Self-moving device for train detection and obstacle avoidance method thereof

Abstract

The application discloses a self-walking device for train detection and an obstacle avoidance method thereof, adopts at most one driving motor and at least three telescopic motors as driving, controls three pairs of wheel groups to pass through obstacles at rail waist, and based on twice obstacle detection, makes the identification and obstacle avoidance of the trolley more accurate and fast. In addition, the self-walking trolley adopts at least three pairs of wheel groups, at least two groups of which are controlled by a clutch to switch transmission, so that the trolley has only one pair of wheel groups as driving wheels at the same time, the trolley can be positioned and walked by using the space at the rail waist, does not invade the vehicle gauge, does not affect the normal operation of the train, and realizes train detection when the train is running. Further, through the design of grooves, linear guides and rotating modules, the component scanning camera can perform mobile image acquisition work, obtain a larger acquisition range, have stronger adaptability to narrow spaces, and the practicality is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of train inspection equipment technology, and in particular to a self-propelled device for train inspection and its obstacle avoidance method. Background Technology

[0002] Railway vehicle clearance is strictly limited, with the space between the rails and the train strictly restricted and intrusion prohibited. Equipment operating above the rails, utilizing the rail surface for positioning and movement, is also subject to strict control. Otherwise, if a train intrudes into the clearance, it will severely impact the safety of both the train and the equipment. Therefore, it is required that trains and other equipment not operate simultaneously on the same section of track.

[0003] When a train needs to pass, the equipment must be removed from the rails; when the equipment needs to be placed on the track, the maintenance window must be observed. In reality, there is a certain height between the lowest point of the train clearance and the upper surface of the sleeper, and a certain width between the rail webs on both sides. Therefore, effectively utilizing this space, ensuring the positioning, movement, and travel of the equipment within this area, allows for normal train operation without affecting the track. Trains can run normally without removing the equipment, or the equipment can be remotely moved during normal operation, ensuring that the equipment and train do not interfere with each other and operate safely.

[0004] Among existing patents, European patent EP3519269B1 discloses that by using at least two active groups, including four active rotating bodies (fixed at the rail web) and at least two passive groups, including four passive rotating bodies (fixed at the upper surface of the rail base), the equipment can be guaranteed to operate in the space at the rail web. It also discloses that by mounting a robot at one end and fixing a camera to perform visual inspection, the technical problems of railway vehicle clearance and train inspection can be solved.

[0005] Although the aforementioned patents can solve some of the technical problems existing in the prior art, they are still lacking in intelligent obstacle avoidance and multi-angle visual detection. Furthermore, their device structure and control methods are relatively cumbersome, and there is still room for improvement in both manufacturing and operating costs. Summary of the Invention

[0006] In view of this, the present invention provides a self-propelled device for train inspection and an obstacle avoidance method thereof, aiming to solve all or part of the aforementioned technical problems.

[0007] To solve the above technical problems, the technical solution of the present invention is to provide a self-propelled device for train inspection, including a main body (1) and a traveling mechanism (2) disposed on both sides of the main body (1); a car bottom scanning camera group (3) is disposed on the upper surface of the main body (1), and a groove (4) is also provided on the upper surface of the main body (1), in which a data acquisition unit (5) is placed, and the data acquisition unit (5) and the car bottom scanning camera group (3) are used together for train inspection; the traveling mechanism (2) includes three pairs of drive telescopic wheel groups (6) disposed on both sides of the main body (1), each pair of drive telescopic wheel groups (6) is connected by a set of connecting devices with telescopic function, and the drive telescopic wheel group (6) includes a drive wheel (7), a lower support wheel (8) and an upper support wheel (9) for traveling between the rail webs, wherein the drive wheel (7) contacts the rail web when traveling, the lower support wheel (8) contacts the upper jaw of the rail bottom when traveling, and the upper support wheel (9) contacts the lower jaw of the rail head when traveling.

[0008] Optionally, the connecting device includes a first connecting device (10), a second connecting device (11), and a third connecting device (12). The first connecting device (10) and the second connecting device (11) are each composed of a telescopic lead screw (13), a drive shaft (14), a spline sleeve (15), and a telescopic motor (16). The third connecting device (12) is composed of a telescopic lead screw (13), a spline sleeve (15), and a telescopic motor (16). The first connecting device (10), the second connecting device (11), and the third connecting device (12) are used together to realize the telescopic function of the drive telescopic wheel set (6).

[0009] Optionally, a connecting rod (17) for connecting the first connecting device (10) and the second connecting device (11) is further provided between the first connecting device (10) and the second connecting device (11). A clutch (18) and a drive motor (19) are provided at the center of the connecting rod (17). The clutch (18) is used to switch the power supply direction of the drive motor (19).

[0010] Optionally, the drive wheel (7) includes several transmission gears (20) and bevel gears (21). When the drive motor (19) is activated, the power is transmitted to the bevel gears (21) via the transmission shaft (14) and spline sleeve (15), and then transmitted to the drive wheel (7) via the transmission gears (20), so that the drive wheel (7) moves according to the power transmitted by the drive motor (19).

[0011] Optionally, the front and rear ends of the main body (1) are each equipped with a lidar (22) for detecting obstacles; the front and rear ends of the main body (1) are also provided with anti-collision strips (23) for protecting the safety of the equipment, and the anti-collision strips (23) are provided on both sides of the lidar (22).

[0012] Optionally, a stone-sweeping device (24) is provided at each adjacent position of the lower support wheel (8), and the stone-sweeping device (24) is used to clean the small stones on the upper jaw of the rail bottom.

[0013] Optionally, each of the three pairs of drive telescopic wheel sets (6) is provided with a laser sensor (25) at its front and rear ends. The laser sensor (25) is used to perform a second obstacle detection after the laser radar (22) performs the first obstacle detection.

[0014] Optionally, a linear guide rail (26) is also provided at the bottom of the groove (4). The linear guide rail is used to drive the acquisition unit (5) to move laterally. The acquisition unit consists of a component scanning camera (27), a gimbal (28), an electric cylinder mechanism (29), and an angle rotation module (30). The gimbal (28) is connected to the electric cylinder mechanism (29), and the component scanning camera (27) is fixedly mounted on the gimbal (28).

[0015] Optionally, both the component scanning camera (27) and the undercarriage scanning camera group (3) are equipped with ring LED lights for illumination during image acquisition.

[0016] Accordingly, the present invention also provides an obstacle avoidance method for a self-propelled device, applied to the aforementioned self-propelled device for train inspection, comprising:

[0017] Obtain the initial detection results from the lidar to determine if an obstacle exists;

[0018] If an obstacle is present, the self-propelled device is controlled to slow down and obtain a second detection result from the laser sensor to determine the specific location of the obstacle, so that the self-propelled device can stop moving forward after approaching the obstacle.

[0019] The front wheelset is driven by a telescopic motor to perform a wheelset retraction action, and the clutch controls the drive motor to supply power to the middle wheelset, driving the equipment to continue moving.

[0020] Once the front wheelset has successfully passed the obstacle, the front wheelset is extended, the middle wheelset is retracted, and the clutch controls the drive motor to supply power to the front wheelset, driving the equipment to continue moving.

[0021] Once the middle wheelset has successfully passed the obstacle, extend the middle wheelset and retract the end wheelset. The drive unit continues to travel until the end wheelset has successfully passed the obstacle.

[0022] Extend the end wheelset to allow the self-propelled device to continue driving normally.

[0023] The advantages of this invention are:

[0024] 1. Utilizing the space for positioning and movement along the rail web, without encroaching on vehicle clearance or affecting normal train operation, the self-propelled equipment can move freely along the rail web while the train is running, enabling train detection during operation.

[0025] 2. A self-propelled trolley with at least 3 pairs of wheels is used, with at least two pairs controlled by a clutch to switch transmissions so that only one pair of wheels is the drive wheel at any given time. This simplifies control and reduces costs.

[0026] 3. Using a maximum of one drive motor and a minimum of three telescopic motors as the drive, the three pairs of wheel sets are controlled to pass through obstacles at the rail waist. At the same time, based on two obstacle detections, the vehicle's obstacle recognition and avoidance are more accurate and faster.

[0027] 4. Through the design of grooves, linear guides, and rotating modules, the component scanning camera can perform mobile image acquisition, obtain a larger acquisition range, and has stronger adaptability to narrow spaces, effectively improving its practicality. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a self-propelled device for train inspection provided in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the component scanning camera rotating and rising according to an embodiment of the present invention.

[0031] Figure 3 This is a simplified schematic diagram of the front and rear ends of a self-propelled device provided in an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of a drive telescopic wheel assembly provided in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of a telescopic structure provided in an embodiment of the present invention;

[0034] Figure 6This is a schematic diagram of the drive wheel power transmission provided in an embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of the obstacle avoidance method for a self-propelled device according to an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of an obstacle detection by a self-propelled device according to an embodiment of the present invention;

[0037] Figure 9 This is a simplified schematic diagram of front wheel obstacle avoidance provided in an embodiment of the present invention;

[0038] Figure 10 This is a simplified schematic diagram of obstacle avoidance by the intermediate wheel according to an embodiment of the present invention;

[0039] Figure 11 This is a simplified schematic diagram of end-wheel obstacle avoidance provided in an embodiment of the present invention.

[0040] Figure labels: 1-Main body, 2-Traveling mechanism, 3-Undercar scanning camera group, 4-Groove, 5-Acquisition unit, 6-Drive telescopic wheel group, 7-Drive wheel, 8-Lower support wheel, 9-Upper support wheel, 10-First connecting device, 11-Second connecting device, 12-Third connecting device, 13-Telescopic lead screw, 14-Drive shaft, 15-Spline sleeve, 16-Telescopic motor, 17-Connecting rod, 18-Clutch, 19-Drive motor, 20-Transmission gear, 21-Bevel gear, 22-LiDAR, 23-Anti-collision rubber strip, 24-Sweeping device, 25-Laser sensor, 26-Linear guide rail, 27-Component scanning camera, 28-Gimbal, 29-Electric cylinder mechanism, 30-Angle rotation module. Detailed Implementation

[0041] To enable those skilled in the art to better understand the embodiments of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Reference Figure 1 This is a schematic diagram of the structure of a self-propelled device for train inspection provided in an embodiment of the present invention.

[0043] A self-propelled device for train inspection includes a main body (1) and a traveling mechanism (2) disposed on both sides of the main body (1); a car under-scanning camera group (3) is disposed on the upper surface of the main body (1), and a groove (4) is also provided on the upper surface of the main body (1), in which a data acquisition unit (5) is placed, and the data acquisition unit (5) and the car under-scanning camera group (3) are used together for train inspection; the traveling mechanism (2) includes three pairs of drive telescopic wheel groups (6) disposed on both sides of the main body (1), and each pair of drive telescopic wheel groups (6) is connected by a set of connecting devices with telescopic function.

[0044] Furthermore, a linear guide rail (26) is provided at the bottom of the groove (4). The linear guide rail is used to drive the acquisition unit (5) to move laterally, providing a larger acquisition range. The acquisition unit consists of a component scanning camera (27), a pan-tilt unit (28), an electric cylinder mechanism (29), and an angle rotation module (30). The pan-tilt unit (28) is connected to the electric cylinder mechanism (29) and can extend and retract vertically. The component scanning camera (27) is fixedly mounted on the pan-tilt unit (28) and can rotate on two axes. The bottom of the electric cylinder mechanism (29) is connected to the angle rotation module (30), which can make the electric cylinder and the pan-tilt unit rotate and rise laterally, such as Figure 2 As shown, this design allows for greater adaptability to the confined spaces of the bogie section.

[0045] Furthermore, both the component scanning camera (27) and the undercarriage scanning camera group (3) are equipped with ring LED lights for necessary illumination during image acquisition, thereby improving the accuracy of vehicle detection.

[0046] Understandably, when not acquiring images, the component scanning camera module can be retracted into the device housing, such as... Figure 1 As shown, it will not intrude into the vehicle's clearance limits.

[0047] Furthermore, obstacles such as fishplates at rail joints, rail jumpers, and axle counters may appear at the rail web, affecting the normal operation of the trolley. Obstacle identification methods include... Figure 3 The lidar (22) shown has one at each end of the main body (1) and is usually mounted in the middle. Anti-collision strips (23) are provided on both sides of the lidar to protect the equipment and improve the safety of the equipment.

[0048] Furthermore, a laser sensor (25) is provided at the front and rear ends of the drive telescopic wheel assembly (6). The laser sensor (25) is used to perform a second obstacle detection after the first obstacle detection by the laser radar (22), thereby improving the obstacle detection accuracy and providing an accurate obstacle avoidance timing for the obstacle avoidance method.

[0049] Furthermore, such as Figure 4 As shown, the drive telescopic wheel assembly (6) includes a drive wheel (7), a lower support wheel (8), and an upper support wheel (9) for movement between the rail webs. The drive wheel (7) contacts the rail web when moving, the lower support wheel (8) contacts the upper jaw of the rail bottom when moving, and the upper support wheel (9) contacts the lower jaw of the rail head when moving. The support wheel located on the lower surface of the rail bottom mainly bears the weight of the equipment and ensures accurate vertical positioning of the equipment during movement. The drive wheel located on the rail web has a spring preload and mainly provides power for the movement of the equipment. The support wheel located on the lower jaw of the rail head can ensure that the equipment will not tip over when a set of wheels retracts, and together with the support wheel at the bottom, it ensures the accuracy of positioning of the equipment during movement.

[0050] Furthermore, there are usually many small stones at the bottom of the rail. In order to protect the support wheels, a stone-sweeping device (24) is installed at the adjacent position of the bottom support wheels.

[0051] Furthermore, in combination Figure 5 , 6 The telescopic structure of the self-propelled equipment for train inspection provided by the present invention and the drive wheel power transmission are described. Each pair of drive telescopic wheel sets (6) is connected by a set of connecting devices with telescopic function. The connecting devices include a first connecting device (10), a second connecting device (11), and a third connecting device (12). The first connecting device (10) and the second connecting device (11) are both composed of a telescopic screw (13), a drive shaft (14), a spline sleeve (15), and a telescopic motor (16). The third connecting device (12) is composed of a telescopic screw (13), a spline sleeve (15), and a telescopic motor (16). The first connecting device (10), the second connecting device (11), and the third connecting device (12) are used together to realize the telescopic function of the drive telescopic wheel set (6).

[0052] Furthermore, a connecting rod (17) for connecting the first connecting device (10) and the second connecting device (11) is provided between the first connecting device (10) and the second connecting device (11). A clutch (18) and a drive motor (19) are provided at the center of the connecting rod (17). The clutch (18) is used to switch the power supply direction of the drive motor (19).

[0053] Furthermore, the drive wheel (7) includes several transmission gears (20) and bevel gears (21). When the drive motor (19) is activated, the power is transmitted to the bevel gears (21) via the transmission shaft (14) and spline sleeve (15), and then transmitted to the drive wheel (7) via the transmission gears (20), so that the drive wheel (7) moves according to the power transmitted by the drive motor (19).

[0054] Understandably, the entire drive and telescopic unit includes one drive motor and three telescopic motors. During movement, there is a set (two) of drive wheels. The entire drive wheel is subjected to elastic preload, which allows it to adjust its posture on curves and smoothly traverse them. The preload increases the friction of the drive wheels, providing sufficient friction for the equipment to operate on sloping sections, enabling it to smoothly pass through curves. The power for the equipment's movement is transmitted through the drive motor to the drive shaft, spline sleeve, and then through the bevel gears and transmission gears on the wheels to the wheels themselves.

[0055] This invention provides a self-propelled device and its obstacle avoidance method for train inspection. It employs at most one drive motor and at least three telescopic motors for propulsion, controlling three pairs of wheel sets to traverse obstacles at the rail web. Simultaneously, based on two obstacle detections, the device's obstacle identification and avoidance are more accurate and faster. Furthermore, the self-propelled device using at least three pairs of wheel sets, with at least two sets controlled by a clutch to switch transmission, ensures that only one pair of wheel sets is driven at any given time. This allows the device to utilize the space at the rail web for positioning and movement, without encroaching on vehicle clearance or affecting normal train operation, thus enabling train inspection while the train is in motion. Further, through designs such as grooves, linear guides, and rotating modules, the component scanning camera can perform mobile image acquisition, obtaining a larger acquisition range and greater adaptability to confined spaces, effectively improving its practicality.

[0056] Furthermore, refer to Figure 7 This is a schematic diagram of the obstacle avoidance method for a self-propelled device provided in an embodiment of the present invention.

[0057] S11. Obtain the first detection result from the lidar to determine if there is an obstacle.

[0058] First, the lidar continuously detects obstacles along the equipment's path to determine if any obstacles exist. If none are found, the equipment proceeds steadily as planned.

[0059] It should be noted that during normal operation of the equipment, the clutch continuously supplies power from the drive motor to the front wheelset, which in turn propels the equipment forward.

[0060] S12. If there is an obstacle, control the self-propelled device to slow down and obtain the second detection result of the laser sensor to determine the specific location of the obstacle, so as to control the self-propelled device to stop moving forward after approaching the obstacle.

[0061] When the lidar detects an obstacle in front, such as Figure 8As shown, a secondary obstacle detection is performed using a laser sensor. The detection principle involves the laser sensor sensing pre-set magnetic nails on the rail to determine the precise location of the obstacle. This allows the front end of the device to stop near the obstacle and retract its front wheels. Figure 9 As shown.

[0062] S13. The front wheelset is driven by a telescopic motor to perform a wheelset retraction action, and the clutch controls the drive motor to supply power to the middle wheelset, so that the equipment can continue to move.

[0063] S14. After the front wheelset successfully passes the obstacle, the front wheelset is extended, the middle wheelset is retracted, and the clutch controls the drive motor to supply power to the front wheelset, driving the equipment to continue moving.

[0064] Once the front wheelset has successfully passed the obstacle, the device stops moving forward, extends the front wheelset, and retracts the middle wheelset. Figure 10 As shown, at this time, the clutch controls the drive motor to supply power to the front wheelset, and the drive equipment continues to move.

[0065] S15. After the middle wheelset passes the obstacle smoothly, extend the middle wheelset, retract the end wheelset, and drive the equipment to continue driving until the end wheelset passes the obstacle smoothly.

[0066] Once the middle wheelset has successfully passed the obstacle, both the front and middle wheelsets have passed. Extend the middle wheelset and retract the end wheelset. Figure 11 As shown, at this point, the power of the equipment does not need to be switched; it can remain on the front wheel pair to drive the equipment to continue moving until the end wheel pair successfully passes the obstacle.

[0067] S16. Extend the end wheelset to allow the self-propelled equipment to continue driving normally.

[0068] In this embodiment, the obstacle is first detected, identified and accurately located by lidar and laser sensor. Then, a maximum of one drive motor and a minimum of three telescopic motors are used as the drive to control three pairs of wheel sets so that the trolley can pass through the obstacle at the rail web. This allows the equipment to avoid obstacles smoothly, realize the use of the space at the rail web for movement, without encroaching on the vehicle clearance, and complete the simultaneous operation of the equipment and the detection of the moving train without affecting the normal operation of the train.

[0069] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0070] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be considered as limitations on the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A self-propelled device for train inspection, characterized in that, The system includes a main body (1) and a traveling mechanism (2) disposed on both sides of the main body (1); a vehicle under-scanning camera group (3) is disposed on the upper surface of the main body (1), and a groove (4) is also provided on the upper surface of the main body (1). A data acquisition unit (5) is placed in the groove (4), and the data acquisition unit (5) and the vehicle under-scanning camera group (3) are used together for train detection; the traveling mechanism (2) includes three pairs of drive telescopic wheel groups (6) disposed on both sides of the main body (1). Each pair of drive telescopic wheel groups (6) is connected by a set of connecting devices with telescopic function. The drive telescopic wheel group (6) includes an active wheel (7), a lower support wheel (8), and an upper support wheel (9) for traveling between rail webs. When the active wheel (7) travels, it contacts the rail web. When the lower support wheel (8) travels, it contacts the upper jaw of the rail bottom. When the upper support wheel (9) travels, it contacts the lower jaw of the rail head. The connecting device includes a first connecting device (10), a second connecting device (11), and a third connecting device (12). The first connecting device (10) and the second connecting device (11) are composed of a telescopic screw (13), a drive shaft (14), a spline sleeve (15), and a telescopic motor (16). The third connecting device (12) is composed of a telescopic screw (13), a spline sleeve (15), and a telescopic motor (16). The first connecting device (10), the second connecting device (11), and the third connecting device (12) are used together to realize the telescopic function of the drive telescopic wheel set (6). Among them, a connecting rod (17) for connecting the first connecting device (10) and the second connecting device (11) is also provided between the first connecting device (10) and the second connecting device (11). A clutch (18) and a drive motor (19) are provided at the center of the connecting rod (17). The clutch (18) is used to switch the power supply direction of the drive motor (19).

2. The self-propelled device for train inspection according to claim 1, characterized in that, The drive wheel (7) includes several transmission gears (20) and bevel gears (21). When the drive motor (19) is activated, the power is transmitted to the bevel gears (21) through the transmission shaft (14) and spline sleeve (15), and then transmitted to the drive wheel (7) through the transmission gears (20), so that the drive wheel (7) moves according to the power transmitted by the drive motor (19).

3. The self-propelled device for train inspection according to claim 1, characterized in that, The main body (1) is equipped with a lidar (22) for detecting obstacles at both the front and rear ends; the main body (1) is also provided with anti-collision strips (23) for protecting the safety of the equipment at both the front and rear ends, and the anti-collision strips (23) are provided on both sides of the lidar (22).

4. The self-propelled device for train inspection according to claim 1, characterized in that, Each of the adjacent positions of the lower support wheel (8) is equipped with a stone-sweeping device (24), which is used to clean the small stones on the upper jaw of the rail bottom.

5. A self-propelled device for train inspection according to claim 3, characterized in that, Each of the three pairs of drive telescopic wheel sets (6) is provided with a laser sensor (25) at its front and rear ends. The laser sensor (25) is used to perform a second obstacle detection after the laser radar (22) performs the first obstacle detection.

6. A self-propelled device for train inspection according to claim 1, characterized in that, The bottom of the groove (4) is also provided with a linear guide rail (26), which is used to drive the acquisition unit (5) to move laterally. The acquisition unit consists of a component scanning camera (27), a gimbal (28), an electric cylinder mechanism (29), and an angle rotation module (30). The gimbal (28) is connected to the electric cylinder mechanism (29), and the component scanning camera (27) is fixedly mounted on the gimbal (28).

7. A self-propelled device for train inspection according to claim 6, characterized in that, Both the component scanning camera (27) and the undercarriage scanning camera group (3) are equipped with ring LED lights for illumination during image acquisition.

8. An obstacle avoidance method for a self-propelled device, applied to a self-propelled device for train inspection as described in any one of claims 1-7, characterized in that, include: Obtain the initial detection results from the lidar to determine if an obstacle exists; If an obstacle is present, the self-propelled device is controlled to slow down and obtain a second detection result from the laser sensor to determine the specific location of the obstacle, so that the self-propelled device can stop moving forward after approaching the obstacle. The front wheelset is driven by a telescopic motor to perform a wheelset retraction action, and the clutch controls the drive motor to supply power to the middle wheelset, driving the equipment to continue moving. Once the front wheelset has successfully passed the obstacle, the front wheelset is extended, the middle wheelset is retracted, and the clutch controls the drive motor to supply power to the front wheelset, driving the equipment to continue moving. Once the middle wheelset has successfully passed the obstacle, extend the middle wheelset and retract the end wheelset. The drive unit continues to travel until the end wheelset has successfully passed the obstacle. Extend the end wheelset to allow the self-propelled device to continue driving normally.

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