Portable individual-soldier power-assisted tractor and dual-mode control method

Abstract

The invention relates to the technical field of tractors, and discloses a portable individual-soldier power-assisted tractor and a dual-mode control method, the portable individual-soldier power-assisted tractor comprises a wearing vest, a quick release device, a rubber connector, a multi-dimensional force sensor, an upper traction rod, a full-tooth angle adjuster, a lower traction rod, a quick release bolt, a rotating shaft, a swing arm, a chassis, an electrical control box, a battery, a shock absorber and a driving wheel; wherein the quick release device is connected with the upper traction rod through a rubber connector, and a multi-dimensional force sensor is arranged at the joint of the rubber connector and the upper traction rod; the upper traction rod is connected with the top end of the lower traction rod through the full-tooth angle adjuster, and the upper traction rod and the lower traction rod can rotate relatively so as to adjust the traction angle. The bottom end of the lower traction rod is mounted at the front end of the chassis, is fixed through a rotating shaft and a snap spring, and is limited by a quick-release bolt; the electrical control box and the battery are arranged in the inner area of the chassis. The device is reasonable in structure, convenient to operate, accurate in control and capable of improving the working efficiency of an individual soldier and reducing the labor intensity.

Description

Technical Field

[0001] This invention relates to the field of tractor technology, and more specifically, to a portable single-soldier assisted tractor and a dual-mode control method. Background Technology

[0002] In disaster relief, logistical support, and other fields, the transportation of materials and equipment is crucial to ensuring timely operations. Materials require a stable and reliable transport platform during transport. Currently, short-distance material transport typically relies on manual labor or external power. Manual transport is not only labor-intensive but also has limited load-bearing capacity; while using external power such as trucks results in large, heavy vehicles with poor maneuverability and terrain adaptability, higher costs, and limited application scenarios.

[0003] Therefore, it is necessary to design a portable single-soldier assisted tractor and a dual-mode control method to solve the problems existing in the current technology. Summary of the Invention

[0004] In view of this, the present invention proposes a portable single-soldier assisted traction vehicle and a dual-mode control method, aiming to provide a portable single-soldier assisted traction and dual-mode control method to assist individual soldiers and reduce their workload.

[0005] In one aspect, the present invention provides a portable single-soldier assisted towing vehicle, comprising: The components include a vest, quick-release mechanism, rubber connectors, multi-dimensional force sensors, upper traction bar, full-tooth angle adjuster, lower traction bar, quick-release pins, pivot shaft, swing arm, chassis, electrical control box, battery, shock absorbers, and drive wheels; among which, The quick-release device is screwed onto the vest. When the whole machine is in use, the vehicle body is connected to the quick-release device through the rubber connector. The multi-dimensional force sensor is provided at the connection between the rubber connector and the upper traction rod. The upper traction rod is connected to the top of the lower traction rod via the full-tooth angle adjuster, and the upper traction rod and the lower traction rod can rotate relative to each other to adjust the traction angle; The bottom end of the lower traction rod is installed at the front end of the chassis and fixed by the rotating shaft and the snap ring, and the quick-release pin is used for limiting the position; The swing arm is mounted on both sides of the chassis. One end of the swing arm is rotatably connected to the chassis via a rotating shaft and is axially limited by a snap ring. The other end of the swing arm is used to mount a drive wheel. The drive wheel is mounted on the free end of the swing arm via the rotating shaft or axle and is fixed by screw-on limiting blocks. The shock absorber is arranged vertically or inclined, and its installation position is located on the force transmission path between the drive wheel and the chassis; The electrical control box and the battery are located in the internal area of ​​the chassis.

[0006] Furthermore, the rear end of the chassis is provided with an expansion interface, which is used to selectively connect the auxiliary wheel or the connecting seat of another lower traction rod; When the expansion interface is connected to the auxiliary wheel, an auxiliary support wheel structure is formed at the rear end of the chassis, so that the portable single-soldier assisted tractor can form a four-wheel driving structure. When the expansion interface is connected to the connecting seat of another lower traction rod, the two portable single-soldier assist tractors are connected in series to form a four-wheel traction structure.

[0007] Furthermore, it also includes a remote controller, a first hub motor, and a second hub motor; the remote controller is communicatively connected to the electrical control box; the first hub motor and the second hub motor are respectively electrically connected to the electrical control box, and the first hub motor and the second hub motor respectively form an integrated structure of the two drive wheels.

[0008] Furthermore, the electrical control box contains a vehicle controller and a motor driver; wherein, The vehicle controller is connected to the remote controller, multi-dimensional force sensor, motor driver and battery; The motor driver is connected to the first hub motor, the second hub motor, and the battery.

[0009] Furthermore, the vehicle controller includes: The mode selection module is used to determine the control mode according to task requirements; wherein, the control mode includes manual mode and automatic mode; The first control module is used to collect the joystick position signal value inside the remote controller, and set the rotation speed corresponding to the first hub motor and the second hub motor according to the joystick position signal value; The second control module is used to collect the force and torque values ​​of the multi-dimensional force sensor, and determine the rotational speeds of the first hub motor and the second hub motor based on the force and torque values.

[0010] Further, when setting the rotational speeds corresponding to the first hub motor and the second hub motor based on the joystick position signal value, the method includes: The joystick position signal value is compared with the mid-range reference. The target driving direction of the tractor is determined based on the offset direction of the joystick position signal value relative to the mid-range reference. The target speed requirement of the tractor is determined based on the offset magnitude of the joystick position signal value relative to the mid-range reference. Based on the target driving direction and target speed requirements, speed control commands corresponding to the first hub motor and the second hub motor are generated respectively; The speed control command is sent to the motor driver to control the first hub motor and the second hub motor to operate at the corresponding speed.

[0011] Furthermore, when determining the rotational speeds corresponding to the first and second hub motors based on the force and torque values, including... The real-time force change and real-time torque change are determined based on the force and torque values. The real-time force change is compared with the real-time force change threshold, and the real-time torque change is compared with the real-time torque change threshold. Based on the comparison results, it is determined whether to adjust the current speed. If so, the current rotational speed is adjusted according to the real-time force change and the real-time torque change, and the rotational speeds corresponding to the first hub motor and the second hub motor are obtained, and a rotational speed control command is generated. The speed control command is sent to the motor driver to control the first hub motor and the second hub motor to operate at the corresponding speed.

[0012] Furthermore, when determining whether to adjust the current rotational speed based on the comparison results, the following steps are taken: When the absolute value of the real-time force change is less than or equal to the real-time force change threshold and the absolute value of the real-time torque change is less than or equal to the real-time torque change threshold, it is determined that no adjustment to the current speed is required. Otherwise, it is determined that the current speed needs to be adjusted.

[0013] Further, when adjusting the current rotational speed based on the real-time force change and the real-time torque change, and obtaining the rotational speeds corresponding to the first hub motor and the second hub motor, the process includes: The real-time force change is compared with a preset force-velocity mapping table, and the basic velocity compensation value is determined based on the comparison result. The real-time torque change is compared with a preset torque-steering gauge, and the steering speed correction value is determined based on the comparison result. Based on the base speed compensation value and the steering speed correction value, the current speeds of the first hub motor and the second hub motor are dynamically adjusted to obtain the corresponding speeds of the first hub motor and the second hub motor.

[0014] Compared with existing technologies, the advantages of this invention are as follows: This invention achieves a quick, convenient, and stable connection with the towed equipment through a combination of a quick-release device, a vest, and a rubber connector. The rubber connector buffers impact forces, improving operational stability. A multi-dimensional force sensor accurately collects force and torque signals during individual towing, providing a sensory basis for assisted control. A full-tooth angle adjuster allows for flexible adjustment of the upper and lower tow bar angles according to the soldier's height, operating habits, and work scenarios, improving operational comfort and adaptability. The swing arms on both sides of the chassis, combined with shock absorbers, absorb ground vibrations, ensuring good contact between the drive wheels and the ground, improving the towing vehicle's passability and driving stability in complex terrain. The electrical control box and battery are integrated into the chassis, protecting core electrical components and resulting in a compact structure conducive to a "portable" design. A remote control enables remote operation. The first and second hub motors form an integrated structure for the two drive wheels, and, in conjunction with the mode selection module within the vehicle controller, can switch between manual and automatic modes. The manual mode controls the motor speed by collecting the position signal of the remote control joystick, allowing for flexible control of the driving direction and speed. The automatic mode analyzes and compares changes in force and torque based on values ​​collected by multi-dimensional force sensors, dynamically adjusting the motor speed to provide intelligent assistance to individual soldiers and reduce their workload. The rear-end expansion interface of the chassis allows for easy connection of multiple tractor units, flexibly adjusting traction and expanding the application range. Overall, this invention features a reasonable structure, convenient operation, and precise control, improving individual soldier work efficiency and reducing labor intensity.

[0015] In another aspect, the present invention also proposes a dual-mode control method, comprising the following steps: The control mode is determined according to the task requirements; wherein, the control mode includes manual mode and automatic mode; Collect the joystick position signal value inside the remote control, and set the rotation speed corresponding to the first hub motor and the second hub motor according to the joystick position signal value; The force and torque values ​​of the multi-dimensional force sensor are collected, and the rotational speeds corresponding to the first hub motor and the second hub motor are determined based on the force and torque values.

[0016] It is understandable that the aforementioned portable single-soldier assisted towing vehicle and dual-mode control method have the same beneficial effects, and will not be elaborated further here. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a schematic diagram of the structure of the portable single-soldier assisted tractor provided in an embodiment of the present invention; Figure 2 A schematic diagram of the structure of the vest for the portable individual soldier-assisted towing vehicle provided in this embodiment of the invention; Figure 3 This is a functional block diagram of a portable single-soldier assisted towing vehicle provided in an embodiment of the present invention; Figure 4 A schematic diagram of the structure of the portable single-soldier assisted tractor provided in an embodiment of the present invention when the expansion interface is connected to the auxiliary wheel; Figure 5 This is a schematic diagram of the structure of a portable single-soldier auxiliary towing vehicle connected to a connecting seat of another lower towing rod, as provided in an embodiment of the present invention. Figure 6 A flowchart of a dual-mode control method provided in an embodiment of the present invention.

[0019] In the diagram: 100, Wearing vest; 101, Quick-release device; 102, Rubber connector; 103, Multi-dimensional force sensor; 104, Upper traction rod; 105, Full-tooth angle adjuster; 106, Lower traction rod; 107, Rotating shaft; 108, Swing arm; 109, Chassis; 110, Shock absorber; 111, Drive wheel. Detailed Implementation

[0020] 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.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] See Figure 1-5 As shown in some embodiments of this application, this embodiment provides a portable single-soldier assisted towing vehicle, including: The system includes a vest 100, a quick-release device 101, a rubber connector 102, a multi-dimensional force sensor 103, an upper traction rod 104, a full-tooth angle adjuster 105, a lower traction rod 106, a quick-release pin, a rotating shaft 107, a swing arm 108, a chassis 109, an electrical control box, a battery, a shock absorber 110, and a drive wheel 111; among which, The quick-release device 101 is screwed onto the vest 100. When the whole machine is in use, the vehicle body is connected to the quick-release device 101 through the rubber connector 102. A multi-dimensional force sensor 103 is provided at the connection between the rubber connector 102 and the upper traction rod 104. The upper traction rod 104 is connected to the top of the lower traction rod 106 via a full-tooth angle adjuster 105, and the upper traction rod 104 and the lower traction rod 106 can rotate relative to each other to adjust the traction angle. The bottom end of the lower traction rod 106 is installed at the front end of the chassis 109 and fixed by the rotating shaft 107 and the snap ring, and the quick-release pin is used for limiting the position; The swing arm 108 is installed on both sides of the chassis 109. One end of the swing arm 108 is rotatably connected to the chassis 109 via a rotating shaft 107 and is axially limited by a snap ring. The other end of the swing arm 108 is used to install the drive wheel 111. The drive wheel 111 is installed on the free end of the swing arm 108 via a rotating shaft 107 or a wheel axle and is fixed by screwing on a limiting block. The shock absorber 110 is arranged in a vertical or inclined direction, and its installation position is located on the force transmission path between the drive wheel 111 and the chassis 109. The electrical control box and battery are located in the internal area of ​​the chassis 109.

[0023] Understandably, the Vest 100 is designed to be worn by individual soldiers as a direct carrier of human-computer interaction. Its design must conform to ergonomic principles to ensure the soldier's comfort and ease of movement during wear. It effectively connects the soldier's body to the towing vehicle system, allowing the soldier's intentions to be transmitted to subsequent force sensors and control components via the vest.

[0024] It is understood that the portable single-soldier assisted towing vehicle provided in this embodiment achieves a quick, convenient, and stable connection with the towed equipment through the combination of the quick-release device 101, the vest 100, and the rubber connector 102. The rubber connector 102 effectively buffers the impact force during towing, significantly improving operational stability. The multi-dimensional force sensor 103 accurately collects the force and torque signals applied by the soldier during towing operations, providing accurate sensing basis for subsequent assist control algorithms. The application of the full-tooth angle adjuster 105 allows the angle between the upper towing rod 104 and the lower towing rod 106 to be flexibly adjusted according to the soldier's height, personal operating habits, and specific work scenarios, thereby greatly improving operational comfort and adaptability to different working conditions. The swing arm 108 structure on both sides of the chassis 109, combined with the shock absorber 110, effectively absorbs vibrations caused by uneven ground, ensuring that the drive wheel 111 maintains good contact with the ground, thus improving the towing vehicle's passability and driving stability in complex terrains such as potholes and gravel. The electrical control box and battery are built into the chassis 109, which not only provides excellent protection for the core electrical components but also makes the overall structure more compact, facilitating the "portable" design goal and making it convenient for individual soldiers to carry and transport. Furthermore, remote control is possible with the remote controller. The first and second hub motors form an integrated structure of the two drive wheels and work in conjunction with the mode selection module within the vehicle controller to flexibly switch between manual and automatic control modes. In manual mode, the motor speed is controlled by collecting the position signal from the remote controller joystick, enabling flexible control of the driving direction and speed. In automatic mode, the system analyzes and compares the force and torque values ​​collected by the multi-dimensional force sensor 103, dynamically adjusting the motor's output speed to provide intelligent assistance to individual soldiers and effectively reduce their workload. The expansion interface at the rear of the chassis 109 allows for easy series connection of multiple tractors, enabling flexible adjustment of traction force according to actual needs and further expanding its application range.

[0025] Specifically, the rear end of the chassis 109 is provided with an expansion interface, which is used to selectively connect the auxiliary wheel or the connecting seat of another lower traction bar 106. When the expansion interface is connected to the auxiliary wheel, an auxiliary support wheel structure is formed at the rear end of the chassis 109, so that the portable single-soldier assisted tractor can form a four-wheel driving structure. When the expansion interface is connected to the connecting seat of another lower traction rod 106, the two portable single-soldier assist tractors are connected in series to form a four-wheel traction structure.

[0026] Understandably, the expansion interface at the rear of the chassis 109 is designed with a modular connection structure. Its interface dimensions, connection methods, and electrical communication protocols all adhere to unified standards, ensuring compatibility between different devices or multiple tractor units. For example, when auxiliary wheels need to be connected, the connecting components of the auxiliary wheels can be securely attached to the expansion interface via quick-release clips or screws. The auxiliary wheels themselves have height adjustment capabilities, adapting to ground flatness to further improve the vehicle's stability. When multiple tractor units are connected in series, the lower tow bar 106 connector of the next tractor unit can be precisely inserted into the expansion interface of the previous unit. Simultaneously, the built-in electrical contacts of the interface enable signal and power coordination between the multiple units, allowing the series-connected assembly to be controlled as a single unit. Whether operating via remote control in manual mode or responding to force sensor signals in automatic mode, consistency and coordination of actions are maintained, meeting the needs of heavy-load traction or complex platooning operations. This modular expansion design greatly enhances the functional expandability and scenario adaptability of this portable single-soldier assisted tractor unit, enabling it to quickly switch configurations according to different mission requirements and improve operational efficiency.

[0027] Specifically, it also includes a remote controller, a first hub motor, and a second hub motor; the remote controller is communicatively connected to the electrical control box; the first hub motor and the second hub motor are respectively electrically connected to the electrical control box, and the first hub motor and the second hub motor respectively form an integrated structure of the two drive wheels.

[0028] Understandably, the remote control, as a core component of human-computer interaction, provides soldiers with a convenient means of remote operation. Through stable communication with the electrical control box, soldiers can precisely control the starting, stopping, forward, backward, and turning actions of the tractor from a certain distance. This is particularly suitable for operational scenarios where close-range following by a soldier is inconvenient, such as narrow passages, dangerous areas, or environments with obstructed visibility. The first and second hub motors are integrated into the two drive wheels 111, simplifying the transmission system, reducing mechanical losses, and significantly lowering the overall structural complexity and failure rate. The hub motors directly drive the wheels, resulting in a faster and more direct power response. They can quickly execute speed commands from the electrical control box, ensuring precise speed control and dynamic adjustment of the tractor under various working conditions. Furthermore, this dual-motor independent drive method allows the tractor to achieve flexible steering by controlling the speed difference between the two motors. Compared to traditional mechanical steering structures, this not only provides a faster response but also a smaller turning radius, significantly improving the tractor's maneuverability in complex terrain. The electrical control box acts as the "brain" of the vehicle, receiving control commands from the remote control and sensing signals from the multi-dimensional force sensor 103. After processing by the internal control algorithm, it outputs precise control signals to the first and second wheel hub motors, adjusting their speed and steering to achieve precise control of the tractor's driving status. The dual-motor configuration also provides room for subsequent fault redundancy and power enhancement. When one motor fails, in a specific mode, the other motor can work independently or operate at reduced capacity to ensure that the tractor can basically complete the task of leaving the danger zone or returning to the repair point, enhancing the reliability of the equipment.

[0029] Specifically, the electrical control box houses the vehicle controller and the motor driver; among them, The vehicle controller is connected to the remote control, the multi-dimensional force sensor 103, the motor driver, and the battery. The motor driver is connected to the first hub motor, the second hub motor, and the battery.

[0030] Understandably, the vehicle controller is the core decision-making unit of the electrical control box, responsible for data processing, logical judgment, and command generation. It receives real-time remote control commands, such as forward and backward movements, and also collects force and torque data from the multi-dimensional force sensor 103 to determine the operator's intentions and implement intelligent assistance. Simultaneously, it communicates with the battery management system to monitor battery status information such as remaining charge and voltage, ensuring safe battery operation and issuing warnings when the battery is low. For the motor driver, the vehicle controller sends PWM signals or CAN bus commands to control its output voltage and current, adjusting the motor speed and direction. The motor driver converts DC power to three-phase AC power, adjusting the output according to commands to ensure efficient and stable motor operation. It also has overcurrent and overvoltage protection functions, feeding back to the vehicle controller and taking protective measures in case of abnormalities. This layered control architecture of "vehicle controller + motor driver" separates the control logic from the power drive, improving system reliability and maintainability, and providing expansion space for functional upgrades and algorithm optimization.

[0031] Specifically, the vehicle controller includes: The mode selection module is used to determine the control mode according to task requirements; the control modes include manual mode and automatic mode. The first control module is used to collect the joystick position signal value inside the remote control and set the rotation speed corresponding to the first hub motor and the second hub motor according to the joystick position signal value; The second control module is used to collect the force and torque values ​​of the multi-dimensional force sensor 103, and determine the rotational speeds of the first and second hub motors based on the force and torque values.

[0032] Understandably, the mode selection module, as the core functional unit of the vehicle controller for dual-mode control, can flexibly switch between manual and automatic modes based on the operator's instructions or preset task parameters to adapt to different operational needs. For example, when precise control of the tractor is required for driving along a specific path or docking with towed equipment, the operator can select manual mode via the mode switching button on the remote control. In this case, the tractor's driving status is entirely determined by the remote control's instructions. In scenarios involving long-distance towing, traversing complex terrain, or significant physical exertion by the operator, selecting automatic mode allows the tractor to provide intelligent assistance based on the operator's intentions perceived by the multi-dimensional force sensor 103, effectively reducing the operator's workload. The first control module plays a crucial role in manual mode. It establishes stable data communication with the remote control and collects the X-axis (steering) and Y-axis (speed) position signal values ​​of the joystick inside the remote control in real time. After AD conversion and filtering, these signal values ​​are mapped to the first and second control modules, which are the core control units in automatic mode. These modules continuously collect force and torque signals output by the multi-dimensional force sensor 103. These signals include information such as the pulling / pushing force, lateral force, and torsional torque of the soldier pulling the tow bar 104. Internally, a force feedback-based control algorithm compares and analyzes the real-time collected force and torque values ​​with preset thresholds or feature models. For example, when a soldier pulls the tow bar 104 forward (Fx is positive and exceeds the assist threshold), the module determines the soldier's intention to move forward, calculates and outputs the drive speed of the motors on both sides according to the pulling force ratio; the greater the pulling force, the higher the speed to provide assistance. If lateral force (Fy) or torsional torque (Mz) is detected, it determines a steering intention and controls the motors on both sides to generate a speed difference to assist steering. Through a closed-loop control process of "perception-analysis-decision-execution," the tractor and the soldier's operational intentions are coordinated, achieving a "human-vehicle integration" intelligent assistance effect.

[0033] Specifically, when setting the rotational speeds of the first and second hub motors based on the joystick position signal value, the following is included: The joystick position signal value is compared with the mid-range reference. The target driving direction of the tractor is determined based on the offset direction of the joystick position signal value relative to the mid-range reference. The target speed requirement of the tractor is determined based on the offset magnitude of the joystick position signal value relative to the mid-range reference. Based on the target driving direction and target speed requirements, speed control commands corresponding to the first hub motor and the second hub motor are generated respectively; The speed control command is sent to the motor driver to control the first hub motor and the second hub motor to run at the corresponding speed.

[0034] Understandably, in manual mode, the interpretation of the joystick position signal value is crucial for precise control. The mid-position reference is the signal value when the joystick is not operated, corresponding to a stationary tractor. When a soldier operates the joystick, the first control module compares the real-time collected joystick position signal value with the mid-position reference. For example, pushing the joystick forward results in a positive shift in the Y-axis position signal, indicating forward movement; pulling it back results in a negative shift in the Y-axis, indicating backward movement. In steering control, a positive shift in the X-axis corresponds to a right turn, and a negative shift corresponds to a left turn. After determining the target driving direction, the shift magnitude is correlated with the target speed requirement; the larger the shift, the higher the speed. The system has a preset mapping relationship, assigning the shift magnitude to specific speed levels or values. For example, when moving forward, a 10% Y-axis shift corresponds to low speed, 50% to medium speed, and 90% or more to maximum speed, facilitating speed adjustment by the soldier. Based on the target direction and speed, the first control module generates speed control commands for the first and second motors. When driving straight without any steering intention, the speed commands for both motors are the same. When turning, if the vehicle deviates to the left, the system calculates the speed difference between the two motors based on the X-axis deviation. The speed command for the left motor decreases, while the right motor remains unchanged or increases. The greater the deviation, the greater the speed difference, and the faster the steering. Finally, the speed control command is sent to the motor driver via a specific communication protocol. The driver adjusts the output voltage and current, driving the motor to operate at the set speed, allowing the tractor to travel in the set direction and speed. The process is fast-responding and highly precise, ensuring flexible and accurate operation.

[0035] Specifically, when determining the corresponding rotational speeds of the first and second hub motors based on force and torque values, including The real-time force change and real-time torque change are determined based on the force and torque values; The real-time force change is compared with the real-time force change threshold, and the real-time torque change is compared with the real-time torque change threshold. Based on the comparison results, it is determined whether to adjust the current speed. If so, the current speed is adjusted according to the real-time force change and the real-time torque change, and the speeds corresponding to the first hub motor and the second hub motor are obtained, and a speed control command is generated. The speed control command is sent to the motor driver to control the first hub motor and the second hub motor to run at the corresponding speed.

[0036] Understandably, in automatic mode, the force and torque values ​​collected by the multi-dimensional force sensor 103 are the core basis for intelligent assistance. The calculation and analysis of real-time force and torque changes are crucial for the tractor to quickly respond to the soldier's operational intentions. For example, when a soldier pulls the tow bar forward, the sensor detects an increase in pulling force (Fx), and the system calculates the real-time force change (ΔFx); when a soldier turns and applies lateral force (Fy) or torsional torque (Mz), the system calculates the real-time torque change (ΔFy or ΔMz). These changes reflect the dynamics of the soldier's operational intentions. The system presets real-time change thresholds for different force and torque types, calibrated based on ergonomic experiments and actual operational scenario data, to determine the effectiveness of the operation. If the soldier's hand shakes slightly and the change does not reach the threshold, the system determines it is invalid interference and does not adjust the speed; if the soldier has a clear intention and the change exceeds the threshold, the system determines that the speed needs to be adjusted. When adjustment is determined, the system precisely adjusts the motor speed based on the real-time change value and direction, combined with a preset control algorithm (such as a proportional-integral-derivative control algorithm or a fuzzy control algorithm). If the real-time forward pulling force change ΔFx is positive and large, the algorithm calculates the target speed increase and raises the speed of both motors; if the real-time leftward torque change ΔMz is positive and exceeds the threshold, the algorithm calculates the speed difference between the two motors to assist leftward turning. After determining the target speed, the system generates a speed control command and sends it to the motor driver. The driver adjusts the output parameters and drives the motor to run at the new speed, enabling the tractor to respond accurately and promptly to the operator's intentions, demonstrating the intelligent assistance characteristics of the automatic mode.

[0037] Specifically, when determining whether to adjust the current speed based on the comparison results, this includes: When the absolute value of the real-time force change is less than or equal to the real-time force change threshold and the absolute value of the real-time torque change is less than or equal to the real-time torque change threshold, it is determined that no adjustment to the current speed is required. Otherwise, it is determined that the current speed needs to be adjusted.

[0038] Understandably, this judgment logic is a crucial guarantee for avoiding malfunctions and ensuring control stability in automatic mode. Setting thresholds for real-time force and torque changes is equivalent to setting a "buffer zone" or "filter window" for the system. In actual operation, unstable hand movements by a soldier, such as swaying while walking on rough terrain, fluctuations in grip strength, and external interference causing sensor signal noise, can cause small changes in force and torque values. If the system responds to every minute change, the motor speed will be frequently adjusted, consuming energy and affecting driving performance and traction efficiency. By comparing the absolute values ​​of real-time force and torque changes with their respective thresholds, if the absolute value of any change exceeds the threshold, it is determined that the soldier has an intention to operate, triggering a speed adjustment; if neither exceeds the threshold, it is determined to be normal fluctuation or invalid interference, and the system maintains the current speed to ensure smooth operation and reliable operation. This design takes into account the actual human-machine interaction, making the automatic mode more precise and user-friendly.

[0039] Specifically, when adjusting the current rotational speed based on real-time force and torque changes, and obtaining the rotational speeds corresponding to the first and second hub motors, the process includes: The real-time force change is compared with the preset force-velocity mapping table, and the basic velocity compensation value is determined based on the comparison result. The real-time torque change is compared with the preset torque-steering gauge, and the steering speed correction value is determined based on the comparison result. Based on the base speed compensation value and the steering speed correction value, the current speeds of the first and second hub motors are dynamically adjusted to obtain the corresponding speeds of the first and second hub motors.

[0040] Understandably, this adjustment mechanism is the core of refined speed control in automatic mode. Through hierarchical calculation and dynamic fusion, it ensures that the tractor accurately translates the soldier's operational intentions. The base speed compensation value is determined by comparing the real-time force change with a preset force-speed mapping table, which is based on a large amount of experimental data. For example, when the change in the soldier's forward pulling force ΔFx is A Newtons, a positive base speed compensation value is obtained, increasing the tractor's forward speed; when ΔFx is negative, a corresponding negative compensation value causes the vehicle to decelerate or reverse. This step solves the problem of straight-line speed adjustment. The steering speed correction value depends on comparing the real-time torque change with a preset torque-steering table, which has been experimentally calibrated. For example, when the soldier applies a torsional torque to the left, generating a positive ΔMz, a steering speed correction value is obtained, specifying the adjustment range of the motor speeds on both sides. The larger the torque change, the more obvious the steering. The system dynamically merges the base speed compensation value and the steering speed correction value to adjust the current speeds of the first and second motors. When straight-line driving is the main mode, the base speed compensation value dominates, and the steering speed correction value is fine-tuned; during large turns, the steering speed correction value has a more significant impact. For example, given the current motor speed, the base speed compensation value, and the steering speed correction value, the adjusted motor speed can be calculated. In this way, the tractor can coordinately control speed and direction, making automatic mode operation effortless and precise, demonstrating the advantages of intelligent power assistance.

[0041] See Figure 6 As shown, in some embodiments of this application, this embodiment provides a dual-mode control method, including the following steps: S100: Determine the control mode according to task requirements; wherein, the control mode includes manual mode and automatic mode; S200: Collect the joystick position signal value inside the remote control, and set the rotation speed corresponding to the first hub motor and the second hub motor according to the joystick position signal value; S300: Collect the force and torque values ​​from the multi-dimensional force sensor, and determine the rotational speeds corresponding to the first hub motor and the second hub motor based on the force and torque values.

[0042] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0043] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A portable single-soldier assisted towing vehicle, characterized in that, include: The components include a vest, quick-release mechanism, rubber connectors, multi-dimensional force sensors, upper traction bar, full-tooth angle adjuster, lower traction bar, quick-release pins, pivot shaft, swing arm, chassis, electrical control box, battery, shock absorbers, and drive wheels; among which, The quick-release device is screwed onto the vest. When the whole machine is in use, the vehicle body is connected to the quick-release device through the rubber connector. The multi-dimensional force sensor is provided at the connection between the rubber connector and the upper traction rod. The upper traction rod is connected to the top of the lower traction rod via the full-tooth angle adjuster, and the upper traction rod and the lower traction rod can rotate relative to each other to adjust the traction angle; The bottom end of the lower traction rod is installed at the front end of the chassis and fixed by the rotating shaft and the snap ring, and the quick-release pin is used for limiting the position; The swing arm is mounted on both sides of the chassis. One end of the swing arm is rotatably connected to the chassis via a rotating shaft and is axially limited by a snap ring. The other end of the swing arm is used to mount a drive wheel. The drive wheel is mounted on the free end of the swing arm via the rotating shaft or axle and is fixed by screw-on limiting blocks. The shock absorber is arranged vertically or inclined, and its installation position is located on the force transmission path between the drive wheel and the chassis; The electrical control box and the battery are located in the internal area of ​​the chassis.

2. The portable single-soldier assisted towing vehicle according to claim 1, characterized in that, The rear end of the chassis is provided with an expansion interface, which is used to selectively connect the auxiliary wheel or the connecting seat of another lower traction rod. When the expansion interface is connected to the auxiliary wheel, an auxiliary support wheel structure is formed at the rear end of the chassis, so that the portable single-soldier assisted tractor can form a four-wheel driving structure. When the expansion interface is connected to the connecting seat of another lower traction rod, the two portable single-soldier assist tractors are connected in series to form a four-wheel traction structure.

3. The portable single-soldier assisted towing vehicle according to claim 2, characterized in that, It also includes a remote controller, a first hub motor, and a second hub motor; the remote controller is communicatively connected to the electrical control box; the first hub motor and the second hub motor are electrically connected to the electrical control box, and the first hub motor and the second hub motor respectively form an integrated structure of the two drive wheels.

4. The portable single-soldier assisted towing vehicle according to claim 3, characterized in that, The electrical control box contains a vehicle controller and a motor driver; wherein... The vehicle controller is connected to the remote controller, multi-dimensional force sensor, motor driver and battery; The motor driver is connected to the first hub motor, the second hub motor, and the battery.

5. The portable single-soldier assisted towing vehicle according to claim 4, characterized in that, The vehicle controller includes: The mode selection module is used to determine the control mode according to task requirements; wherein, the control mode includes manual mode and automatic mode; The first control module is used to collect the joystick position signal value inside the remote controller, and set the rotation speed corresponding to the first hub motor and the second hub motor according to the joystick position signal value; The second control module is used to collect the force and torque values ​​of the multi-dimensional force sensor, and determine the rotational speeds of the first hub motor and the second hub motor based on the force and torque values.

6. The portable single-soldier assisted towing vehicle according to claim 5, characterized in that, When setting the rotational speeds corresponding to the first hub motor and the second hub motor based on the joystick position signal value, the following is included: The joystick position signal value is compared with the mid-range reference. The target driving direction of the tractor is determined based on the offset direction of the joystick position signal value relative to the mid-range reference. The target speed requirement of the tractor is determined based on the offset magnitude of the joystick position signal value relative to the mid-range reference. Based on the target driving direction and target speed requirements, speed control commands corresponding to the first hub motor and the second hub motor are generated respectively; The speed control command is sent to the motor driver to control the first hub motor and the second hub motor to operate at the corresponding speed.

7. The portable single-soldier assisted towing vehicle according to claim 5, characterized in that, When determining the rotational speeds corresponding to the first and second hub motors based on the force and torque values, including The real-time force change and real-time torque change are determined based on the force and torque values. The real-time force change is compared with the real-time force change threshold, and the real-time torque change is compared with the real-time torque change threshold. Based on the comparison results, it is determined whether to adjust the current speed. If so, the current rotational speed is adjusted according to the real-time force change and the real-time torque change, and the rotational speeds corresponding to the first hub motor and the second hub motor are obtained, and a rotational speed control command is generated. The speed control command is sent to the motor driver to control the first hub motor and the second hub motor to operate at the corresponding speed.

8. The portable single-soldier assisted towing vehicle according to claim 7, characterized in that, When determining whether to adjust the current speed based on the comparison results, the following applies: When the absolute value of the real-time force change is less than or equal to the real-time force change threshold and the absolute value of the real-time torque change is less than or equal to the real-time torque change threshold, it is determined that no adjustment to the current speed is required. Otherwise, it is determined that the current speed needs to be adjusted.

9. The portable single-soldier assisted towing vehicle according to claim 8, characterized in that, When adjusting the current rotational speed based on the real-time force change and the real-time torque change, and obtaining the rotational speeds corresponding to the first hub motor and the second hub motor, the process includes: The real-time force change is compared with a preset force-velocity mapping table, and the basic velocity compensation value is determined based on the comparison result. The real-time torque change is compared with a preset torque-steering gauge, and the steering speed correction value is determined based on the comparison result. Based on the base speed compensation value and the steering speed correction value, the current speeds of the first hub motor and the second hub motor are dynamically adjusted to obtain the corresponding speeds of the first hub motor and the second hub motor.

10. A dual-mode control method, applied to a portable single-soldier assisted tractor as described in any one of claims 1-9, characterized in that, include: The control mode is determined according to the task requirements; wherein, the control mode includes manual mode and automatic mode; Collect the joystick position signal value inside the remote control, and set the rotation speed corresponding to the first hub motor and the second hub motor according to the joystick position signal value; The force and torque values ​​of the multi-dimensional force sensor are collected, and the rotational speeds corresponding to the first hub motor and the second hub motor are determined based on the force and torque values.

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