A by-wire type quick combination assistive traction vehicle and a by-wire control method thereof

Abstract

A bywire quick combination coordination assistance traction vehicle and a coordination control method thereof, relate to the coordination following technical field of electric power assistance traction vehicle, and the following target and the first vehicle are connected through the quick disassembly connecting device, the following target is provided with a wire remote control handle, the first vehicle includes a support elbow pipe, a support side pipe and a first vehicle body, a controller and a hub motor driver are arranged on the lower support of the first vehicle body, and the wheels of the first vehicle body are driven through the hub motor; the wire remote control handle is electrically connected with the controller, and the controller is electrically connected with the hub motor through the hub motor driver; the first vehicle body is provided with a plug-in part for detachable connection with the second vehicle body of the second vehicle. Through the disassembly and combination state of the first vehicle and the second vehicle body, the control logic of two-wheel mode in the disassembly state and the control logic of four-way mode in the combination state are carried out, and the response speed is fast and the operation is simple.

Description

Technical Field

[0001] This invention relates to the field of electric power-assisted tractor technology, and mainly to a drive-by-wire type rapid combination assisted tractor and its assisted control method. Background Technology

[0002] Currently, the handling equipment on the market is mainly divided into two categories: traditional manual traction equipment and intelligent autonomous following traction equipment. Their operating efficiency and portability directly determine the overall logistics flow efficiency.

[0003] Traditional human-powered towed vehicles still dominate the market for small and medium-sized applications due to their low cost and simple structure. Conventional material handling equipment, such as handcarts and manual hydraulic forklifts, suffers from slow handling speeds and inconvenient turning and maneuvering. They also rely heavily on operator experience and physical strength, resulting in high labor intensity during medium- to long-distance material handling.

[0004] While intelligent tractor vehicles can currently achieve limited autonomous following, the high cost of core sensing components makes large-scale adoption difficult. More importantly, equipment such as lidar and visual navigation are subject to harsh environmental requirements and are prone to target loss and positioning deviation. Operational stability and reliability heavily depend on the control hardware's computational capabilities and navigation positioning accuracy. The existing "four-wheel to two-wheel" bidirectional rapid conversion structure design cannot simultaneously meet the actual needs of "rapid disassembly and immediate reassembly" in on-site operations, nor is the control logic adapted for the disassembled two-wheel structure and the reassembled four-wheel structure. Summary of the Invention

[0005] To address the aforementioned technical problems, the present invention aims to provide a drive-by-wire type rapid combination cooperative traction vehicle and its cooperative control method.

[0006] The objective of this invention is achieved through the following technical solution. A wire-controlled, quick-connect, cooperative assisted tractor vehicle according to this invention includes a following target and a first vehicle connected by a quick-release connection device. The following target is equipped with a wired remote control handle. The first vehicle includes a support bend, a support side tube, and a first vehicle body. A controller and a hub motor driver are mounted on the lower support of the first vehicle body. The wheels of the first vehicle body are driven by hub motors. The wired remote control handle is electrically connected to the controller, and the controller is electrically connected to the hub motors via the hub motor drivers. The first vehicle body has a connector for detachable connection to a second vehicle body on a second vehicle. In the detached state of the first and second vehicle bodies, the controller connects to the hub motors of the first vehicle body via the hub motor drivers to achieve a two-wheel mode. In the combined state of the first and second vehicle bodies, the controller connects to the hub motors of both the first and second vehicle bodies via the hub motor drivers to achieve a four-wheel mode.

[0007] Furthermore, the quick-connect device includes two quick-release connectors, one of which connects to a support bend and the other connects to a waist traction belt worn by the target.

[0008] Furthermore, the quick-release connector used to connect the support bend is a flange structure located at the end of the support bend.

[0009] Furthermore, the quick-release connector used to connect to the waist traction belt that follows the target is a connecting block.

[0010] Furthermore, the wired remote control is connected to the quick-release socket of the wired remote control via a spring wire.

[0011] Furthermore, a pivot cover is provided between the support bend and the support side tube, and a quick-release socket for the wired remote control handle is provided on the pivot cover. After the wired remote control handle is connected to the quick-release socket for the wired remote control handle, it is electrically connected to the controller.

[0012] Furthermore, the connector on the first vehicle body is a quick-connect plug for both vehicles, and the second vehicle body is provided with a quick-release pin that is adapted to connect with the quick-release plugs of both vehicles.

[0013] The objective of this invention is also achieved through the following technical solution: a method for co-traffic control of a drive-by-wire type rapid combination cooperative traction vehicle, wherein a first vehicle body is provided with a communication line plug, and a second vehicle body is provided with a controller and a communication line socket. The controller on the first vehicle body monitors the connection status of the communication line plug and the communication line socket in real time and automatically identifies the working mode: two-wheel mode or four-wheel mode. When the first vehicle body and the second vehicle body are in a disassembled state, the communication line plug and the communication line socket are in a disconnected state, and the system automatically switches to two-wheel mode, activating the two-wheel control logic. When the first vehicle body and the second vehicle body are in a combined state, the communication line plug and the communication line socket are in a connected state, and the system automatically identifies and switches to four-wheel mode, entering a four-wheel cooperative control state. In four-wheel mode, the controller on the first vehicle body acts as the master controller, and the controller on the second vehicle body acts as the slave controller. In four-wheel mode, the master controller is activated, and the slave controller is in a dormant state.

[0014] Furthermore, the controller has an initialization module and a fault detection module: the initialization module is used to initialize the device parameters, controller hardware and communication link; the fault detection module is used to detect the communication link, the connection status of the wired remote control handle, the connection status of the communication line plug, and whether the wheel hub motor driver and controller functions on the vehicle body are normal after the controller is started. If any link is abnormal, the fault protection is triggered, the motor enable is cut off and the power output is prohibited. Only after all the detections are normal can the controller enter the working state.

[0015] Based on the aforementioned technical solution, the present invention has the following beneficial effects: (1) The present invention receives and parses the signal of the toggle switch on the wired remote control handle through the controller and transmits it to the hub motor driver. The hub motor driver controls the speed of the hub motor to realize the acceleration, deceleration and steering of the vehicle. In the state where the first vehicle body and the second vehicle body are disassembled, the controller outputs the target vehicle speed according to the instruction of the wired remote control handle. The hub motor driver adjusts the speed of the hub motors of the two wheels of the first vehicle body to realize the control of the present invention in the two-wheel mode. In the state where the first vehicle body and the second vehicle body are combined, the controller receives the steering instruction of the wired remote control handle. The hub motor driver adjusts the speed of the hub motors of the four wheels of the first vehicle body and the second vehicle body to realize the control of the present invention in the four-wheel mode.

[0016] (2) Compared with the existing technology that uses related sensors to detect data and changes in related detection values, the present invention does not require the participation of related sensors. It only requires the wired remote control to send related instructions to the controller. The controller realizes control in two-wheel and four-wheel modes according to the connection status of the first vehicle body and the second vehicle body. In terms of structure, the entire control logic is simple and does not require the use of sensors to measure and calculate information such as angle, speed and attitude. The driving instructions are sent directly from the following target in real time, which has a fast response speed and simple operation. In terms of accuracy, it is more accurate than the detection accuracy using sensors. In addition, it is more adaptable to external physical or electromagnetic interference environments and has lower hardware costs.

[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in conjunction with the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structural relationship of a drive-by-wire type rapid combination cooperative assist tractor and its cooperative control method in two-wheel mode according to the present invention.

[0019] Figure 2 This is a schematic diagram of the electrical component installation positions of a drive-by-wire type rapid combination cooperative traction vehicle and its cooperative control method according to the present invention.

[0020] Figure 3 This is a schematic diagram of the structural relationship of a drive-by-wire type rapid combination cooperative assist tractor and its cooperative control method in four-wheel mode according to the present invention.

[0021] Figure 4 This is a schematic flowchart of a wire-controlled rapid combination cooperative traction vehicle and its cooperative control method according to the present invention.

[0022] Figure 5 This is a schematic diagram of the start-stop, acceleration / deceleration, steering, and differential control process in two-wheel and four-wheel modes of a drive-by-wire type rapid combination cooperative traction vehicle and its cooperative control method according to the present invention.

[0023] [Attached image labels] 1. Following the target; 2. Quick-release connection device; 201. Connecting block; 202. Flange structure; 3. First vehicle; 301. Shaft cover; 302. Support bend; 303. Support side tube; 304. First vehicle body; 3041. Lower bracket; 4. Wired remote control handle; 401. Spring wire; 5. Quick-release plugs for both vehicles; 6. Wired handle quick-release socket; 7. Start / stop switch; 8. Controller; 9. Hub motor driver; 10. Hub motor; 11. Quick-release pin; 12. Second vehicle; 1201. Second vehicle body. Detailed Implementation

[0024] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings: This invention provides a drive-by-wire type quick-assembly cooperative traction vehicle, including a following target 1, a quick-release connection device 2, and a first vehicle 3. Please refer to [link / reference]. Figure 1 The following target (human body) is located at the front of the quick-release connection device. The following target wears a traction belt (or traction vest) around its waist or upper body. The traction belt has limiting holes that engage with the quick-release connection device. In this embodiment, spring pins are provided on both sides of the limiting holes, and the opening and closing of the limiting holes is achieved by adjusting the tension of a steel wire, thereby realizing a quick connection between the support bend and the human body. The following target 1 is equipped with a wired remote control handle 4, which is held in the hand of the following target in this embodiment. The quick-release connection device 2 includes two quick-release connectors. The vehicle... It includes a support bend 302, a first vehicle body 304, and support side tubes 303; one end of the support bend is connected to one end of each of the two support side tubes, and a pivot cover 301 is provided at the connection point; the other end of the support bend is connected to one of the quick-release connectors, which is a flange structure 202, and the flange structure is connected to the support bend via a steel wire flexible shaft; the other quick-release connector is a connecting block 201, which is used to insert and cooperate with the limiting hole on the human body traction belt; the other ends of the two support side tubes are connected to one end of the first vehicle body 304.

[0025] Please see Figure 2The first vehicle body includes a lower support 3041 and two wheels. A controller 8 and a hub motor driver 9 are mounted on the lower support. The wheels are driven by a hub motor 10, and the controller connects to the hub motor via the hub motor driver. A quick-release socket 6 for a wired remote control is provided on the axle cover 301. A wired remote control 4 is attached to the target and connected to the quick-release socket 6 via a spring wire 401. After the wired remote control is inserted into the quick-release socket, it is electrically connected to the controller. Specifically, the wired remote control has a toggle switch. The controller receives and interprets the signal from the toggle switch on the wired remote control and transmits it to the hub motor driver. The hub motor driver controls the speed of the hub motor to achieve vehicle acceleration, deceleration, and steering. At this time, the controller controls the hub motors of the first vehicle body through the hub motor driver to achieve a two-wheel mode. A start / stop switch 7 is provided on the axle cover to control the power supply of the entire vehicle.

[0026] Please see Figure 3 The other end of the first vehicle body is provided with an adapter connector, which is used to connect with the connector on the second vehicle body 1201 of the second vehicle 12 (in this embodiment, it is a two-wheeled vehicle). In this embodiment, the other end of the first vehicle body is provided with a two-vehicle quick-release plug 5, and the second vehicle body is provided with a quick-release pin 11. When the two-vehicle quick-release plug and the quick-release pin are engaged, the two vehicle bodies are fixed and locked to form a four-wheel state. At this time, the controller controls the wheel hub motors of the first and second vehicle bodies through the wheel hub motor driver to achieve the four-wheel mode. The wheel hub motor drivers on the first and second vehicle bodies are both connected to the main controller. At this time, the controller receives and parses the signal from the toggle switch on the remote control handle and transmits it to the wheel hub motor drivers on the two vehicle bodies, and controls the speed of the corresponding wheel hub motors to achieve the acceleration, deceleration, and steering of the two vehicles. After the first and second vehicle bodies are separated from the four-wheel mode to the two-wheel mode, they can be used independently in the two-wheel state, and the control method is consistent with the usage scenario.

[0027] Please see Figure 4Based on the aforementioned wire-controlled rapid combination cooperative assist tractor, this invention also provides a cooperative control method for a wire-controlled rapid combination cooperative assist tractor. Specifically: the second vehicle body is also equipped with a controller, a hub motor driver, and a hub motor; the controller has an initialization module and a fault detection module: the initialization module is used for initializing equipment parameters, controller hardware, and communication links; the fault detection module is used to detect the communication link, the connection status of the wired remote control handle, the connection status of the communication line plug, and whether the hub motor driver and controller functions on the vehicle body are normal after the controller is started. If any link is abnormal, fault protection is triggered, the motor enable is cut off, and power output is prohibited. Only after all detections are normal can the vehicle enter the working state; if it is abnormal, power output is prohibited, the current fault state is locked, and the current control ends; the controller on the first vehicle body uses the connection status of the communication line plug and the communication line socket as a communication signal to automatically identify the current two-wheel mode (e.g., Figure 1 (The first vehicle body and the second vehicle body are in a disassembled state) or four-wheel mode (such as...) Figure 3 As shown, the first vehicle body and the second vehicle body are in a combined state. If no communication signal is detected indicating that the communication line plug and the communication line socket are connected (i.e., disconnected), it is determined to be in two-wheel mode, and the controller is directly activated to execute the motor and automatic differential control logic. If a communication signal indicating that the communication line plug and the communication line socket are connected is detected, it is determined to be in four-wheel mode. At this time, the controllers on the first vehicle body and the second vehicle body further complete the master and slave controller synchronization, verify the master and slave controller communication link, activate the master controller, and the slave controller enters the sleep state to execute the four-wheel control logic. The two-wheel mode and the four-wheel mode can be dynamically switched without interrupting the control output during the switching process, maintaining continuous driving and stable operation.

[0028] In the four-wheel control logic, the controller on the first vehicle body acts as the master controller, and the controller on the second vehicle body acts as the slave controller. In four-wheel mode, the master controller is activated and the slave controller is in sleep mode.

[0029] Please continue reading. Figure 5The system follows the target and controls the wheel hub motor's start, stop, acceleration, and deceleration via the wired remote control handle 6. The start / stop switch enables or disables the motor; pressing the start / stop button once starts the motor, and pressing it again stops it. Pushing the joystick on the wired remote control handle forward activates acceleration mode, pushing it backward activates deceleration mode, and pushing it left or right activates steering mode. Signals from these pushes are received, parsed, and transmitted to the wheel hub drive motor by the controller. The wheel hub drive motor controls the vehicle's acceleration, deceleration, and steering. In acceleration mode, a long push of the joystick linearly increases the speed; releasing the joystick or reaching the controller's maximum speed limit maintains the current speed. In deceleration mode, a long push of the joystick linearly decreases the speed; releasing the joystick maintains the final speed. In deceleration mode, pushing the joystick back when the speed reaches zero initiates reverse.

[0030] In two-wheel mode, the controller 8 analyzes the direction and speed of travel based on the signal from the wired remote control handle 6, and the hub motor driver 9 automatically adjusts the motor speed to achieve the steering function by detecting the difference in current between the left and right hub motors during travel, without the need for additional steering signal input. In four-wheel mode, following the target, the steering mode is executed by pushing the joystick on the wired remote control 6 left or right, realizing steering differential control; pushing the joystick left or right for a long time will linearly increase or decrease the differential speed between the left and right wheels, and releasing the joystick will reduce the differential speed to zero, maintaining the current direction of travel; after receiving the steering signal from the wired remote control, the controller combines the current wheel hub motor speed and outputs the target speed of each wheel hub motor through the differential calculation module, matching the differential logic of the front and rear wheels to achieve stable steering.

[0031] During vehicle operation, the controller 8 collects data such as motor current and speed fed back by the hub motor driver 9 in real time. It dynamically adjusts the output control quantity through a closed-loop correction algorithm to reduce speed fluctuations and steering deviations, improve running stability and control accuracy. At the same time, it monitors overcurrent, overload, undervoltage, short circuit, communication abnormality and other conditions in real time. In abnormal conditions, it prioritizes speed reduction and then cuts off power output to ensure the safety of operators and equipment.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention, as long as they do not depart from the design and scope of the technical solutions of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A drive-by-wire type rapid combination cooperative assisted tractor, characterized in that: The following target (1) and the first vehicle (3) are connected by a quick-release connection device (2). The following target is equipped with a wired remote control handle (4). The first vehicle includes a support bend (302), a support side tube (303), and a first vehicle body (304). The lower bracket (3041) of the first vehicle body is equipped with a controller (8) and a hub motor driver (9). The wheels of the first vehicle body are driven by a hub motor (10). The wired remote control handle is electrically connected to the controller, and the controller is electrically connected to the hub motor through the hub motor driver. The first vehicle body is provided with a connector for detachable connection with the second vehicle body (1201) on the second vehicle (12). When the first vehicle body and the second vehicle body are detached, the controller is connected to the hub motor of the first vehicle body through the hub motor driver to achieve a two-wheel mode. When the first vehicle body and the second vehicle body are combined, the controller is connected to the hub motor of the first vehicle body and the second vehicle body through the corresponding hub motor driver to achieve a four-wheel mode.

2. The drive-by-wire type rapid combination cooperative assisted tractor according to claim 1, characterized in that: The quick-connect device includes two quick-release connectors, one of which connects to a support bend and the other connects to a waist traction belt worn by the target.

3. A drive-by-wire type rapid combination cooperative traction vehicle according to claim 2, characterized in that: The quick-release connector used to connect the support bend is a flange structure (202) located at the end of the support bend.

4. A drive-by-wire type rapid combination cooperative traction vehicle according to claim 2, characterized in that: The quick-release connector used to connect to the waist traction belt that follows the target is the connecting block (201).

5. A drive-by-wire type rapid combination cooperative traction vehicle according to claim 1, characterized in that: The wired remote control handle is connected to the quick-release socket of the wired remote control handle via a spring wire (401).

6. A drive-by-wire type rapid combination cooperative traction vehicle according to claim 1, characterized in that: A pivot cover plate (301) is provided between the support bend and the support side pipe. A quick-release socket (6) for the wired remote control handle is provided on the pivot cover plate. After the wired remote control handle is connected to the quick-release socket for the wired remote control handle, it is electrically connected to the controller.

7. A drive-by-wire type rapid combination cooperative traction vehicle according to claim 1, characterized in that: The connector on the first vehicle body is a quick-connect plug for both vehicles (5), and the second vehicle body is provided with a quick-release pin (11) that is adapted to connect with the quick-release plugs of both vehicles.

8. A method for cooperative driving control of a drive-by-wire type rapid combination cooperative driving assisted tractor according to any one of claims 1-7, characterized in that: The first vehicle body is equipped with a communication line plug, and the second vehicle body is equipped with a controller and a communication line socket. The controller on the first vehicle body monitors the connection status of the communication line plug and the communication line socket in real time and automatically identifies the working mode: two-wheel mode or four-wheel mode. When the first vehicle body and the second vehicle body are in a disassembled state, the communication line plug and the communication line socket are in a disconnected state, and the system automatically switches to two-wheel mode and activates the two-wheel control logic. When the first vehicle body and the second vehicle body are in a combined state, the communication line plug and the communication line socket are in a connected state, and the system automatically identifies and switches to four-wheel mode, entering a four-wheel collaborative control state. In four-wheel mode, the controller on the first vehicle body acts as the master controller, and the controller on the second vehicle body acts as the slave controller. In four-wheel mode, the master controller is activated, and the slave controller is in a sleep state.

9. The cooperative control method according to claim 8, characterized in that: The controller has an initialization module and a fault detection module: the initialization module is used to initialize the device parameters, controller hardware and communication link; the fault detection module is used to detect the communication link, the connection status of the wired remote control handle, the connection status of the communication line plug, and whether the wheel hub motor driver and controller functions on the vehicle body are normal after the controller is started. If any link is abnormal, the fault protection is triggered, the motor enable is cut off and the power output is prohibited. Only after all the tests are normal can it enter the working state.

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