Power assisting and obstacle crossing automatic switching control cart system and method based on field terrain

Abstract

The invention discloses a power assisting and obstacle crossing automatic switching control cart system and method based on field terrains. The system comprises a cart body structure; the terrain detection structure is fixedly connected to the cart main body structure; the roll shaft position adjusting structure is rotatably connected to the cart main body structure in a locatable manner, and the roll shaft position adjusting structure is provided with a telescopic end part; the detection roller shaft structure is arranged at the telescopic end part in a controllable rotary transmission manner, and the detection roller shaft structure is provided with a pressure sensor; the assisting and obstacle crossing position adjusting structure is of a parallelogram structure, one edge part of the assisting and obstacle crossing position adjusting structure is in transmission connection with the cart main body structure, and the lengths of two adjacent edge parts of the edge part of the assisting and obstacle crossing position adjusting structure are synchronously adjustable; the power assisting and obstacle crossing bottom bracing structure comprises a bottom bracing driving wheel body which is arranged on the opposite side portion of one side portion of the parallelogram framework in a telescopic transmission mode. The technical problems that in the prior art, an outdoor cart framework is lack of intelligence, poor in obstacle crossing capacity and insufficient in adaptability, and consequently the overall operation efficiency and the function practicability are not high are solved.

Description

Technical Field

[0001] This invention relates to the field of intelligent trolley control technology, and more specifically, to a trolley system and method with automatic switching control for assisting and overcoming obstacles based on outdoor terrain. Background Technology

[0002] Currently, in field operations, exploration, military operations, and some special engineering scenarios, trolleys are often needed to transport supplies and equipment. Traditional trolleys are usually designed to be more suitable for relatively flat roads, and they have many limitations when facing complex terrains such as potholes, mud, sand, and steep slopes. In particular, this leads to a significant increase in the trolley's rolling resistance, requiring operators to expend a great deal of effort to push the trolley forward, which is time-consuming and labor-intensive, reducing work efficiency. At the same time, when encountering obstacles such as rocks and tree stumps, traditional trolleys cannot easily cross them, often requiring operators to manually lift the trolley or spend a lot of time finding an alternative route. This causes great inconvenience to field operations, significantly reducing overall passability and practicality.

[0003] In existing technologies, while some trolley designs offer some level of assistance or obstacle-crossing capabilities, switching between these functions for different terrains typically relies on manual operation. This lack of precision in automatically identifying and adapting to terrain changes makes it difficult to intelligently switch between these functions. In practice, operators must tediously adjust the trolley's settings, requiring significant experience and skill, and increasing the risk of damage due to inaccurate judgments or delayed actions. Furthermore, as trolleys are used in a wider range of applications, different terrain conditions place higher demands on their obstacle-crossing performance. However, current trolley designs often fail to adapt well to various complex terrains, resulting in limited overall obstacle-crossing capabilities and impacting operational efficiency.

[0004] In summary, the existing field cart architecture has at least the following drawbacks and shortcomings: 1) Lack of intelligence: It relies too much on manual operation and cannot automatically sense changes in terrain and make corresponding adjustments. Operators need to pay attention to the terrain at all times and manually adjust the force and direction of the cart, which increases the cumbersome complexity of operation and is prone to damage to the cart or materials due to inaccurate judgment or untimely operation. 2) Poor obstacle crossing ability: The way to deal with obstacles is limited, usually relying on manual lifting or going around them, which not only leads to low efficiency in the field environment, but may also pose safety hazards to operators. 3) Insufficient adaptability: Different field terrains have very different requirements for trolleys, while the current trolley architecture can only adapt to a few specific types of terrain, which cannot meet the increasingly diverse needs of field operations. Summary of the Invention

[0005] To address this, the present invention provides a pushcart system and method based on automatic switching control for assisting and overcoming obstacles in the field, in order to solve the technical problems of low overall operating efficiency and functional practicality caused by the lack of intelligence, poor obstacle-crossing ability and insufficient adaptability of existing field pushcart architectures.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A pushcart system with automatic switching control for assisting and overcoming obstacles based on outdoor terrain includes: The main structure of the cart; A terrain detection structure is fixedly mounted on the main structure of the trolley and is used to identify the terrain being traveled. The roller adjustment structure is a positionable interchangeable assembly mounted on the main structure of the trolley, and the roller adjustment structure has a retractable end. The detection roller structure has a controllable rotary transmission assembly mounted on the extendable end of the roller adjustment structure, and the detection roller structure is equipped with a pressure sensor for rolling and detecting terrain. The assist and obstacle-crossing adjustment structure is configured as a variable-form parallelogram architecture. One side of the variable-form parallelogram architecture is connected to the main structure of the trolley via a transmission connection, and the extension lengths of the two adjacent sides of one side of the variable-form parallelogram architecture are synchronously adjustable. The assist and obstacle-crossing support structure includes a support drive wheel, the base of which is retractably and transmissionally mounted on the opposite side of one side of the variable-form parallelogram structure.

[0007] Based on the above technical solution, the present invention is further described as follows: As a further aspect of the present invention, The main structure of the cart includes a frame and a cargo box located on the upper part of the frame. The terrain detection structure includes a visual camera and a reflective photoelectric sensor; The visual camera is provided in at least two sets. The at least two sets of visual cameras are respectively fixedly mounted on the upper front part of the cart body. When the main structure of the cart is in a traveling posture, the at least two sets of visual cameras have a predetermined downward tilt angle to obtain the terrain image of the front part of the current traveling position and direction in real time through the at least two sets of visual cameras. The reflective photoelectric sensor is provided in at least two sets, and the at least two sets of reflective photoelectric sensors are respectively mounted on the lower front part of the vehicle body. When the main structure of the trolley is in a traveling posture, the at least two sets of reflective photoelectric sensors have a predetermined downward tilt angle, which is used to monitor the terrain in real time based on the principle of transmission and feedback signals through the at least two sets of reflective photoelectric sensors.

[0008] As a further aspect of the present invention, it also includes: The shock-absorbing base structure includes an electrically controlled accommodating chamber and a shock-absorbing cover plate; The electrically controlled accommodating compartment is extended and fixedly installed at the lower front part of the truck bed; The shock-absorbing cover plate is connected to the truck bed through a transition assembly, and the shock-absorbing cover plate is fitted over the top opening of the electrically controlled accommodating compartment. A shock-absorbing pad is provided between the shock-absorbing cover plate and the outer edge of the top opening of the electrically controlled accommodating chamber, and a tension spring is provided between the shock-absorbing cover plate and the electrically controlled accommodating chamber. At least two sets of the aforementioned reflective photoelectric sensors are respectively fixedly mounted on the shock-absorbing cover plate.

[0009] As a further aspect of the present invention, The roller adjustment structure is provided in two sets. Each set of the roller adjustment structure includes a first hydraulic telescopic arm, a second hydraulic telescopic arm, an electrically controlled shaft seat, and a braking assembly. The base parts of the two sets of first hydraulic telescopic arms are respectively transferred and assembled on the upper front side of the truck body, and the two sets of first hydraulic telescopic arms are arranged in parallel. The base parts of the two sets of second hydraulic telescopic arms are respectively connected and mounted on the upper part of both sides of the truck body, and the kinetic energy output ends of the two sets of second hydraulic telescopic arms are respectively connected and mounted to the base parts of the two sets of first hydraulic telescopic arms. The two sets of electrically controlled shaft seats and braking components are respectively and correspondingly mounted on the kinetic energy output ends of the two sets of first hydraulic telescopic arms. They are used to assemble the detection roller structure through the fixed axis rotation of the two sets of electrically controlled shaft seats and braking components, and to use the electrically controlled shaft seats and braking components to adjust the speed rotation and braking control of the detection roller structure. They also adjust the forward extension height and angle of the detection roller structure based on different field terrains through the cooperation of the first hydraulic telescopic arm and the second hydraulic telescopic arm.

[0010] As a further aspect of the present invention, The detection roller structure includes a roller body, a pressure sensor, and a vibration sensor; The main drive assembly of the roller shaft is located between the two sets of electrically controlled shaft seats and braking components; Both the pressure sensor and the vibration sensor are provided in several groups. The pressure sensor and the vibration sensor are respectively alternately embedded and fixed in a ring around the outer side wall of the roller body. They are used to monitor the ground pressure value of the roller body in real time through the pressure sensor and to monitor the ground hardness value of the current location in real time through the vibration sensor.

[0011] As a further aspect of the present invention, The assist and obstacle-crossing positioning structure is provided in two sets, and the parallelogram structure formed by each set of the assist and obstacle-crossing positioning structure includes a bottom support rod, a third hydraulic telescopic arm and a top support rod. The top positions of both ends of the bottom support rod are respectively connected to the base of the two sets of the third hydraulic telescopic arms through a transition assembly. The bottom positions of both ends of the top support rod are respectively connected to the kinetic energy output ends of the two sets of the third hydraulic telescopic arms through a transition assembly. The top support rod is fixedly connected to the vehicle frame as one side of the parallelogram structure. The two sets of the third hydraulic telescopic arms are arranged in parallel, and the bottom support rod and the top support rod are arranged in parallel, so as to use the bottom support rod, the two sets of the third hydraulic telescopic arms and the top support rod to assemble a parallelogram support structure. Each set of the assist and obstacle-crossing positioning structure also includes a hydraulic motor; The hydraulic motor is provided in at least one set. The base of the at least one set of hydraulic motors is fixedly mounted on the bottom support rod, and the rotational kinetic energy output end of the at least one set of hydraulic motors is connected to the transfer shaft of the base of the at least one set of third hydraulic telescopic arm for transmission assembly, so as to drive the third hydraulic telescopic arm to rotate by outputting rotational kinetic energy from the hydraulic motor.

[0012] As a further aspect of the present invention, The assist and obstacle-crossing bottom support structure is provided in several groups, and the several groups of the assist and obstacle-crossing bottom support structure are evenly distributed and assembled at the bottom position of the two groups of bottom support rods. The assist and obstacle-crossing support structure also includes a hydraulic lifting strut and a steering turntable; The base of the hydraulic lifting strut is fixedly connected to the bottom of the bottom strut; The base of the steering turntable is connected to the linear kinetic energy output end of the hydraulic lifting support rod via a transmission connection, and the rotational kinetic energy output end of the steering turntable is connected to the base of the bottom support drive wheel via a transmission connection. A pressure sensor is installed between the base of the bottom support drive wheel and the rotational kinetic energy output end of the steering turntable. The pressure sensor is used to monitor the ground contact pressure of the bottom support drive wheel in real time, and the hydraulic lifting support rod outputs linear kinetic energy to keep the bottom support drive wheel in contact with the ground.

[0013] A method for automatically switching between assist and obstacle crossing control of a pushcart system based on terrain features includes the following steps: Lift the main structure of the trolley so that the wheels of the main structure of the trolley remain in contact with the ground of the detection roller shaft structure in the initial position. At this time, the top support rod in the assist and obstacle crossing adjustment structure and the frame of the trolley main structure maintain a synchronous and corresponding tilt state. The hydraulic motor in the assist and obstacle crossing adjustment structure is controlled by the electronic control structure to drive the third hydraulic telescopic arm to rotate, so that the bottom support rod moves down to a specific height. The hydraulic lifting struts in several sets of assist and obstacle-crossing support structures continue to extend and retract adaptively through the electronic control structure, so that the contact pressure sensors of the corresponding support drive wheels in several sets of assist and obstacle-crossing support structures can detect the ground contact pressure. At this time, several sets of support drive wheels are in the ground contact state, and then the several sets of support drive wheels are adaptively adjusted to always keep in the ground contact state during the journey. When the cart is moving on flat ground, the electronic control structure outputs commands to control several sets of bottom support drive wheels to maintain a preset speed rotation, thereby assisting the cart's movement. When the trolley encounters a slope while moving on flat ground, the slope is identified by the visual camera and reflective photoelectric sensor in the terrain detection structure. The first and second hydraulic telescopic arms are then controlled by the electronic control structure to adjust the forward extension height and angle of the roller body in the detection roller structure. At the same time, the electronic control shaft seat and braking components are controlled to adjust the real-time rotation speed of the roller body. Based on the pressure monitoring function of its pressure sensor, the roller body maintains a stable ground contact pressure value and adaptive rotation speed within a preset threshold range. The extension amount of the first and second hydraulic telescopic arms is fed back to the electronic control structure to obtain the real-time position of the roller body corresponding to the slope, thus completing the roller pressure detection of the terrain. When the slope is low and the height does not require obstacle crossing, the push-cart assist mode continues. When the slope is low but the height requires obstacle crossing, the hydraulic motor is controlled by the electronic control structure to output rotational kinetic energy to drive the third hydraulic telescopic arm to rotate, so that the top support rod and the bottom support rod always remain parallel to lift the top support of the frame forward, thereby keeping the frame in the current tilt state to complete the low slope obstacle crossing function. After completing the low slope obstacle crossing, the bottom support drive wheel is driven back to the push-cart assist mode. When the slope is steep and obstacle crossing is required, the hydraulic motor is controlled by an electronic control system to output rotational kinetic energy to drive the third hydraulic telescopic arm to rotate. Simultaneously, two sets of third hydraulic telescopic arms are extended synchronously, thereby further raising the height of the top support rod and the vehicle frame, allowing the top support rod and the vehicle frame to maintain their current tilted state and complete the high slope obstacle crossing function. The hydraulic motor is controlled by an electronic control system again to output rotational kinetic energy to drive the third hydraulic telescopic arm to rotate. At this time, the bottom support rod is raised based on the position of the top support rod until the bottom support drive wheel reaches the height of the high slope to complete the synchronous obstacle crossing. After the bottom support drive wheel completes the obstacle crossing, the bottom support drive wheel is controlled to return to the push-assist driving state.

[0014] As a further aspect of the present invention, the following steps are also included: When a wide pit is detected in the travel path, the first and second hydraulic telescopic arms in the roller adjustment structure are gradually extended, causing the roller body to gradually move to the opposite side of the pit. The two sets of third hydraulic telescopic arms are then controlled to rotate and extend synchronously until the bottom wheels of the vehicle frame are gradually lifted forward to the opposite side of the pit. At this point, the first and second hydraulic telescopic arms are returned to their initial positions corresponding to the push-cart travel assist state. After the vehicle continues to be pushed to the standard terrain position, the drive base drive wheels are controlled to return to the push-cart travel assist state, thus completing the wide pit obstacle crossing function.

[0015] As a further aspect of the present invention, the following steps are also included: Based on a vision camera and several sets of vibration sensors on the roller body, the system monitors the terrain and its hardness values ​​in real time. When the monitored terrain hardness value is below a preset threshold, the system selects an obstacle-crossing action or uses the steering turntable in the obstacle-crossing support structure to adjust the direction of the driving wheels of the support, thereby completing visual recognition and detour control based on specific terrain conditions. The present invention has the following beneficial effects: This system and method can effectively use the trolley main structure as the basis for the overall system architecture assembly. At the same time, it can effectively realize the field terrain adaptive detection function by using the roller adjustment structure and the detection roller structure. This can be combined with the terrain detection structure to further significantly improve the accuracy of automatic identification of the terrain, thereby effectively ensuring the stability of automated operation control. In addition, it can also use the assist and obstacle crossing adjustment structure and the assist and obstacle crossing bottom support structure to effectively assist the trolley main structure to form an assist function. Furthermore, it can be combined with the roller adjustment structure and the detection roller structure to form an obstacle crossing function architecture adapted to various obstacle terrains, significantly improving the overall operating efficiency and functional practicality of the system. Attached Figure Description

[0016] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The structures, proportions, sizes, etc., drawn in this specification are only used to complement the content disclosed in the specification, so that those skilled in the art can understand and read them. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0017] Figure 1 This is a schematic diagram of the overall axonometric structure of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain provided in this embodiment of the invention, corresponding to one side.

[0018] Figure 2 This is a schematic diagram of the assembly structure of the assist and obstacle crossing adjustment structure and the assist and obstacle crossing bottom support structure in the automatic switching control trolley system based on field terrain provided in an embodiment of the present invention.

[0019] Figure 3 This is an isometric structural diagram of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain provided in an embodiment of the present invention, corresponding to the other side.

[0020] Figure 4 This is a side view of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain, provided in an embodiment of the present invention.

[0021] Figure 5 This is a side view of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain provided in this embodiment of the invention, in the assisting state.

[0022] Figure 6 This is one of the side view structural diagrams of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain provided in the embodiments of the present invention, in the state of crossing a low slope.

[0023] Figure 7 This is the second side view schematic diagram of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain provided in this embodiment of the invention, in the state of crossing a low slope.

[0024] Figure 8 The third side view diagram of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain provided in this embodiment of the invention, in the state of crossing a low slope.

[0025] Figure 9 This is one of the side view structural diagrams of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain provided in the embodiments of the present invention, in the state of crossing a high slope.

[0026] Figure 10 This is the second side view schematic diagram of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain provided in this embodiment of the invention, in the state of crossing a high slope.

[0027] Figure 11 This is a side view of the automatic switching control trolley system for assisting and overcoming obstacles based on the terrain, as provided in an embodiment of the present invention, when it is crossing a wide pit.

[0028] The attached diagram lists the components represented by each number as follows: The main structure of the cart 1: the frame 11, the bucket 12, and the wheels 13; Terrain detection structure 2: visual camera 21, reflective photoelectric sensor 22; Vibration damping base structure 3: Electrically controlled accommodating chamber 31, vibration damping cover plate 32; Roller adjustment structure 4: First hydraulic telescopic arm 41, second hydraulic telescopic arm 42, electrically controlled shaft seat and braking assembly 43; Detection roller structure 5: roller body 51, pressure sensor 52, vibration sensor 53; Assist and obstacle-crossing positioning structure 6: bottom support rod 61, third hydraulic telescopic arm 62, top support rod 63, hydraulic motor 64; Assist and obstacle-crossing support structure 7: hydraulic lifting support rod 71, directional turntable 72, support drive wheel body 73; a. Low slope; b. High slope; c. Wide pit. Detailed Implementation

[0029] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0030] The terms "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0031] like Figures 1 to 11As shown, this embodiment of the invention provides a trolley system for automatic switching control of assistance and obstacle crossing based on field terrain. It includes a trolley main structure 1, a terrain detection structure 2, a shock-absorbing base structure 3, a roller adjustment structure 4, a detection roller structure 5, an assistance and obstacle crossing adjustment structure 6, and an assistance and obstacle crossing bottom support structure 7. The trolley main structure 1 effectively serves as the foundation for the overall system architecture. Simultaneously, the roller adjustment structure 4, in conjunction with the detection roller structure 5, effectively achieves adaptive detection of field terrain. This, combined with the terrain detection structure 2, significantly improves the accuracy of automated terrain identification, thereby effectively ensuring the stability of automated operation control. Furthermore, the assistance and obstacle crossing adjustment structure 6, in conjunction with the assistance and obstacle crossing bottom support structure 7, effectively assists the trolley main structure 1 in providing assistance. It can also further cooperate with the roller adjustment structure 4 and the detection roller structure 5 to form an obstacle crossing functional architecture adapted to various obstacle terrains, improving overall operational efficiency and practicality. Specific settings are as follows: Please refer to Figure 1 The main structure 1 of the trolley includes a frame 11, a bucket 12, and wheels 13. The bucket 12 is fixedly mounted on the upper part of the frame 11, and the wheels 13 are mounted on the lower part of the frame 11 based on wheel hubs, so as to form a predetermined trolley functional structure, and thus the trolley functional structure effectively serves as the basis for the overall system architecture assembly.

[0032] Please refer to Figure 1 and Figure 5 The terrain detection structure 2 includes a visual camera 21 and a reflective photoelectric sensor 22. The visual camera 21 is provided in at least two sets, and the at least two sets of visual cameras 21 are respectively fixedly mounted on the upper front side of the cart body 12. When the main structure 1 of the cart is in a traveling posture, the at least two sets of visual cameras 21 have a predetermined downward tilt angle, so as to acquire the terrain image of the front side of the current traveling position and direction in real time through the at least two sets of visual cameras 21, and further analyze the terrain changes based on the terrain image and a preset program algorithm.

[0033] At least two sets of reflective photoelectric sensors 22 are provided, and the at least two sets of reflective photoelectric sensors 22 are respectively fixedly mounted on the shock-absorbing base structure 3. When the main body structure 1 of the trolley is in a traveling posture, the at least two sets of reflective photoelectric sensors 22 have a predetermined downward tilt angle. The shock-absorbing base structure 3 is extended and fixedly located at the lower front part of the truck bed 12. This is to further monitor obstacles such as steep slopes and tree stumps or potholes in front in real time through the at least two sets of reflective photoelectric sensors 22 based on the principle of transmission and feedback signals. This achieves synchronous cooperation with the visual camera 21, which significantly improves the accuracy of automatic identification of the traveling terrain and enhances the stability of the architecture.

[0034] Specifically, please refer to Figure 3 The shock-absorbing base structure 3 includes an electrically controlled accommodating compartment 31 and a shock-absorbing cover plate 32. The electrically controlled accommodating compartment 31 is extended and fixedly connected to the lower front side of the truck bed 12, effectively forming an accommodating and assembling space for the electrically controlled structure. The shock-absorbing cover plate 32 is connected to the truck bed 12 via a transition assembly, and covers the top opening of the electrically controlled accommodating compartment 31. A shock-absorbing layer is provided between the shock-absorbing cover plate 32 and the outer edge of the top opening of the electrically controlled accommodating compartment 31. A cushion layer is provided, and a tension spring is provided between the shock-absorbing cover plate 32 and the electrically controlled accommodating chamber 31; at least two sets of the reflective photoelectric sensors 22 are respectively fixedly installed on the shock-absorbing cover plate 32; in this way, the shock-absorbing cushion layer can effectively reduce the transmitted vibration energy of the shock-absorbing cover plate 32 from the ground and the electrically controlled accommodating chamber 31, and the tension spring can effectively reduce the vibration amplitude of the shock-absorbing cover plate 32 based on the electrically controlled accommodating chamber 31, thereby significantly improving the structural functional stability of the shock-absorbing cover plate 32 and the reflective photoelectric sensors 22 when traveling on different terrains.

[0035] Please refer to Figure 1 and Figure 4The roller adjustment structure 4 is provided in two sets. Each set of the roller adjustment structure 4 includes a first hydraulic telescopic arm 41, a second hydraulic telescopic arm 42, and an electrically controlled shaft seat and braking assembly 43. The base parts of the two sets of first hydraulic telescopic arms 41 are respectively mounted on the upper front side of the truck bed 12, and the two sets of first hydraulic telescopic arms 41 are arranged parallel to each other. The base parts of the two sets of second hydraulic telescopic arms 42 are respectively mounted on the upper sides of the two sides of the truck bed 12, and the kinetic energy output ends of the two sets of second hydraulic telescopic arms 42 are respectively connected to the base parts of the two sets of first hydraulic telescopic arms 41. The electrically controlled shaft seats and braking components 43 are respectively and correspondingly mounted on the kinetic energy output ends of the two sets of first hydraulic telescopic arms 41. This is used to effectively fix the axis of the detection roller structure 5 through the two sets of electrically controlled shaft seats and braking components 43, and to effectively realize the speed regulation, rotation and braking control of the detection roller structure 5 using the electrically controlled shaft seats and braking components 43. In addition, the forward extension height and angle of the detection roller structure 5 can be flexibly adjusted based on different field terrains by cooperating with the first hydraulic telescopic arm 41 and the second hydraulic telescopic arm 42. This ensures that the detection roller structure 5 can always keep in contact with the ground, and on this basis, the extension amount fed back to the electrically controlled structure by the hydraulic telescopic arm is used to realize the roller pressing and detection of the terrain.

[0036] Please continue to refer to this. Figure 1 and Figure 4 The detection roller structure 5 includes a roller body 51, a pressure sensor 52, and a vibration sensor 53. The roller body 51 is driven and mounted between two sets of electrically controlled shaft seats and braking components 43. Several sets of pressure sensors 52 and vibration sensors 53 are alternately and sequentially embedded and fixed to the outer side wall of the roller body 51. This allows for real-time monitoring of the ground pressure value received by the roller body 51 by the pressure sensors 52 and immediate feedback to the electrical control structure. The electrical control structure then outputs commands to control the first hydraulic telescopic arm 41 and the second hydraulic... The telescopic arm 42 works in conjunction with the adjustment roller body 51 to adjust its forward extension height and angle, and simultaneously controls the electric control shaft seat and braking assembly 43 to adjust the real-time rotation speed of the roller body 51. This allows the roller body 51 to maintain a relatively stable ground contact pressure value and adaptive rotation speed within a preset threshold range. Thus, the hydraulic telescopic arm can use the extension amount based on different field terrain feedback to achieve roller pressure detection of terrain. At the same time, through several sets of vibration sensors 53, the terrain hardness value of the current location can be monitored in real time. Then, when the monitored terrain hardness value is lower than the preset threshold range, such as in mud or sand, visual recognition detour or obstacle crossing actions can be selected.

[0037] Please refer to Figure 1 and Figure 2 The assist and obstacle-crossing positioning structure 6 is provided in two sets, and each set of the assist and obstacle-crossing positioning structure 6 includes a bottom support rod 61, a third hydraulic telescopic arm 62, a top support rod 63, and a hydraulic motor 64. The top ends of the bottom support rod 61 are respectively connected to the base of the two sets of third hydraulic telescopic arms 62 via a transition assembly. The bottom ends of the top support rod 63 are respectively connected to the kinetic energy output ends of the two sets of third hydraulic telescopic arms 62 via a transition assembly. The top support rod 63 is also fixedly connected to the vehicle frame 11. The two sets of third hydraulic telescopic arms 62 are arranged parallel to each other, and the bottom support rod 61 and the top support rod 63 are also arranged parallel to each other. This allows the bottom support rod 61, the two sets of third hydraulic telescopic arms 62, and the top support rod 63 to jointly assemble a parallelogram support structure, while also utilizing the bottom support rod 61's... The hydraulic motor 64 serves as the assembly base for the assist and obstacle-crossing support structure 7. At least one set of hydraulic motors 64 is provided, with the base of each set fixedly mounted on the bottom support rod 61. The rotational kinetic energy output end of each set of hydraulic motors 64 is connected to the transfer shaft of the base of each set of third hydraulic telescopic arms 62 via a transmission assembly. This allows the hydraulic motors 64 to output rotational kinetic energy, effectively driving the third hydraulic telescopic arms 62 to rotate. This ensures that the top support rod 63 and the bottom support rod 61 remain parallel, supporting and lifting the vehicle frame 11. This allows the vehicle frame 11 to maintain its current tilt and perform small obstacle-crossing. Simultaneously, the two sets of third hydraulic telescopic arms 62 extend synchronously, further raising the height of the top support rod 63 and the vehicle frame 11, enabling them to maintain their current tilt and perform large obstacle-crossing.

[0038] Please refer to Figure 1 , Figure 2 and Figure 5The assist and obstacle-crossing support structure 7 is provided in several groups, and the several groups of the assist and obstacle-crossing support structure 7 are evenly distributed and assembled at the bottom positions of the two groups of support rods 61; specifically, the assist and obstacle-crossing support structure 7 includes a hydraulic lifting support rod 71, a steering turntable 72, and a support drive wheel 73; wherein, the base of the hydraulic lifting support rod 71 is fixedly connected to the bottom position of the support rod 61; the base of the steering turntable 72 is driven and fixedly connected to the linear kinetic energy output end of the hydraulic lifting support rod 71; the base of the support drive wheel 73 is driven and fixedly connected to the rotational kinetic energy output end of the steering turntable 72, and the support drive wheel 73... A pressure sensor is installed between the base of 73 and the rotational kinetic energy output end of the steering turntable 72. This sensor monitors the ground contact pressure of the bottom support drive wheel 73 in real time. The hydraulic lifting strut 71 outputs linear kinetic energy to keep the bottom support drive wheel 73 in contact with the ground. This allows it to adapt to the tilt angle of the frame 11 when manually raised. Furthermore, the bottom support drive wheel 73 can provide electric drive ground contact assist and obstacle crossing stability support. In addition, the steering turntable 72 can flexibly adjust the direction of the ground support assist of the bottom support drive wheel 73. This allows for visual recognition and detour based on specific terrain conditions when manually pushing the vehicle, thereby eliminating the need for obstacle crossing and improving operational flexibility.

[0039] It should be noted that the electronic control structure includes a mobile power supply and a control module connected by a circuit. The mobile power supply may be, but is not limited to, a lithium battery. The control module may be, but is not limited to, an AT80C51 microcontroller control board or an STM32 microcontroller. The control output terminal of the control module is connected to the input terminal of a relay via a circuit. The output terminal of the relay is connected by a circuit to the first hydraulic telescopic arm 41 and the second hydraulic telescopic arm 42 and the electronically controlled shaft seat and braking assembly 43 in the roller shaft adjustment structure 4, the third hydraulic telescopic arm 62 and the hydraulic motor 64 in the assist and obstacle crossing adjustment structure 6, and the hydraulic lifting support rod 71, the steering turntable 72 and the bottom support drive wheel 73 in the assist and obstacle crossing bottom support structure 7. The visual camera 21 and the reflective photoelectric sensor 22 in the terrain detection structure 2, and the roller body 51, the pressure sensor 52 and the vibration sensor 53 in the detection roller shaft structure 5 are also connected by a circuit to the control input terminal of the control module. This is to achieve automated operation control to complete the overall system architecture functions.

[0040] This invention also provides a method for automatically switching between assist and obstacle crossing control of the pushcart system based on the above-mentioned automatic switching control of assist and obstacle crossing based on field terrain, specifically including the following steps: By manually lifting the main structure 1 of the trolley, the wheel body 13 of the main structure 1 of the trolley is kept in contact with the ground and the detection roller shaft structure 5 in the initial position. At this time, the top support rod 63 in the assist and obstacle crossing adjustment structure 6 and the frame body 11 of the main structure 1 of the trolley are kept in a synchronous and corresponding tilting state. The hydraulic motor 64 in the power assist and obstacle crossing adjustment structure 6 is controlled by the electronic control structure to drive the third hydraulic telescopic arm 62 to rotate, so that the bottom support rod 61 moves down to a specific height; the hydraulic lifting support rod 71 in several sets of power assist and obstacle crossing bottom support structures 7 is controlled by the electronic control structure to adaptively extend and retract, so that the contact pressure sensors of the corresponding bottom support drive wheels 73 in several sets of power assist and obstacle crossing bottom support structures 7 all detect the ground contact pressure. At this time, several sets of bottom support drive wheels 73 are in the ground contact state, and then the several sets of bottom support drive wheels 73 are adaptively adjusted to always maintain the ground contact state during the movement; Please refer to Figure 5 When the trolley is moving on flat ground, the electronic control structure outputs commands to control several sets of bottom support drive wheels 73 to maintain a preset speed for rotation, thereby assisting the trolley's movement. Please refer to Figure 6 and Figure 7 When the trolley encounters a slope while moving on flat ground, the visual camera 21 and reflective photoelectric sensor 22 in the terrain detection structure 2 work together to identify the slope. Furthermore, the electronic control structure controls the first hydraulic telescopic arm 41 and the second hydraulic telescopic arm 42 to adjust the forward extension height and angle of the roller body 51 in the detection roller structure 5. Simultaneously, the electronic control shaft seat and braking assembly 43 adjust the real-time rotation speed of the roller body 51. This allows the roller body 51 to maintain a stable ground contact pressure value and adaptive rotation speed within a preset threshold range based on the pressure monitoring function of its pressure sensor 52. Then, the extension amount of the first hydraulic telescopic arm 41 and the second hydraulic telescopic arm 42 is fed back to the electronic control structure to obtain the real-time position of the roller body 51 corresponding to the slope, thereby completing the roller pressure detection of the terrain. Please refer to Figure 6 When the slope is low (slope 'a') and the height does not require obstacle crossing, the pushcart assist mode continues; please refer to [reference needed]. Figure 7 and Figure 8 When the slope is low slope a but the height requires obstacle crossing, the hydraulic motor 64 is controlled by the electronic control structure to output rotational kinetic energy to drive the third hydraulic telescopic arm 62 to rotate, so that the top support rod 63 and the bottom support rod 61 always remain parallel to complete the top support of the frame 11 to lift it forward, thereby keeping the frame 11 in the current tilt state to complete the low slope a obstacle crossing function, and after completing the low slope a obstacle crossing, the bottom support drive wheel 73 is driven back to the push vehicle travel assist state; Please refer to Figure 9 and Figure 10When the slope is high (b) and the obstacle needs to be crossed, the hydraulic motor 64 is controlled by the electronic control structure to output rotational kinetic energy to drive the third hydraulic telescopic arm 62 to rotate. At the same time, two sets of third hydraulic telescopic arms 62 are selected to extend synchronously, thereby further raising the height of the top support rod 63 and the frame body 11 in parallel, so that the top support rod 63 and the frame body 11 can maintain the current tilt state to complete the obstacle crossing function of high slope b. The hydraulic motor 64 is controlled by the electronic control structure to output rotational kinetic energy to drive the third hydraulic telescopic arm 62 to rotate again. At this time, the bottom support rod 61 is raised based on the position of the top support rod 63 until the bottom support drive wheel 73 reaches the height of high slope b to complete the synchronous obstacle crossing. After the bottom support drive wheel 73 completes the obstacle crossing, the bottom support drive wheel 73 is controlled to return to the push-cart travel assist state. Please refer to Figure 11 When the travel path detects a wide pit c, the first hydraulic telescopic arm 41 and the second hydraulic telescopic arm 42 in the roller adjustment structure 4 are controlled to extend gradually, so that the roller body 51 gradually moves to the opposite bank of the wide pit c. The two sets of third hydraulic telescopic arms 62 are controlled to rotate and extend synchronously until the bottom wheel body 13 of the frame body 11 is gradually supported and lifted forward to the opposite bank of the wide pit c. Then the first hydraulic telescopic arm 41 and the second hydraulic telescopic arm 42 are controlled to return to the initial position corresponding to the push vehicle travel assistance state. At the same time, after the vehicle continues to move to the standard terrain position, the drive base drive wheel body 73 is controlled to return to the push vehicle travel assistance state, thereby completing the obstacle crossing function of the wide pit c. In addition, based on the vision camera 21 and several sets of vibration sensors 53 of the roller body 51, the terrain and its hardness value at the current location are monitored in real time. When the monitored terrain hardness value is lower than the preset threshold range, such as in mud or sand, an obstacle crossing action is selected or the turning platform 72 in the obstacle crossing support structure 7 is used to adjust the direction of the travel assistance of the bottom support drive wheel 73. This is then combined with manual pushing of the cart to complete visual recognition and detour based on specific terrain conditions. Alternatively, when obstacles need to be crossed on low slope a, high slope b, and wide pit c, the vision camera 21 is used to perform visual recognition detour based on specific terrain conditions.

[0041] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A power-assistance and obstacle-crossing automatic switching control cart system based on outdoor terrain, characterized in that: include: The main structure of the cart; A terrain detection structure, fixedly mounted on the main structure of the cart, for identifying the terrain on which travel is taking place; A roller shaft positioning structure, which can be positioned and connected to the main structure of the cart, and the roller shaft positioning structure has a retractable end; A detection roller structure, a controllable rotary transmission assembly is arranged at the retractable end of the roller adjustment structure, and the detection roller structure is provided with a pressure sensor for rolling and detecting terrain; The power-assisting and obstacle-crossing adjustment structure is configured as a variable-form parallelogram structure, one side of the variable-form parallelogram structure is connected to the main structure of the cart by a transmission fixed connection, and the extension lengths of two adjacent sides of one side of the variable-form parallelogram structure are synchronously adjustable; The power-assisting and obstacle-crossing bottom support structure comprises a bottom support driving wheel body, wherein the base part of the bottom support driving wheel body can be telescopically driven and assembled on the opposite side of one side of the variable-form parallelogram structure.

2. The trolley system according to claim 1, characterized in that: The main structure of the cart includes a frame body and a bucket body arranged at an upper position of the frame body; The terrain detection structure includes a visual camera and a reflective photoelectric sensor; At least two groups of visual cameras are provided, and at least two groups of visual cameras are respectively fixedly mounted on the upper front part of the cart body, and when the cart main body structure is maintained in a moving posture, at least two groups of visual cameras have a predetermined downward tilt angle, so as to instantly obtain the terrain image of the current moving position and the front side of the direction through at least two groups of visual cameras; At least two groups of reflective photoelectric sensors are provided, and at least two groups of reflective photoelectric sensors are respectively installed at the front lower position of the cart body, and when the cart main body structure maintains a moving posture, at least two groups of reflective photoelectric sensors have a predetermined downward inclination angle, which is used to monitor the terrain in real time based on the principle of emission and feedback signals through at least two groups of reflective photoelectric sensors.

3. The trolley system according to claim 2, characterized in that: Also includes: A shock-absorbing base structure, comprising an electric control accommodating chamber and a shock-absorbing cover plate; The electric control storage compartment is extended and fixedly arranged at the lower front part of the vehicle body; The shock-absorbing cover plate is connected to the vehicle body by a transfer assembly, and the shock-absorbing cover plate is arranged to cover the top opening of the electric control storage compartment; A shock-absorbing cushion layer is arranged between the shock-absorbing cover plate and the outer edge of the top opening of the electric control accommodating chamber body, and a tension spring is arranged between the shock-absorbing cover plate and the electric control accommodating chamber body; At least two groups of the reflective photoelectric sensors are respectively fixedly mounted on the shock-absorbing cover plate.

4. The trolley system for power assistance and automatic switching control of obstacles based on outdoor terrain according to claim 2 is characterized in that: The roller shaft positioning structure is provided with two groups, and each group of the roller shaft positioning structure comprises a first hydraulic telescopic force arm, a second hydraulic telescopic force arm, an electric control shaft seat and a brake assembly; The base parts of the two sets of the first hydraulic telescopic force arms are respectively connected and assembled at the upper front part of the vehicle body, and the two sets of the first hydraulic telescopic force arms are arranged in parallel; The base parts of the two groups of the second hydraulic telescopic force arms are respectively and one-to-one connected and assembled at the upper positions on both sides of the vehicle body, and the kinetic energy output ends of the two groups of the second hydraulic telescopic force arms are respectively and one-to-one connected and assembled with the base parts of the two groups of the first hydraulic telescopic force arms; The two groups of the electrically controlled shaft seats and brake assemblies are respectively and one-to-one correspondingly equipped on the kinetic energy output ends of the two groups of the first hydraulic telescopic force arms, and are used to assemble the detection roller structure through the two groups of the electrically controlled shaft seats and brake assemblies, and utilize the electrically controlled shaft seats and brake assemblies to perform speed-regulating rotation and braking control on the detection roller structure, and also adjust the forward extension height and angle of the detection roller structure based on different field terrains through the cooperation of the first hydraulic telescopic force arm and the second hydraulic telescopic force arm.

5. The trolley system according to claim 4, characterized in that: The detection roller structure includes a roller body, a pressure sensor and a vibration sensor; The roller shaft main body transmission assembly is arranged between the two sets of the electric control shaft seats and the brake assembly; The pressure sensors and the vibration sensors are provided in several groups, and the pressure sensors and the vibration sensors are alternately embedded and fixed on the outer wall of the roller body in a surrounding manner, so as to monitor the ground pressure value of the roller body in real time through the pressure sensors, and monitor the terrain hardness value of the current position in real time through the vibration sensors.

6. The power-assistance and obstacle-overcoming automatic switching control cart system based on outdoor terrain according to claim 5 is characterized in that: The power-assisting and obstacle-crossing adjustment structures are provided in two groups, and the parallelogram structure formed by each group of the power-assisting and obstacle-crossing adjustment structures includes a bottom support rod, a third hydraulic telescopic force arm and a top support rod; The top positions of both ends of the bottom support rod are respectively corresponding to the base parts of the two sets of the third hydraulic telescopic force arms for transfer assembly and connection, and the bottom positions of both ends of the top support rod are respectively corresponding to the kinetic energy output ends of the two sets of the third hydraulic telescopic force arms for transfer assembly and connection, and the top support rod is fixedly connected and assembled with the frame body as one side of the parallelogram structure; The two groups of the third hydraulic telescopic force arms are arranged in parallel, and the bottom support rod and the top support rod are arranged in parallel, so that the bottom support rod, the two groups of the third hydraulic telescopic force arms and the top support rod are assembled together to form a parallelogram support structure; Each group of the power-assisting and obstacle-overcoming positioning structures also includes a hydraulic motor; At least one group of hydraulic motors is provided, and the base of at least one group of hydraulic motors is fixedly assembled on the bottom support rod, and the rotational kinetic energy output end of at least one group of hydraulic motors is transmission-assembled and connected to the adapter shaft of at least one group of the third hydraulic telescopic force arm base, so as to drive the third hydraulic telescopic force arm to rotate by outputting rotational kinetic energy of the hydraulic motor.

7. The trolley system according to claim 6, characterized in that: The power-assisting and obstacle-crossing bottom support structures are provided in a plurality of groups, and the plurality of groups of power-assisting and obstacle-crossing bottom support structures are evenly arranged and installed at the bottom positions of the two groups of bottom support rods; The power-assisting and obstacle-crossing bottom support structure also includes a hydraulic lifting support rod and a direction-adjusting turntable; The base of the hydraulic lifting support rod is fixedly connected to the bottom position of the bottom support rod; The base portion of the steering turntable and the linear kinetic energy output end portion of the hydraulic lifting support rod are transmission-fixedly connected, and the rotational kinetic energy output end portion of the steering turntable and the base portion of the bottom support driving wheel body are transmission-fixedly connected; a touch pressure sensor is provided between the base portion of the bottom support driving wheel body and the rotational kinetic energy output end portion of the steering turntable, for real-time monitoring of the ground contact pressure of the bottom support driving wheel body through the touch pressure sensor, and utilizing the hydraulic lifting support rod to output linear kinetic energy to keep the bottom support driving wheel body in contact with the ground at all times.

8. A method for controlling power assist and automatic switching of a cart system for controlling power assist and automatic switching of an obstacle course based on outdoor terrain according to claim 7, characterized in that: The steps include: The main structure of the trolley is lifted so that the wheel body of the main structure of the trolley and the detection roller structure in the initial position keep touching the ground. At this time, the top support rod in the power-assisting and obstacle-crossing adjustment structure and the frame body of the main structure of the trolley keep a synchronous corresponding tilt state; the hydraulic motor in the power-assisting and obstacle-crossing adjustment structure is controlled by the electric control structure to drive the third hydraulic telescopic force arm to rotate, so that the bottom support rod is shifted and dropped to a specific height; Continue to control the hydraulic lifting support rods in the several groups of power-assisting and obstacle-crossing bottom support structures to adaptively extend and retract through the electric control structure, so that the contact pressure sensors of the corresponding bottom support driving wheel bodies in the several groups of power-assisting and obstacle-crossing bottom support structures all detect the ground contact pressure, and at this time, the several groups of bottom support driving wheel bodies are all in the ground contact state, and then the several groups of bottom support driving wheel bodies are adaptively adjusted to always keep in the ground contact state during the travel process; When the cart is moving on flat ground, the electric control structure outputs instructions to control several groups of bottom support drive wheels to rotate at a preset speed, thereby assisting the cart to move forward; When the cart on flat ground encounters a slope, the visual camera and the reflective photoelectric sensor in the terrain detection structure cooperate to identify the slope, and further control the first hydraulic telescopic arm and the second hydraulic telescopic arm through the electric control structure to cooperate to adjust the forward extension height and angle of the roller body in the detection roller structure, and synchronously control the electric control shaft seat and the brake assembly to adjust the real-time rotation speed of the roller body, so that the roller body can always maintain a stable ground contact pressure value and adaptive rotation speed within the preset threshold range based on the pressure monitoring function of its pressure sensor, and then the real-time position of the roller body corresponding to the slope is obtained by the expansion and contraction amount of the first hydraulic telescopic arm and the second hydraulic telescopic arm respectively fed back to the electric control structure, and the terrain detection by roller pressure is completed; When the slope is low and the height does not require overcoming obstacles, the cart continues to be in the power-assisted state; when the slope is low but the height requires overcoming obstacles, the electric control structure controls the hydraulic motor to output rotational kinetic energy to drive the third hydraulic telescopic arm to shift, so that the top support rod and the bottom support rod are always kept parallel to each other, and the top support of the frame body is lifted forward, so that the frame body maintains the current tilt state to complete the low-slope obstacle crossing function, and after completing the low-slope obstacle crossing, the bottom support driving wheel body is driven back to the cart power-assisted state; When the slope is high and its height needs to be used to overcome obstacles, the hydraulic motor is controlled by the electronic control structure to output rotational kinetic energy to drive the third hydraulic telescopic arm to rotate, and at the same time, two sets of third hydraulic telescopic arms are selected to extend synchronously, thereby further raising the height of the top support rod and the frame body in parallel, so that the top support rod and the frame body maintain the current inclined state to complete the high slope obstacle crossing function; the hydraulic motor is controlled by the electronic control structure to output rotational kinetic energy to drive the third hydraulic telescopic arm to rotate, and the bottom support rod is lifted based on the position of the top support rod until the bottom support driving wheel body reaches the high slope height to complete the synchronous obstacle crossing, and after the bottom support driving wheel body completes the obstacle crossing, the bottom support driving wheel body is controlled to drive the bottom support driving wheel body back to the cart travel assist state.

9. The power assistance and obstacle overcoming automatic switching control method according to claim 8, characterized in that: It also includes the following steps: when a wide pit is detected in the travel path, the first hydraulic telescopic force arm and the second hydraulic telescopic force arm in the roller shaft adjustment structure are controlled to gradually extend respectively, so that the roller shaft body gradually shifts to the other side of the wide pit, and the two sets of third hydraulic telescopic force arms are continued to be controlled to synchronously rotate and extend until the wheel body at the bottom of the frame body is gradually lifted forward to the other side of the wide pit, and the first hydraulic telescopic force arm and the second hydraulic telescopic force arm are controlled to return to the initial positions corresponding to the cart travel assist state respectively, and at the same time, after the cart continues to shift to the standard terrain position, the bottom support driving wheel body is controlled to return to the cart travel assist state to complete the wide pit obstacle crossing function.

10. The power assistance and obstacle overcoming automatic switching control method according to claim 9, characterized in that: It also includes the following steps: based on the visual camera and several groups of vibration sensors of the roller body, real-time monitoring of the terrain and its hardness value at the current location, and when the monitored terrain hardness value is lower than the preset threshold range, selecting obstacle crossing action or using the steering turntable in the power-assisted and obstacle-crossing bottom support structure to adjust the travel power-assisted direction of the bottom support driving wheel body, and then completing visual recognition bypass control based on specific terrain conditions.

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