CN114312357A - Individual soldier accompanying unmanned vehicle and accompanying control method - Google Patents
Individual soldier accompanying unmanned vehicle and accompanying control method Download PDFInfo
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- CN114312357A CN114312357A CN202111541820.8A CN202111541820A CN114312357A CN 114312357 A CN114312357 A CN 114312357A CN 202111541820 A CN202111541820 A CN 202111541820A CN 114312357 A CN114312357 A CN 114312357A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to the technical field of military vehicles, in particular to an individual soldier accompanying unmanned vehicle and an accompanying control method. The frame is a bearing foundation of the whole unmanned vehicle; the moving module is used for driving the vehicle frame to move along with the individual soldier; the pull rope following module comprises a pull rope with one end connected with an individual soldier and the other end connected with the frame, and the pull rope following module is used for controlling the moving direction and speed of the vehicle according to the condition of the individual soldier pulling the pull rope. The vehicle has a simple structure, is convenient to operate, can control the vehicle in a no-signal mode by the pull rope following module, has better adaptability and has great popularization value.
Description
Technical Field
The invention relates to the technical field of military vehicles, in particular to an individual soldier accompanying unmanned vehicle and an accompanying control method.
Background
In the military field, with the continuous development of military equipment and the change of operation modes, the number of individual equipment carried by soldiers is continuously increased, the weight of the individual equipment is also continuously increased, and the operation efficiency of the soldiers is greatly influenced. Currently, common individual load transportation equipment mainly comprises an individual exoskeleton, a quadruped robot and the like. Under the complex terrain, the exoskeleton of an individual soldier has great restriction on the flexibility of the movement of the human body, so that the mobility and the movement capability of the individual soldier are weakened. The four-footed robot adopts a leg-foot type motion mechanism, is more bionic, has stronger adaptability to terrains, but has poor load capacity, and is difficult to meet actual combat requirements.
In order to solve the problems of the four-legged robot, a Chinese invention patent named as an individual anti-terrorist robot with a patent number of CN100551761C introduces a crawler-type robot, which consists of a main box body, two parallel driving tracks and a turnover arm, and has the advantages that: 1. an individual backpack robot (weight is 25 kg); 2. the center of gravity is controlled within the range of the dotted line: the running stability of the robot is ensured, especially the running stability on the uneven ground under water; 3. rear wheel drive: and the obstacle crossing performance of the robot is improved. 4. The front auxiliary overturning arm has super-strong obstacle-crossing capability; capable of crossing an obstacle of at least 25 cm; 5. can run on various terrains: soft soil, grassland, sand, snow; 6. the overturning arm is mainly used for increasing the obstacle crossing performance of the robot and reducing the ground pressure, and is not used for overturning the robot; 7. the outside of the crawler belt is protected to prevent foreign matters from entering, and meanwhile, the crawler belt is matched with the driving wheel to prevent the foreign matters from entering and being blocked. 8. 3 m deep waterproof, comprising an arm and a mechanical body; 9. height from ground: about 6 cm. However, the robot still has some defects in practice, the robot is completely controlled by remote control, that is, transmission control is completely performed through wireless signals, in such a control mode, when the robot enters an area with poor signals, the problem that the robot cannot work due to signal delay or interruption occurs, and when an individual soldier fights, the individual soldier often comes in and goes out of the area where the signals cannot be transmitted, so that the robot cannot meet the current needs of the individual soldier fighting.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provide an individual accompanying unmanned vehicle and an accompanying control method.
The technical scheme of the invention is as follows: an individual soldier accompanying unmanned vehicle, comprising,
the frame is a bearing foundation of the whole unmanned vehicle;
the moving module is used for driving the vehicle frame to move along with the individual soldier;
the pull rope following module comprises a pull rope with one end connected with an individual soldier and the other end connected with the frame, and the pull rope following module is used for controlling the moving direction and speed of the vehicle according to the condition of the individual soldier pulling the pull rope.
Further said pull cord following module comprises,
the displacement sensor is used for acquiring the length of the pull rope pulled out and retracted from the frame;
the angle sensor is used for acquiring an included angle between the pull rope and the central axis of the frame;
and the pull rope control module controls the speed of the movable module movable frame by acquiring the length parameters acquired by the displacement sensor and controls the direction of the movable module movable frame by acquiring the angle parameters acquired by the angle sensor.
Further said moving means may comprise a plurality of moving means,
the suspension system is fixed on the frame and used for adjusting the rigidity of the vehicle body according to the load on the frame;
the hub motor is arranged on the suspension system and is connected with the power battery on the frame;
and the wheel is arranged on the hub motor and driven by the hub motor to realize the movement of the vehicle.
The system further comprises a wireless following module; the wireless following module comprises a wireless following module,
the beacon signal sending module is a signal sending module held by an individual soldier and is used for continuously sending beacon signals to the periphery;
the signal beacon scanning module is arranged on the vehicle frame and used for scanning signals of beacons around the vehicle;
and the wireless control module is used for controlling the moving module to move the vehicle according to the beacon signals around the vehicle so that the vehicle and the scanned beacon are in a set range.
The remote control following module is further included; the remote control following module comprises a remote control following module,
the remote control signal generation module is a terminal held by an individual soldier and used for sending remote control signals to the periphery;
the remote control signal receiving module is arranged on the frame and used for receiving remote control signals around the vehicle;
and the remote control module is used for controlling the mobile module to realize the control of the vehicle according to the acquired remote control signal.
Further, the remote control module comprises a remote control module,
and the emergency control module is used for receiving the emergency stop command sent by the remote control signal generation module when an emergency occurs so as to stop the vehicle immediately.
Further, the remote control module comprises a remote control module,
and the wireless following control module is used for controlling the moving module to move the vehicle according to the remote control signals around the vehicle so that the vehicle and the scanned remote control signal generation module are in a set range.
Further, the remote control module comprises a remote control module,
and the remote control operation control module is used for receiving a remote control command sent by the remote control signal to control the mobile module to realize the forward movement, backward movement, steering and stopping of the vehicle.
A method for controlling the speed and direction of individual soldier accompanying unmanned vehicle features that the individual soldier pulls out a pull rope from the front end of vehicle frame and controls the speed and direction of vehicle by controlling said pull rope.
The method further comprises the following steps:
1) pulling out the pull rope from the front end of the frame, and holding the front end of the pull rope by an individual soldier;
2) acquiring the length of the pull rope pulled out by the individual soldier, and controlling the moving speed of the vehicle based on the length pulled out by the pull rope so that the vehicle always moves along with the individual soldier;
3) the included angle between the pull rope and the central axis of the frame is collected, and the vehicle is controlled based on the angle pulled out by the pull rope to the moving direction of the vehicle, so that the vehicle always turns along with the individual soldier.
The invention has the advantages that: 1. according to the invention, the pull rope following module is arranged on the unmanned vehicle, and the front end of the pull rope is pulled by an individual soldier to control the unmanned vehicle, the pull rope is completely and directly controlled, and no wireless signal is involved, so that even in an area where a signal can not reach completely, the unmanned vehicle can well accompany the individual soldier, the controllability and the adaptability are better, and the unmanned vehicle is suitable for large-scale popularization and use;
2. the pull rope following module comprises a displacement sensor and an angle sensor, the moving speed of the vehicle is controlled by collecting the pull-out and retraction displacement of the pull rope, the moving direction of the vehicle is controlled by collecting the included angle between the pull rope and the central axis of the frame, the movement of the vehicle can be conveniently adjusted, the vehicle can stably follow the action of a single soldier all the time, and the adjusting and controlling mode is very convenient;
3. the vehicle comprises a frame, the hub motor and the wheel, wherein the hub motor is driven by the power battery on the frame, the wheel type vehicle can adapt to various road surface structures, the adaptability is better, and compared with a crawler-type vehicle, the vehicle has the advantages of lower manufacturing cost and better universality;
4. the vehicle is also provided with the wireless following module, the wireless following module is completely and automatically controlled through a beacon held by an individual soldier, namely the wireless following module on the vehicle acquires a beacon signal to control the vehicle to automatically follow the individual soldier within a set range all the time, the degree of automation is extremely high, personnel operation is not needed, and the individual soldier can move conveniently to a great extent;
5. the remote control system also comprises a remote control following module which is completely controlled according to a remote control signal generation module held by an individual soldier, and the individual soldier sends a remote control instruction to the vehicle through the remote control signal generation module to control the running of the vehicle, so that the control method is simple and rapid;
6. the remote control following module comprises an emergency control module, when the vehicle meets an emergency, the emergency control module can send an emergency stop instruction to the vehicle, and the vehicle can stop immediately, so that the situation that the vehicle is not stopped in time and damaged in the emergency is avoided, and the use safety of the vehicle is improved;
7. the remote control following module comprises a wireless following control module, the wireless following control module determines the position of an individual soldier by acquiring remote control signals sent by a remote control signal generating module around a vehicle, and then the vehicle is controlled to automatically follow the individual soldier, so that the vehicle is always automatically maintained in the set range of the individual soldier, the degree of automation is extremely high, the vehicle can automatically follow the individual soldier when the individual soldier is in a flawless operation, and great convenience is provided for the individual soldier;
8. the remote control following module comprises a remote control operation control module, the remote control operation control module can directly control the vehicle through a terminal, the controllability is excellent, and the remote control operation of an individual soldier on the vehicle is facilitated;
9. the vehicle operation method is extremely simple, and an individual soldier can control the vehicle by pulling the pull rope at the front end of the vehicle, so that the vehicle can always follow the individual soldier to act, and the vehicle can adapt to various regions with limited signals;
10. the vehicle operation method controls the vehicle by acquiring the pull-out and retraction displacement of the pull rope and the deflection angle of the pull rope, is simple, is purely mechanical, does not relate to wireless signals, and has better controllability, short response time and better adaptability.
The vehicle has a simple structure, is convenient to operate, can control the vehicle in a no-signal mode by the pull rope following module, has better adaptability and has great popularization value.
Drawings
FIG. 1: the vehicle top view of the present embodiment;
FIG. 2: the vehicle axle view of the present embodiment;
FIG. 3: the front view of the vehicle of the embodiment;
wherein: 1-a wheel; 2-a hub motor; 3, a suspension; 4, a frame; 5, a brake module; 6, a vehicle control module; 7-a power battery; 8, a pull rope following module; 9-wireless following module; and 10, remote control following module.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1-3, this embodiment relates to an individual soldier and accompanies unmanned vehicle, and the unmanned vehicle structure of this embodiment is as shown in fig. 1-3, including frame 4, frame 4 is whole vehicle's the basis of bearing, installs the removal module on frame 4, and the removal module includes suspension system 3, installs four wheels 1 on the suspension system 3, and four wheels 1 are respectively through four in-wheel motor 2 drives, installs power battery 7 on the frame 1 of this embodiment, and four in-wheel motor 2 of power battery 7 drive are moved to the drive vehicle removes.
The vehicle frame 4 of this embodiment is provided with a vehicle control module 6, the vehicle control module 6 is used for receiving various signals to control the movement of the vehicle, the vehicle control module 6 can control the vehicle to realize the functions of advancing, backing and steering, in addition, the vehicle of this embodiment is further provided with a brake module 5, and the brake module 5 is used for braking the vehicle to realize the deceleration or emergency stop of the vehicle.
This embodiment still includes stay cord following module 8, stay cord following module 8 includes a stay cord, the stay cord is installed in the coiler on frame 4, the stay cord can be followed and is pulled out in the coiler, one end is drawn by the soldier, stay cord following module 8 is including the displacement sensor who is used for gathering the stay cord length of pulling out and returning from the frame, be used for gathering contained angle sensor between stay cord and the frame axis, still include stay cord control module, stay cord control module removes the speed that module removes frame 4 through the length parameter control that acquires displacement sensor collection, the direction that module removes frame 4 is removed through the angle parameter control that acquires angle sensor collection. The individual draws the front end of the pull rope, pulls the pull rope out of the retractor, sends an acceleration instruction to the moving module through the pulled-out displacement, and sends a deceleration instruction to the moving module through the retracted displacement. If the pulling-out displacement of the pulling rope from the retractor is 1m, the distance between the vehicle and the individual soldier is judged to be proper (namely the set distance of the embodiment is 1m), and when the pulling-out displacement is smaller than 1m, the vehicle retracts within the set distance, the current speed is judged to be overlarge, and the vehicle needs to be decelerated; when the pulling displacement is larger than 1m, namely the pulling is carried out within the set distance, the current speed is judged to be too small, and the acceleration is needed. The retractor of this embodiment is the in-process of stretching out and flexible is worked all the time, and the retractor can maintain tensile a fixed effort promptly, and when traction force was greater than the roll-up effort of retractor, the stay cord was pulled out, and when traction force was less than the roll-up effort of retractor, the stay cord was by the indentation, and when traction force maintained the roll-up effort of retractor, the stay cord was maintained at this length, neither was retracted nor pulled out.
The stay cord following module 8 judges whether the vehicle needs to be adjusted in the direction or not through an included angle between the stay cord and the central axis of the frame 4, the angle sensor records the included angle between the stay cord and the central axis of the frame 4, when the stay cord is positioned on the left side of the central axis of the frame 4 and the included angle is larger than 15 degrees, the vehicle needs to deflect towards the left side, after deflection occurs, when the included angle is smaller than 15 degrees again, the vehicle is judged to have no need of continuous deflection, and the vehicle can travel in the current direction; when the stay cord is positioned on the right side of the central axis of the frame 4 and the included angle is larger than 15 degrees, the vehicle is judged to deflect towards the right side, after deflection occurs, when the included angle is smaller than 15 degrees again, the vehicle is judged to have no need of continuing deflection, and the vehicle can travel in the current direction. The safety angle of 15 ° is set to avoid the error that an individual soldier needs to have no deflection, but the pull rope may have a slight angle with the central axis, which may cause active deflection. The included angle of this embodiment is the included angle between the projection of the stay cord on the horizontal plane where the axis is located and the axis.
In addition, the vehicle of the embodiment can also be controlled wirelessly, i.e. by wireless signals, and comprises a wireless following module 9, the wireless following module 9 comprises a beacon signal sending module for continuously sending beacon signals to the periphery and a signal beacon scanning module which is arranged on the vehicle frame 4 and is used for scanning the signals of the beacons around the vehicle, the beacon signal sending module is actually a beacon held by an individual soldier, can continuously send beacon signals to the periphery, the signal beacon scanning module on the vehicle frame 4 is started to continuously scan the beacon signals to the periphery of the vehicle, when the beacon signals are scanned around, the specific information of the beacon signals is transmitted to the wireless control module, the wireless control module sends a control instruction to the mobile module according to the position indicated by the beacon signals, and the mobile module drives the vehicle to follow the beacon signals and always keeps the vehicle within 1m (namely within a set range) around the individual soldier.
The wireless following module 9 is completely automatic control, and an individual soldier does not perform any operation per se, and only holds the beacon signal sending module, so that the movement of the vehicle is completely automatic, on one hand, the operation of personnel is not needed, and great convenience is provided, but on the other hand, the vehicle cannot be remotely controlled. In order to remotely operate the vehicle, the embodiment further includes a remote control following module 10, and the remote control following module 10 includes a remote control signal generating module, which is actually a remote controller and can send a remote control signal to be held by an individual soldier, and the remote control signal is sent to the vehicle to control the movement of the vehicle. The remote control following module 10 further includes a remote control signal receiving module installed on the frame 4 for receiving remote control signals around the vehicle and a remote control module for sending a control instruction to the moving module according to the collected remote control signals to realize control of the vehicle, that is, the remote control module can receive the remote control instruction sent by the remote control signal generating module to control the vehicle.
Specifically, the remote control module of this embodiment includes three control modules, the first is an emergency control module, the emergency control module is configured to receive an emergency stop instruction sent by the remote control signal generation module when an emergency occurs, so that the vehicle stops immediately, that is, an emergency control button is disposed on the remote control signal generation module, when an emergency occurs, the emergency control button is pressed, the emergency control module on the vehicle receives the emergency control signal, and the control brake module 5 brakes the vehicle immediately, so that the vehicle stops immediately, and the vehicle damage caused by the emergency is avoided; secondly, the wireless following control module is used for controlling the mobile module to move the vehicle according to remote control signals around the vehicle so that the vehicle and the scanned remote control signal generation module are in a set range, the wireless following control module is similar to the wireless following module in the scheme, namely coordinate information is sent to the periphery through the remote control signal generation module, and after the wireless following control module receives the coordinate information sent by the remote control signal receiving module, the mobile module is controlled to act along with an individual soldier, namely the individual soldier can realize wireless following in the way when no beacon exists; and thirdly, the remote control operation control module is used for receiving a remote control command sent by a remote control signal to control the moving module to realize the advancing, retreating, steering and stopping of the vehicle, namely, an individual soldier sends a specific control command through the remote control signal generating module, and after receiving the remote control command sent by the remote control signal receiving module, the remote control operation control module controls the moving module to move according to the specific remote control command, so that the individual soldier can conveniently carry out remote operation on the vehicle through the remote control signal generating module.
The remote control signal generation module of this embodiment is provided with the switching button, can follow the mode at wireless and follow the mode with the remote control and switch between the mode, but as long as the individual soldier pulls the stay cord, switches the vehicle to the stay cord immediately and follows the mode. This embodiment installs whole car control module 6 on frame 4, whole car control module 6 of this embodiment is integrated with the stay cord in fact and follows module 8, control module on module 10 is followed to wireless following module 9 and remote control, the stay cord of sign follows module 8 in fig. 2, wireless following module 9 and remote control follow module 10 are the signal acquisition module in above-mentioned module in fact, the signal transmission that above-mentioned module will gather is to whole car control module 6 in, to the type of signal in whole car control module 6, call corresponding control processing module and handle this signal, in order to reach accurate control's purpose.
The specific control method is as follows:
1) pulling out the pull rope from the front end of the frame, and holding the front end of the pull rope by an individual soldier;
2) acquiring the length of the pull rope pulled out by the individual soldier, and controlling the moving speed of the vehicle based on the length pulled out by the pull rope so that the vehicle always moves along with the individual soldier;
3) acquiring an included angle between the pull-out pull rope of the individual soldier and the central axis of the frame, and controlling the moving direction of the vehicle based on the pull-out angle of the pull-out pull rope, so that the vehicle always turns along with the individual soldier;
when the individual soldier is not pulling the pull rope, the individual soldier can enter a wireless following mode, namely, the individual soldier holds a beacon, so that the vehicle can automatically follow;
when an individual soldier holds the remote control signal generation module, the vehicle can be controlled through the remote control signal, so that the vehicle can move according to the remote control signal, or no instruction is sent, the vehicle can automatically follow the individual soldier, and the vehicle is controlled to be braked emergently when meeting emergency.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An individual soldier accompanies unmanned vehicle which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the frame is a bearing foundation of the whole unmanned vehicle;
the moving module is used for driving the vehicle frame to move along with the individual soldier;
the pull rope following module comprises a pull rope with one end connected with an individual soldier and the other end connected with the frame, and the pull rope following module is used for controlling the moving direction and speed of the vehicle according to the condition of the individual soldier pulling the pull rope.
2. An individual soldier accompanying unmanned vehicle as claimed in claim 1, wherein: the pull rope following module comprises a pull rope following module,
the displacement sensor is used for acquiring the length of the pull rope pulled out and retracted from the frame;
the angle sensor is used for acquiring an included angle between the pull rope and the central axis of the frame;
and the pull rope control module controls the speed of the movable module movable frame by acquiring the length parameters acquired by the displacement sensor and controls the direction of the movable module movable frame by acquiring the angle parameters acquired by the angle sensor.
3. An individual soldier-accompanying unmanned vehicle as claimed in claim 1 or 2, wherein: the mobile module comprises a mobile module and a mobile terminal,
the suspension system is fixed on the frame and used for adjusting the rigidity of the vehicle body according to the load on the frame;
the hub motor is arranged on the suspension system and is connected with the power battery on the frame;
and the wheel is arranged on the hub motor and driven by the hub motor to realize the movement of the vehicle.
4. An individual soldier accompanying unmanned vehicle as claimed in claim 1, wherein: the system also comprises a wireless following module; the wireless following module comprises a wireless following module,
the beacon signal sending module is a signal sending module held by an individual soldier and is used for continuously sending beacon signals to the periphery;
the signal beacon scanning module is arranged on the vehicle frame and used for scanning signals of beacons around the vehicle;
and the wireless control module is used for controlling the moving module to move the vehicle according to the beacon signals around the vehicle so that the vehicle and the scanned beacon are in a set range.
5. An individual soldier accompanying unmanned vehicle as claimed in claim 1, wherein: the remote control following module is also included; the remote control following module comprises a remote control following module,
the remote control signal generation module is a terminal held by an individual soldier and used for sending remote control signals to the periphery;
the remote control signal receiving module is arranged on the frame and used for receiving remote control signals around the vehicle;
and the remote control module is used for controlling the mobile module to realize the control of the vehicle according to the acquired remote control signal.
6. An individual soldier accompanying unmanned vehicle as claimed in claim 5, wherein: the remote control module also comprises a remote control module,
and the emergency control module is used for receiving the emergency stop command sent by the remote control signal generation module when an emergency occurs so as to stop the vehicle immediately.
7. An individual soldier accompanying unmanned vehicle as claimed in claim 5, wherein: the remote control module also comprises a remote control module,
and the wireless following control module is used for controlling the moving module to move the vehicle according to the remote control signals around the vehicle so that the vehicle and the scanned remote control signal generation module are in a set range.
8. An individual soldier accompanying unmanned vehicle as claimed in claim 5, wherein: the remote control module also comprises a remote control module,
and the remote control operation control module is used for receiving a remote control command sent by the remote control signal to control the mobile module to realize the forward movement, backward movement, steering and stopping of the vehicle.
9. An accompanying control method of an individual soldier accompanying unmanned vehicle as claimed in claim 1, wherein: the individual soldier pulls out the pull rope from the front end of the frame, and controls the speed and the direction of the vehicle by controlling the pull rope.
10. The accompanying control method of an individual soldier accompanying unmanned vehicle as claimed in claim 9, wherein: the method comprises the following steps:
1) pulling out the pull rope from the front end of the frame, and holding the front end of the pull rope by an individual soldier;
2) acquiring the length of the pull rope pulled out by the individual soldier, and controlling the moving speed of the vehicle based on the length pulled out by the pull rope so that the vehicle always moves along with the individual soldier;
3) the included angle between the pull rope and the central axis of the frame is collected, and the vehicle is controlled based on the angle pulled out by the pull rope to the moving direction of the vehicle, so that the vehicle always turns along with the individual soldier.
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| CN111399546A (en) * | 2020-05-08 | 2020-07-10 | 武汉远翔新能源科技有限责任公司 | Device for realizing wired following between people and vehicle and control method |
| CN112918539A (en) * | 2021-03-05 | 2021-06-08 | 北京精研通科技有限公司 | Electric individual-soldier power-assisted carrying system |
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