than a set time threshold; S63. When the microcontroller detects that the brake protection is triggered, a third vibration instruction is generated and sent to drive the portable control terminal to vibrate at a first set frequency, which is greater than a set frequency threshold; S64. When the microcontroller detects that the voltage of the power module is lower than a power threshold, a fourth vibration instruction is generated and sent to drive the portable control terminal to vibrate at a second set frequency to alarm, which is less than the set frequency threshold.

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