The invention discloses a follow-up trolley based on force perception and a control method thereof, and the follow-up trolley comprises a trolley body which comprises a driven wheel and a driving wheel; the follow-up sensing assembly comprises a rudderstock for an operator to operate, a stroke detection switch for detecting the traction of the rudderstock, and a force sensing assembly for measuring the pulling force on the two sides of the rudderstock; and the control box assembly calculates and controls the speed and the direction of the driving wheel according to the pulled information and the pulling force on the two sides. The control method comprises the steps that a travel switch signal is detected, and whether a traction intention exists is judged; tension values of the two force sensing assemblies are obtained, and the minimum tension value and the tension difference value are calculated; controlling the trolley speed according to the tension minimum value, and controlling the trolley direction according to the tension interpolation; and the driving wheels are controlled to execute corresponding actions to realize following movement of the trolley. The speed and the steering of the trolley are respectively controlled by measuring the magnitude and the difference value of the pulling forces on the two sides, and accurate control is realized by adopting a fuzzy control algorithm. The follow-up trolley is simple in structure, accurate in control, reliable in operation and suitable for complex environments.

    本发明公开一种基于力感知的随动小车及其控制方法,包括,车体:包括从动轮和驱动轮;随动感应组件:包括供操作者操作的舵杆,检测舵杆被牵引的行程检测开关,测量舵杆两侧拉力的力感知组件;控制箱组件:根据被牵引信息和两侧拉力计算并控制驱动轮的速度和方向。控制方法,包括检测行程开关信号,判断是否有牵引意图;获取两个力感知组件的拉力值,计算拉力最小值和拉力差值;根据拉力最小值控制小车速度,根据拉力插值控制小车方向;控制驱动轮执行相应动作实现小车跟随运动。本发明通过测量两侧拉力的大小和差值来分别控制小车的速度和转向,采用模糊控制算法实现精确控制。该随动小车结构简单,控制精确,运行可靠,适用于复杂环境。


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    Title :

    Force sensing-based follow-up trolley and control method thereof


    Additional title:

    一种基于力感知的随动小车及其控制方法


    Contributors:
    LIU XIONGFENG (author) / SUN KUIYUAN (author) / YI JIANTIAN (author)

    Publication date :

    2025-03-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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