A three-wheel drive omnidirectional transmission system and working method

Abstract

The present invention relates to a three-wheel driven omnidirectional transmission system and a working method, which are composed of a plurality of omnidirectional transmission modules, wherein the omnidirectional transmission module comprises a regular hexagonal support plate, wherein the support plate is fixed with three driving mechanisms, wherein the driving mechanisms are respectively connected with omnidirectional wheels, wherein the axis angles of adjacent omnidirectional wheels are 120°, the axis of the omnidirectional wheel is perpendicular to the side end face of the support plate, the side end face of the support plate perpendicular to the axis of the omnidirectional wheel is the first side end face, and the other side end faces are the second side end faces, wherein the center points of the omnidirectional wheels are distributed on the same circle, the symmetric planes of the two end faces of the omnidirectional wheel are tangent to the circle where the center point is located, the radius of the circle where the center point of the omnidirectional wheel is located is equal to the side length of the support plate, the first side end faces and the second side end faces of the support plates of adjacent omnidirectional transmission modules are in contact, and the omnidirectional transmission system of the present invention can realize the transmission of goods according to the set path and speed, and can realize the adjustment of the posture of the goods at the same time, and has high transportation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission equipment, and in particular to a three-wheel drive omnidirectional transmission system and a working method. Background Art

[0002] With the development of the Internet, online shopping has become more and more popular. In the process of cargo transportation, logistics is naturally indispensable. In order to improve the efficiency of logistics, efficient sorting of goods has become a key breakthrough point to solve this problem. However, the inventor found that the conveyor belts on the market generally transmit in a single direction, and such conveyor belts cannot effectively sort items.

[0003] At present, many patent documents have conducted research on improving the efficiency of conveyor belts. However, the inventors found that the existing research focuses on increasing the intelligence of conveyor belts by adding auxiliary equipment, such as robotic arms or image sensors. This method does not change the main structure of the conveyor belt, but only uses external equipment to realize functions such as sorting or stacking of goods, and fails to fundamentally solve the efficiency problem of conveyor belt sorting.

[0004] Chinese patent document 201710511276X discloses "an omnidirectional wheel conveyor belt", which abandons the transmission method of pulleys and rollers used in traditional conveyor belts, and adopts omnidirectional wheels with two structures set on the transmission shaft, so that the conveyor belt can realize the transportation of items in multiple directions, significantly improving the sorting level of the conveyor belt. However, the inventors analyzed the working principle of the conveyor belt disclosed by them, and found that the different directions of the forces generated by the first and second omnidirectional wheel groups during the clockwise and counterclockwise rotation process only have four directions: forward, backward, left and right, which is not a true 360° omnidirectional movement. At the same time, the conveyor belt of this structure lacks the ability to drive objects to rotate, and cannot meet the requirements of flexibly adjusting the posture of objects.

[0005] The inventors also found that when the existing universal transmission device is used, the motion planning of the transmission mechanism is relatively complicated, which seriously affects the transmission efficiency. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a three-wheel drive omnidirectional transmission system, which can realize the travel of goods in any direction and can adjust the posture of the goods themselves at will during the travel process, has good energy utilization and is convenient for maintenance.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A three-wheel-driven omnidirectional transmission system is composed of a plurality of omnidirectional transmission modules, the omnidirectional transmission module comprises a regular hexagonal support plate, the support plate is fixed with three driving mechanisms, the driving mechanisms are respectively connected with omnidirectional wheels, the axis angles of adjacent omnidirectional wheels are 120°, the axis of the omnidirectional wheel is perpendicular to the side end surface of the support plate, the side end surface of the support plate perpendicular to the axis of the omnidirectional wheel is the first side end surface, and the other side end surfaces are the second side end surfaces, the center points of the three omnidirectional wheels are distributed on a circle which is concentric with the support plate and has a radius equal to the side length of the support plate, the symmetry planes of the two end surfaces of the omnidirectional wheel are tangent to the circle where the center point is located, and the first side end surface of the support plate is in contact with the second side end surface of the support plate of the adjacent omnidirectional transmission module.

[0009] The omnidirectional wheels with three axes forming an angle of 120° can realize the transmission of goods in any direction. The circle where the center point of the omnidirectional wheel is located is concentric with the support plate and has a radius equal to the side length of the regular hexagonal support plate, and the first side end face of adjacent omnidirectional transmission modules is in contact with the second side end face, so that the three omnidirectional wheel center points of two adjacent omnidirectional transmission modules can still be distributed on a circle with equal radius, thereby improving the stability of goods movement and reducing the complexity of omnidirectional wheel motion planning.

[0010] Furthermore, the driving mechanism adopts a motor, which is fixed to the bottom end surface of the support plate, and the output shaft of the motor is connected to the omnidirectional wheel, and the upper part of the omnidirectional wheel extends above the support plate through an opening provided in the support plate.

[0011] Furthermore, the omnidirectional wheel includes a first supporting hub and a second supporting hub which are arranged concentrically, and the outer circumferential surfaces of the first supporting hub and the second supporting hub are provided with staggered notches, and a rotating wheel is rotatably connected to the notches, and the rotating wheel relies on the friction with the cargo to generate passive rotation, thereby reducing the resistance to the movement of the cargo.

[0012] Furthermore, a detection device is installed on the opening wall of the opening for detecting whether there is cargo above the omnidirectional wheel.

[0013] Furthermore, a universal support device is provided at the center of the support plate to support the goods and reduce the resistance to the movement of the goods.

[0014] Furthermore, the support plate is fixedly connected to the top end of the support column, the bottom end of the support column is fixedly connected to the base plate, the base plate is fixed with a module controller, the module controller is connected to the driving mechanism to control the movement of the driving mechanism, and the module controller is connected to the system master controller to receive instructions from the system master controller to work.

[0015] The present invention also discloses a working method of a three-wheel drive omnidirectional transmission system, comprising the following steps:

[0016] Step 1: Plan the movement path of the goods to be transported, set the transportation speed of the goods to be transported, and set the rotation angular velocity according to the required posture of the goods;

[0017] Step 2: According to the planned path and the set cargo transportation speed and rotation angular velocity, calculate the rotation linear velocity of the omnidirectional wheels of the omnidirectional transport module when the cargo passes through each omnidirectional transport module.

[0018] Step 3: The omnidirectional transport module along the cargo movement path works, and the omnidirectional wheel rotates at the rotational linear speed calculated in step 2 to transport the cargo.

[0019] Furthermore, the specific steps of step 1 are:

[0020] Step (1) The system master controller establishes a grid map, which is composed of multiple regular hexagonal grids, determines the positions of the goods entering and leaving the conveying system on the grid map, and marks them as the starting point and the ending point.

[0021] Step (2) constructs a line connecting the starting point and the end point as a straight path, and determines the regular hexagonal grid that the straight path passes through according to the size of the goods.

[0022] Step (3) The system master controller determines the passability of the omnidirectional transmission modules corresponding to the regular hexagonal grid passed by the straight path. If the omnidirectional transmission modules corresponding to the straight path are all passable, the system master controller sends the required motion instructions to the module controller according to the direction of travel of the straight path. If the omnidirectional transmission modules corresponding to the straight path contain impassable omnidirectional transmission modules, the Dijkstra algorithm is used to replan the path.

[0023] Furthermore, in step (3), when the omnidirectional transmission module corresponding to the straight path contains an inaccessible omnidirectional transmission module, the regular hexagonal grid corresponding to the inaccessible omnidirectional transmission module is first determined as an inaccessible grid, and then the inaccessible grid is expanded according to the structural radius of the goods to determine the inaccessible area, and the other areas are accessible areas, and the Dijkstra algorithm is used to perform path planning in the accessible area.

[0024] Furthermore, the specific method in step 2 is: establish an XY coordinate system on the plane of the circle where the center points of the three omnidirectional wheels are located, wherein the X-axis of the XY coordinate system is parallel to the end face of one of the omnidirectional wheels, and the Y-axis is perpendicular to the X-axis and points to the center of the omnidirectional wheel whose end face is parallel to the X-axis, split the transportation speed of the goods into two component speeds along the X-axis and along the Y-axis, establish a speed balance equation of the two component speeds, the set angular velocity of the goods rotation and the required linear velocity of rotation of the three omnidirectional wheels, and obtain the required linear velocity of rotation of the three omnidirectional wheels according to the speed balance equation.

[0025] Beneficial effects of the present invention:

[0026] 1. The present invention sets three omnidirectional wheels distributed at an angle of 120°. Through the different rotational linear speeds of the omnidirectional wheels, the goods can be transported in any direction, thereby realizing omnidirectional transportation of the goods according to the set speed and path, and can also realize the rotation of the angle of the goods themselves and adjust the posture of the goods. The optimal path planning algorithm is used in path design, thereby improving the working efficiency of the transmission system.

[0027] 2. The center points of the three omnidirectional wheels of the present invention are distributed on the same circle, the symmetry planes of the two end faces of the omnidirectional wheels are tangent to the circle where the center points are located, and the radius of the circle where the center points of the three omnidirectional wheels are located is equal to the side length of the support plate, which greatly reduces the complexity of the omnidirectional wheel motion planning.

[0028] 3. The transmission system of the present invention is composed of a plurality of omnidirectional transmission modules, which is easy and convenient to install. The addition and separation of the omnidirectional transmission modules are extremely convenient and flexible.

[0029] 4. In the conveying system of the present invention, the omnidirectional conveying module will only operate and consume energy when it is in short contact with the goods. If one of the modules fails, only the failed module needs to be replaced, which will not affect the operation of the conveying system at all. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0031] Figure 1 It is a schematic diagram of the overall structure of the transmission system of the present invention;

[0032] Figure 2 The structure of the omnidirectional transmission module of the present invention is shown in FIG. Figure 1 ;

[0033] Figure 3 The structure of the omnidirectional transmission module of the present invention is shown in FIG. Figure 2 ;

[0034] Figure 4 It is a schematic diagram of the arrangement of adjacent omnidirectional transmission modules of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of the omnidirectional wheel of the present invention;

[0036] Figure 6 This is a schematic diagram of a path when the cargo movement path of the present invention is a straight path;

[0037] Figure 7This is a schematic diagram of the path planning using the Dijkstra algorithm in the present invention;

[0038] Figure 8 It is a schematic diagram of the calculation principle of the rotational linear velocity of the omnidirectional wheel of the present invention;

[0039] Among them, 1. omnidirectional transmission module, 1-1. support plate, 1-2. support column, 1-3. bottom plate, 1-4. module controller, 1-4-1. motor bus interface, 1-4-2. power supply and signal interface, 1-5. motor, 1-6. motor seat, 1-7. coupling, 1-8. omnidirectional wheel, 1-8-1. first support hub, 1-8-2. second support hub, 1-8-3. rotating wheel, 1-9. infrared detection sensor, 1-10. bull's eye universal wheel, 1-11. mounting hole, 2. bracket, 3. first circumference, 4. second circumference, 5. first omnidirectional wheel, 6. second omnidirectional wheel, 7. third omnidirectional wheel. DETAILED DESCRIPTION

[0040] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0041] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0042] For the convenience of description, if the words "upper" and "lower" appear in the present invention, they only indicate that they are consistent with the upper and lower directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0043] As introduced in the background art, the existing transmission system cannot truly achieve 360° omnidirectional transmission. To address the above problem, the present application proposes a three-wheel drive omnidirectional transmission system.

[0044] In a typical implementation of the present application, Figure 1-5As shown, a three-wheel drive omnidirectional transmission system is composed of multiple omnidirectional transmission modules 1, which are fixed on the bracket 2 of the transmission system. Multiple omnidirectional transmission modules can be assembled into transmission systems of different structures and sizes as needed, realizing flexible installation on site.

[0045] The omnidirectional transmission module includes a regular hexagonal support plate 1-1, the bottom surface of which is fixedly connected to the top of four support columns 1-2, the bottom ends of the four support columns are fixed with a bottom plate 1-3, and a module controller 1-4 is installed on the bottom plate. The module controller of each omnidirectional transmission module is connected to the system master controller, and the system master controller is used to send instructions to the module controller.

[0046] Three driving mechanisms are fixed to the bottom surface of the support plate, and the driving mechanism adopts a motor 1-5, and the motor is fixedly connected to the bottom surface of the support plate through a motor seat 1-6 and bolts. The motor is connected to a module controller, and the module controller is connected to the motor through three motor bus interfaces 1-4-1 and wires. The module controller is also provided with a power supply and signal interface 1-4-2 for power input of the module controller and information transmission with external devices.

[0047] The output shaft of the motor is connected to the omnidirectional wheel 1-8 through a coupling 1-7, and the output shaft of the motor can drive the rotation of the omnidirectional wheel.

[0048] The angle between the axes of two adjacent omnidirectional wheels is 120°, and the axis of the omnidirectional wheel is perpendicular to the side end face of the support plate. The side end face on the support plate that is perpendicular to the axis of the omnidirectional wheel is the first side end face, and the other end faces are the second side end faces. The center points of the three omnidirectional wheels are distributed on a first circle 3 that is concentric with the support plate, and the symmetry planes of the two end faces of the omnidirectional wheel are tangent to the first circle. The radius r of the first circle is equal to the side length L of the regular six-deformed support plate. The first side end face of the support plate of two adjacent conveying modules is in contact with the second side end face. By adopting this design, one or two omnidirectional wheels of one module in two adjacent omnidirectional conveying modules and two or one omnidirectional wheels of the adjacent module can still be located on a second circle 4, and the radius of the circle is also equal to the side length of the support plate and the radius of the first circle, thereby improving the stability of cargo movement and greatly reducing the complexity of omnidirectional wheel motion planning.

[0049] The upper part of the omnidirectional wheel extends out to above the support plate through an opening arranged on the support plate, and is used to transport goods. The omnidirectional wheel comprises a first support wheel hub 1-8-1 and a second support wheel hub 1-8-2, and five notches are arranged on the first support wheel hub and the second support wheel hub. When installed, the first support wheel hub and the second support wheel hub are staggered by 60° from the direction of the wheel axle, so that the notches of the first support wheel hub and the second support wheel hub are staggered, and each notch is rotatably connected with a spindle-shaped rotating wheel 1-8-3, and the rotating wheel will not rotate actively, but passively rotate by relying on the friction force of the movement of the goods, thereby reducing the resistance to the movement of the goods. The rotating wheels on the first support wheel hub and the second support wheel hub are staggered, so that no matter what position the omnidirectional wheel rotates to, the rotating wheel can be in contact with the goods, thereby ensuring that the rotating wheel plays its role.

[0050] A detection device is installed on the four opening walls of the opening arranged on the support plate. The detection device adopts an infrared detection sensor 1-9. The infrared detection sensor is connected to the module controller to detect whether there is cargo on the omnidirectional wheel and transmit the detection information to the module controller.

[0051] A universal support device is also provided at the center of the support plate. The universal support device adopts a bull's eye universal wheel 1-10. The bull's eye universal wheel is used to support the goods and reduce the resistance of the goods when they are running.

[0052] The outer edge of the support plate is also provided with eight mounting holes 1-11, and the mounting holes are used to connect the support plate to the bracket of the conveying system.

[0053] The present invention also discloses a working method of a three-wheel drive omnidirectional transmission system, comprising the following steps:

[0054] Step 1: Plan the movement path of the goods to be transported, set the transportation speed V of the goods to be transported, and set the rotation angular velocity w according to the required posture of the goods.

[0055] The method for planning the movement path of goods is:

[0056] Step (1) The system master controller establishes a grid map, which is composed of multiple regular hexagonal grids, determines the positions of the goods entering and leaving the conveying system on the grid map, and marks them as the starting point and the ending point.

[0057] Step (2) constructs a line connecting the starting point and the end point as a straight path, and determines the regular hexagonal grid that the straight path passes through according to the size of the goods.

[0058] Step (3) The system master controller determines the passability of the omnidirectional transmission module corresponding to the regular hexagonal grid passed by the straight path.

[0059] If all omnidirectional transport modules corresponding to the straight path are passable, the system master controller sends the required motion instructions to the module controller according to the direction of the straight path. The module controller controls the motor to drive the omnidirectional wheel to rotate and transport the goods along the set straight path. Figure 6 As shown, the grid indicated by the five-pointed star is the position where the goods enter the conveying system, the grid indicated by the triangle is the position where the goods leave the conveying system, and the circular grid is the grid through which the goods pass along the set straight path.

[0060] If the omnidirectional transmission module corresponding to the straight path contains a faulty module or an inaccessible omnidirectional transmission module caused by other reasons, the Dijkstra algorithm is used to replan the path. First, the regular hexagonal grid corresponding to the inaccessible omnidirectional transmission module is determined as an inaccessible grid. Then, the inaccessible grid is expanded according to the structural radius of the goods to determine the inaccessible area. The other areas are passable areas. The Dijkstra algorithm is used to plan the path in the passable area, such as Figure 7 As shown, the grid indicated by the five-pointed star is the position where the goods enter the conveying system, the grid indicated by the triangle is the position where the goods leave the conveying system, the grid filled with black is the impassable grid, the grid filled with oblique lines around the impassable grid is the grid covered by the impassable area after the impassable grid is expanded, and the grid indicated by the circle is the grid through which the cargo transportation path passes after path planning using the Dijkstra algorithm.

[0061] Using a straight line path or using the Dijkstra algorithm for path planning can meet the requirements of cargo path planning in any state of the conveying system, and can design the optimal cargo transportation path while meeting the cargo passability, thereby improving the working efficiency of the conveying system. The working principle of the Dijkstra algorithm is a very mature existing technology, and its detailed usage method will not be described in detail here.

[0062] Step 2: According to the planned path and the set cargo transportation speed V and rotation angular velocity w, calculate the rotation linear velocity of the three omnidirectional wheels of the omnidirectional transport module when the cargo passes through each omnidirectional transport module.

[0063] The method for obtaining the rotational linear velocity of the omnidirectional wheel of each omnidirectional transmission module is as follows: Figure 8As shown, the required rotational linear speed of three omnidirectional wheels in an omnidirectional transmission module is used as an example for explanation. An XY coordinate system is established on the omnidirectional transmission module, wherein the X axis of the XY coordinate system is parallel to the end face of one of the omnidirectional wheels, the Y axis is perpendicular to the X axis, and the zero point of the XY coordinate system is located at the center of the circle where the center points of the three omnidirectional wheels are located. The transportation speed V and the rotational angular velocity w of the goods are pre-set in the system master controller. According to the pre-planned movement path of the goods, the angle α between the travel direction of the goods and the X axis when passing through the omnidirectional transmission module can be obtained. The omnidirectional wheel parallel to the X axis is the first omnidirectional wheel 5, and the required rotational linear speed is V a , along the direction of the goods, the omnidirectional wheel located in front of the first omnidirectional wheel is the second omnidirectional wheel 6, and the required rotation linear speed is V b , along the direction of cargo travel, the omnidirectional wheel located behind the first omnidirectional wheel is the third omnidirectional wheel 7, and the required rotation linear speed is V c .

[0064] Establish the velocity balance equation:

[0065]

[0066] V x1 V is the moving speed of the cargo in the X-axis direction, y1 is the moving speed of the goods in the Y-axis direction, V is the set speed of the goods movement, and w is the set angular velocity of the goods movement.

[0067] in,

[0068] α is the angle between the cargo moving direction and the X-axis.

[0069] According to formula (1) and formula (2), the linear speeds required by the first omnidirectional wheel, the second omnidirectional wheel and the third omnidirectional wheel can be obtained as follows:

[0070]

[0071] V a is the rotational velocity of the first omnidirectional wheel, V b is the rotational velocity of the second omnidirectional wheel, V c is the rotational velocity of the third omnidirectional wheel, V x1 V is the moving speed of the cargo in the X-axis direction, y1 is the moving speed of the cargo in the Y-axis direction, w is the set angular velocity of the cargo rotation, and r is the radius of the circle where the center points of the first omnidirectional wheel, the second omnidirectional wheel, and the third omnidirectional wheel are located.

[0072] Step 3: The system master controller transmits the calculated rotational linear speed information of the omnidirectional wheels of each omnidirectional transmission module to the module controller of each omnidirectional transmission module. The module controller controls the corresponding omnidirectional wheels to rotate and places the goods in the omnidirectional transmission module at the starting point. Under the control of the rotational linear speed of the omnidirectional wheels set for each omnidirectional transmission module, the goods can be transported along the planned path to the omnidirectional transmission module at the end point to transport the goods out.

[0073] The method of the present invention can realize the transportation of goods according to the set moving speed, rotation angular velocity and path, improve the transportation efficiency and meet the actual use requirements.

[0074] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A working method of a three-wheel drive omnidirectional transmission system, characterized in that: The three-wheel-driven omnidirectional transmission system is composed of a plurality of omnidirectional transmission modules, wherein the omnidirectional transmission module comprises a regular hexagonal support plate, three driving mechanisms are fixed to the support plate, and the driving mechanisms are connected to omnidirectional wheels, the axis angles of adjacent omnidirectional wheels are 120°, the axis of the omnidirectional wheel is perpendicular to the side end face of the support plate, the side end face of the support plate perpendicular to the axis of the omnidirectional wheel is the first side end face, and the other side end faces are the second side end faces, the center point of the omnidirectional wheel is distributed on a circle which is concentric with the support plate and has a radius equal to the side length of the support plate, the symmetry planes of the two end faces of the omnidirectional wheel are tangent to the circle where the center point is located, and the first side end face of the support plate is in contact with the second side end face of the support plate of the adjacent omnidirectional transmission module; The omnidirectional wheel comprises a first supporting hub and a second supporting hub which are arranged concentrically, and the outer circumferential surfaces of the first supporting hub and the second supporting hub are provided with staggered notches, and the notches are rotatably connected with a rotating wheel; The support plate is fixedly connected to the top of the support column, the bottom of the support column is fixedly connected to the bottom plate, the bottom plate is fixed with a module controller, the module controller is connected to the drive mechanism to control the movement of the drive mechanism, and the module controller is connected to the system master controller to receive instructions from the system master controller to work; The working method comprises the following steps: Step 1: Plan the movement path of the goods to be transported, set the transportation speed of the goods to be transported, and set the rotation angular velocity according to the required posture of the goods; Step 2: According to the planned path and the set cargo transportation speed and rotation angular velocity, calculate the rotation linear velocity of the omnidirectional wheel of the omnidirectional transport module when the cargo passes through each omnidirectional transport module; Step 3: Place the goods on the omnidirectional transport module at the starting point of the goods movement path, and the omnidirectional wheel rotates according to the rotation linear speed calculated in step 2 to transport the goods; The specific steps of step 1 are: Step ① The system master controller establishes a grid map, which is composed of a plurality of regular hexagonal grids, determines the positions of the goods entering and leaving the conveying system on the grid map, and marks them as the starting point and the ending point; Step ② constructs a line connecting the starting point and the end point as a straight path, and determines the regular hexagonal grid that the straight path passes through according to the size of the goods; Step ③ The system master controller determines the passability of the omnidirectional transmission modules corresponding to the regular hexagonal grid passed by the straight path. If the omnidirectional transmission modules corresponding to the straight path are all passable, the system master controller sends the required motion instructions to the module controller according to the direction of travel of the straight path. If the omnidirectional transmission modules corresponding to the straight path contain inaccessible omnidirectional transmission modules, the Dijkstra algorithm is used to replan the path.

2. A working method of a three-wheel drive omnidirectional transmission system as claimed in claim 1, characterized in that: The driving mechanism adopts a motor, which is fixed to the bottom end surface of the support plate. The output shaft of the motor is connected to the omnidirectional wheel, and the upper part of the omnidirectional wheel extends above the support plate through an opening provided on the support plate.

3. A working method of a three-wheel drive omnidirectional transmission system as claimed in claim 2, characterized in that: The opening wall of the opening is equipped with a detection device for detecting whether there is cargo above the omnidirectional wheel.

4. The working method of a three-wheel drive omnidirectional transmission system according to claim 1, characterized in that: A universal support device is provided at the center of the support plate to support the goods and reduce the resistance to the movement of the goods.

5. The working method of a three-wheel drive omnidirectional transmission system according to claim 1, characterized in that: In the step ③, when the omnidirectional transmission module corresponding to the straight path contains an inaccessible omnidirectional transmission module, the regular hexagonal grid corresponding to the inaccessible omnidirectional transmission module is first determined as an inaccessible grid, and then the inaccessible grid is expanded according to the structural radius of the goods to determine the inaccessible area, and the other areas are passable areas, and the Dijkstra algorithm is used to perform path planning in the passable area.

6. The working method of a three-wheel drive omnidirectional transmission system as claimed in claim 1, characterized in that: The specific method in step 2 is: establish an XY coordinate system on the plane of the circle where the center points of the three omnidirectional wheels are located, wherein the X-axis of the XY coordinate system is parallel to the end face of one of the omnidirectional wheels, and the Y-axis is perpendicular to the X-axis and points to the center of the omnidirectional wheel whose end face is parallel to the X-axis, split the transportation speed of the goods into two component speeds along the X-axis and along the Y-axis, establish a speed balance equation of the two component speeds, the set angular velocity of the goods rotation and the required rotation linear speed of the three omnidirectional wheels, and obtain the required rotation linear speed of the three omnidirectional wheels according to the speed balance equation.

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