Field terrain-based boost and obstacle automatic switching control cart system and method

Abstract

The application discloses a kind of based on field terrain's power-assisted and obstacle-crossing automatic switching control cart system and method, comprising: cart main body structure;Terrain detection structure, fixedly connected to cart main body structure;Roller shaft positioner structure, positionable adapter is in cart main body structure, roller shaft positioner structure has telescopic end;Detection roller shaft structure, controllable rotation transmission is arranged in telescopic end, and detection roller shaft structure is equipped with pressure sensor;Power-assisted and obstacle-crossing positioner structure, it is arranged as parallelogram architecture, one side portion is connected with cart main body structure transmission, and the length of adjacent two side portions of one side portion is synchronously adjustable;Power-assisted and obstacle-crossing bottom support structure, including bottom support drive wheel body, bottom support drive wheel body telescopic transmission is arranged in the opposite side portion of parallelogram architecture one side portion.Solve the lack of intelligence in the prior art of field cart architecture, poor obstacle-crossing ability and the technical problems of insufficient adaptability, which lead to the overall operation efficiency and the low function practicality of the prior art of field cart architecture.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent cart control, in particular to a power-assisted and obstacle-crossing automatic switching control cart system and method based on field terrain. BACKGROUND

[0002] At present, in field operations, exploration, military operations and some special engineering scenarios, it is often necessary to use a cart to transport materials and equipment. The traditional cart is usually designed to be more suitable for relatively flat road surfaces. When facing complex terrains such as field potholes, mud, sand, steep slopes, etc., there are many limitations, especially the travel resistance of the cart is greatly increased, and the operator often needs to exert great effort to push the cart forward, which is time-consuming and laborious, and reduces the operation efficiency. At the same time, when encountering obstacles such as stones, tree stumps, etc., the traditional cart is difficult to easily cross, and often needs to be manually lifted by the operator or spend a lot of time finding a detour path, which brings great inconvenience to field operations, and the overall passability and practicality are significantly reduced.

[0003] In the prior art, although some cart architectures have power-assisted or obstacle-crossing functions to some extent, when the power-assisted and obstacle-crossing functions need to be switched for different field terrains, they usually can only rely on manual operation, and it is difficult to automatically and accurately determine the terrain and adaptively switch the functions according to the terrain. In actual operation, the operator needs to adjust the state of the cart complicatedly, which not only requires high experience and skill of the operator, but also easily leads to damage of the cart or damage of the materials due to inaccurate judgment or untimely operation. In addition, with the increasing application demand of the cart in a wider field, different terrain conditions put higher requirements on the obstacle-crossing performance of the cart. However, the current cart architecture often cannot well adapt to various complex terrain conditions, and the overall obstacle-crossing function is still limited, thereby affecting the operation efficiency.

[0004] In summary, the existing field cart architecture at least has the following shortcomings and deficiencies:

[0005] 1) Lack of intelligence: excessive reliance on manual operation, unable to automatically sense terrain changes and make corresponding adjustments, the operator needs to constantly pay attention to the terrain and manually adjust the force and direction of the cart, increasing the complexity of the operation, and easily leading to damage of the cart or damage of the materials due to inaccurate judgment or untimely operation;

[0006] 2) Poor obstacle-crossing ability: the handling method for obstacles is single, usually only relying on manual lifting or detouring, resulting in low efficiency in the field environment and potential safety hazards to the operator;

[0007] 3) Lack of adaptability: different field terrains have different requirements for the trolley, while the current trolley structure can only adapt to a few specific terrains, which cannot meet the increasingly diversified field operation requirements. SUMMARY

[0008] To this end, the present application provides a field terrain-based power-assisted and obstacle-crossing automatic switching control trolley system and method to solve the technical problems of low overall operation efficiency and functional practicability caused by the lack of intelligence, poor obstacle-crossing ability and lack of adaptability of the existing field trolley structure.

[0009] In order to achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0010] A field terrain-based power-assisted and obstacle-crossing automatic switching control trolley system, comprising:

[0011] A trolley main structure;

[0012] A terrain detection structure fixedly connected and assembled on the trolley main structure for identifying the terrain;

[0013] A roller shaft positioning structure fixedly connected and assembled on the trolley main structure in a positionable manner, and the roller shaft positioning structure has a telescopic end;

[0014] A detection roller shaft structure controllably rotatably connected and assembled on the telescopic end of the roller shaft positioning structure, and the detection roller shaft structure is provided with a pressure sensor for rolling detection of the terrain;

[0015] A power-assisted and obstacle-crossing positioning structure arranged in a variable parallelogram structure, one side of the variable parallelogram structure is fixedly connected and arranged in transmission with the trolley main structure, and the extension lengths of the two adjacent sides of the one side of the variable parallelogram structure are synchronously adjustable;

[0016] A power-assisted and obstacle-crossing supporting structure, comprising a supporting drive wheel body, and the base of the supporting drive wheel body is telescopically connected and assembled on the opposite side of the one side of the variable parallelogram structure.

[0017] On the basis of the above technical solutions, the present application is further described as follows:

[0018] As a further scheme of the present application,

[0019] The trolley main structure comprises a frame body and a hopper body arranged at an upper position of the frame body;

[0020] The terrain detection structure comprises a visual camera and a reflective photoelectric sensor;

[0021] The visual camera is provided with at least two groups, and the at least two groups of visual cameras are respectively fixedly connected and assembled on the front upper position of the cart body, and when the cart body structure is kept in the running posture, the at least two groups of visual cameras all have a predetermined downward inclination angle, so as to obtain the terrain image of the front side of the current running position and direction in real time through the at least two groups of visual cameras.

[0022] The reflective photoelectric sensor is provided with at least two groups, and the at least two groups of reflective photoelectric sensors are respectively assembled on the front lower position of the cart body, and when the cart body structure is kept in the running posture, the at least two groups of reflective photoelectric sensors all have a predetermined downward inclination angle, so as to monitor the terrain in real time through the at least two groups of reflective photoelectric sensors based on the emission and feedback signal principle.

[0023] As a further scheme of the present application, further comprising:

[0024] The shock-absorbing base structure comprises an electric control containing warehouse body and a shock-absorbing cover plate.

[0025] The electric control containing warehouse body is fixedly connected and extended on the front lower position of the cart body.

[0026] The shock-absorbing cover plate is connected and assembled between the cart body, and the shock-absorbing cover plate is assembled on the top opening position of the electric control containing warehouse body.

[0027] The shock-absorbing cover plate and the top opening outer edge of the electric control containing warehouse body are provided with a shock-absorbing pad, and the shock-absorbing cover plate and the electric control containing warehouse body are provided with a tension spring.

[0028] The at least two groups of reflective photoelectric sensors are respectively fixedly connected on the shock-absorbing cover plate.

[0029] As a further scheme of the present application,

[0030] The roller shaft adjusting structure is provided with two groups, and each group of the roller shaft adjusting structure comprises a first hydraulic telescopic force arm, a second hydraulic telescopic force arm and an electric control shaft seat and brake assembly.

[0031] The base parts of the two groups of first hydraulic telescopic force arms are respectively assembled on the front upper position of the cart body, and the two groups of first hydraulic telescopic force arms are arranged in parallel.

[0032] The base parts of the two groups of second hydraulic telescopic force arms are respectively and correspondingly assembled on the two side upper positions of the cart body, and the kinetic energy output ends of the two groups of second hydraulic telescopic force arms and the base parts of the two groups of first hydraulic telescopic force arms are respectively and correspondingly assembled and connected.

[0033] Two groups of the electric control shaft seat and brake assembly are respectively and one-to-one corresponding transmission assembly arranged at the kinetic energy output end of the two groups of the first hydraulic telescopic force arm, used for transmission assembly of the detection roller shaft structure through the two groups of the electric control shaft seat and brake assembly, and the detection roller shaft structure is rotated and controlled by the electric control shaft seat and brake assembly, and the detection roller shaft structure is adjusted by the first hydraulic telescopic force arm and the second hydraulic telescopic force arm based on the different field terrain.

[0034] As a further scheme of the present application,

[0035] The detection roller shaft structure comprises a roller shaft body, a pressure sensor and a vibration sensor;

[0036] The roller shaft body is transmission assembly arranged between the two groups of the electric control shaft seat and brake assembly;

[0037] The pressure sensor and the vibration sensor are provided with a plurality of groups, and a plurality of groups of the pressure sensor and a plurality of groups of the vibration sensor are respectively and alternately embedded and fixed on the outer side wall of the roller shaft body, used for monitoring the ground pressure value of the roller shaft body in real time through the pressure sensor, and monitoring the topographic hardness value of the current position in real time through the vibration sensor.

[0038] As a further scheme of the present application,

[0039] The booster and obstacle adjusting structure is provided with two groups, and each group of the booster and obstacle adjusting structure forms a parallelogram structure comprising a bottom support rod, a third hydraulic telescopic force arm and a top support rod;

[0040] The top of the two ends of the bottom support rod is respectively and one-to-one corresponding and connected with the adapter assembly between the base of the two groups of the third hydraulic telescopic force arm, the bottom of the two ends of the top support rod is respectively and one-to-one corresponding and connected with the adapter assembly between the kinetic energy output end of the two groups of the third hydraulic telescopic force arm, and the top support rod is fixedly connected and assembled between the car body and the side of the parallelogram structure as the parallelogram structure;

[0041] The two groups of the third hydraulic telescopic force arm are arranged in parallel, and the bottom support rod and the top support rod are arranged in parallel, used for assembling the parallelogram support structure by the bottom support rod, the two groups of the third hydraulic telescopic force arm and the top support rod;

[0042] Each group of the booster and obstacle adjusting structure further comprises a hydraulic motor;

[0043] The hydraulic motor is provided with at least one set of base part of the hydraulic motor fixedly connected and assembled on the bottom support rod, and the rotary kinetic energy output end of the at least one set of hydraulic motor is connected and assembled with the transmission shaft of the base part of the third hydraulic telescopic force arm, so as to drive the third hydraulic telescopic force arm to rotate by the rotary kinetic energy output by the hydraulic motor.

[0044] As a further scheme of the present application,

[0045] The assist and obstacle surmounting bottom support structure is provided with a plurality of sets of assist and obstacle surmounting bottom support structures which are uniformly assembled at the bottom positions of the two sets of bottom support rods.

[0046] The assist and obstacle surmounting bottom support structure further comprises a hydraulic lifting support rod and a direction adjusting turntable.

[0047] The base part of the hydraulic lifting support rod is fixedly connected and assembled with the bottom position of the bottom support rod.

[0048] The base part of the direction adjusting turntable is transmission fixedly connected and assembled with the linear kinetic energy output end of the hydraulic lifting support rod, and the rotary kinetic energy output end of the direction adjusting turntable is transmission fixedly connected and assembled with the base part of the bottom support driving wheel body.

[0049] The base part of the bottom support driving wheel body is provided with a touch pressure sensor with the rotary kinetic energy output end of the direction adjusting turntable, so as to monitor the ground touch pressure of the bottom support driving wheel body in real time by the touch pressure sensor, and the linear kinetic energy output by the hydraulic lifting support rod is used to keep the bottom support driving wheel body always touching the ground.

[0050] An assist and obstacle surmounting automatic switching control method based on the assist and obstacle surmounting automatic switching control trolley system based on the field terrain, comprising the following steps:

[0051] Lifting the trolley main body structure so that the wheel body of the trolley main body structure keeps touching the detection roller shaft structure in the initial position, and the top support rod in the assist and obstacle adjusting structure keeps synchronous corresponding inclined state with the frame body of the trolley main body structure; driving the third hydraulic telescopic force arm in the assist and obstacle adjusting structure to move by the hydraulic motor in the electric control structure, so that the bottom support rod is moved down to a specific height;

[0052] Continuously driving the hydraulic lifting support rod in the plurality of sets of assist and obstacle surmounting bottom support structures to adaptively perform telescopic action by the electric control structure, so that the touch pressure sensors of the corresponding bottom support driving wheel bodies in the plurality of sets of assist and obstacle surmounting bottom support structures all monitor the ground touch pressure, and at this time, the plurality of sets of bottom support driving wheel bodies are all in the ground touch state, and then adaptively adjust the plurality of sets of bottom support driving wheel bodies to keep the ground touch state during the travel process;

[0053] When the cart is running on flat ground, the control structure outputs instructions to control several groups of bottom support drive wheels to rotate at a preset speed, thereby completing the cart running assistance;

[0054] When the cart is running on flat ground and 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 force arm and the second hydraulic telescopic force arm to adjust the forward extension height and angle of the roller shaft body in the detection roller shaft structure through the control structure, and synchronously control the electric control shaft seat and the brake assembly to adjust the real-time rotating speed of the roller shaft body, so that the roller shaft body always maintains a stable ground pressure value and an adaptive rotating speed within a preset threshold range based on the pressure monitoring function of its pressure sensor, and then obtains the real-time position of the roller shaft body corresponding to the slope through the extension amount of the first hydraulic telescopic force arm and the second hydraulic telescopic force arm fed back to the control structure, and completes the roller pressure detection terrain;

[0055] When the slope is a low slope and its height does not need to be overcome, the cart running assistance state is continued to be executed; when the slope is a low slope but its height needs to be overcome, the third hydraulic telescopic force arm is driven to rotate by the control structure controlling the hydraulic motor to output rotary kinetic energy, so that the top support rod and the bottom support rod always maintain a parallel state for lifting the top support of the frame body forward, thereby maintaining the current inclined state of the frame body to complete the low slope obstacle climbing function, and after completing the low slope obstacle climbing, the bottom support drive wheel is driven back to the cart running assistance state;

[0056] When the slope is a high slope and its height needs to be overcome, the third hydraulic telescopic force arm is driven to rotate by the control structure controlling the hydraulic motor to output rotary kinetic energy, and at the same time, two groups of third hydraulic telescopic force arms are selected to be synchronously stretched, thereby further parallelly lifting the height of the top support rod and the frame body, so that the top support rod and the frame body maintain the current inclined state to complete the high slope obstacle climbing function; the third hydraulic telescopic force arm is again driven to rotate by the control structure controlling the hydraulic motor to output rotary kinetic energy, at this time, the bottom support rod is lifted based on the position of the top support rod until the bottom support drive wheel reaches the high slope height to complete synchronous obstacle climbing, and after the bottom support drive wheel completes the obstacle climbing, the bottom support drive wheel is controlled to return to the cart running assistance state.

[0057] As a further scheme of the present application, the following steps are further included:

[0058] When the travel path detects a wide pit, the first and second hydraulic telescopic force arms in the roller shaft positioning structure are controlled to gradually extend, so that the roller shaft body is gradually displaced to the opposite bank of the wide pit, and the two groups of third hydraulic telescopic force arms are controlled to be synchronously displaced and extended until the wheels at the bottom of the frame body are gradually supported and lifted forward to the opposite bank of the wide pit, the first and second hydraulic telescopic force arms are controlled to return to the initial positions corresponding to the initial state of the cart travel assistance, and the driving support driving wheel body is controlled to return to the initial state of the cart travel assistance after the cart is displaced to the standard terrain position, thereby completing the wide pit obstacle crossing function.

[0059] As a further scheme of the present application, the following steps are further included:

[0060] The visual camera and the groups of vibration sensors of the roller shaft body monitor the topography and the hardness value of the current position in real time, and when the monitored topography hardness value is lower than the preset threshold range, the obstacle crossing action is selected or the travel assistance direction of the support driving wheel body is adjusted by the steering turntable in the assistance and obstacle crossing support structure, and the visual recognition detour control is completed based on the specific terrain condition

[0061] The present application has the following advantages:

[0062] The system and method can effectively serve as the overall system architecture assembly basis of the cart body structure, and can effectively realize the field terrain self-adaptive detection function by cooperating the roller shaft positioning structure with the detection roller shaft structure, thereby further significantly improving the automatic discrimination accuracy of the travel terrain in cooperation with the terrain detection structure, effectively ensuring the stability of the automatic operation control, and further assisting the cart body structure to form the assistance function by cooperating the assistance and obstacle positioning structure with the assistance and obstacle support structure, and further cooperating the roller shaft positioning structure and the detection roller shaft structure to form the obstacle crossing function architecture suitable for various obstacle terrains, thereby significantly improving the overall operation efficiency and functional practicability of the system. BRIEF DESCRIPTION OF DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. The structures, proportions, sizes, etc. shown in the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read. Any modification of the structure, change of the proportion relationship or adjustment of the size, which does not affect the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0064] Figure 1 The overall axis measurement structure schematic diagram corresponding to one side direction of the assistance and obstacle automatic switching control cart system based on field terrain provided by the embodiments of the present application.

[0065] Figure 2 The assembly structure schematic view of the assistance and obstacle crossing positioning structure and the assistance and obstacle crossing bottom support structure of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application.

[0066] Figure 3 The axial structure schematic view corresponding to the other side direction of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application.

[0067] Figure 4 The side view structure schematic view of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application.

[0068] Figure 5 The side view structure schematic view of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application in the assistance state.

[0069] Figure 6 The side view structure schematic view of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application in the low slope crossing state.

[0070] Figure 7 The side view structure schematic view of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application in the low slope crossing state.

[0071] Figure 8 The side view structure schematic view of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application in the low slope crossing state.

[0072] Figure 9 The side view structure schematic view of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application in the high slope crossing state.

[0073] Figure 10 The side view structure schematic view of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application in the high slope crossing state.

[0074] Figure 11 The side view structure schematic view of the assistance and obstacle crossing automatic switching control trolley system based on field terrain provided by the embodiment of the present application in the wide pit crossing state.

[0075] In the drawings, the component list represented by each sign is as follows:

[0076] Trolley main body structure 1: frame body 11, hopper body 12, wheel body 13;

[0077] Terrain detection structure 2: visual camera 21, reflective photoelectric sensor 22;

[0078] Shock absorbing base structure 3: electric control container 31, shock absorbing cover plate 32;

[0079] Roller adjustment structure 4: first hydraulic telescopic force arm 41, second hydraulic telescopic force arm 42, electric control shaft seat and brake assembly 43;

[0080] Detection roller structure 5: roller main body 51, pressure sensor 52, vibration sensor 53;

[0081] Power assisting and obstacle surmounting adjustment structure 6: bottom support rod 61, third hydraulic telescopic force arm 62, top support rod 63, hydraulic motor 64;

[0082] Power assisting and obstacle surmounting bottom support structure 7: hydraulic lifting support rod 71, direction adjusting turntable 72, bottom support driving wheel body 73;

[0083] Low slope a; high slope b; wide pit c. DETAILED DESCRIPTION

[0084] The following will illustrate the embodiments of the present application by specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure of the present specification. Obviously, the described embodiments are part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0085] The terms such as "upper", "lower", "left", "right", "middle" and the like cited in the present specification are only for the convenience of clear description, and are not used to limit the scope of the present application. The change or adjustment of the relative relationship without substantial change of the technical content is also regarded as the scope of the present application.

[0086] As Figures 1 to 11As shown, the embodiment of the present application provides a kind of based on field terrain's power-assisted and obstacle-crossing automatic switching control cart system, including cart main body structure 1, terrain detection structure 2, shock-absorbing base structure 3, roller shaft position adjusting structure 4, detection roller shaft structure 5, power-assisted and obstacle-crossing position adjusting structure 6 and power-assisted and obstacle-crossing bottom support structure 7, to effectively serve as the framework assembly basis of overall system by cart main body structure 1, while it can be cooperated with detection roller shaft structure 5 by roller shaft position adjusting structure 4 effectively realize field terrain self-adaptive detection function, so it can be further significantly improved for the automated discrimination accuracy of the terrain of terrain detection structure 2 cooperation, in turn effectively guarantee the stability of automated operation control, in addition, power-assisted and obstacle-crossing position adjusting structure 6 and power-assisted and obstacle-crossing bottom support structure 7 can be further cooperated with roller shaft position adjusting structure 4 and detection roller shaft structure 5 to effectively assist cart main body structure 1 to form power-assisted function, and can be further cooperated with roller shaft position adjusting structure 4 and detection roller shaft structure 5 to form the obstacle-crossing function framework adapted to various obstacle terrains, improve overall operation efficiency and practicability.Specific settings are as follows:

[0087] Please refer to Figure 1 , the cart main body structure 1 includes frame body 11, hopper body 12 and wheel body 13;Wherein, the hopper body 12 is fixedly assembled in the upper position of the frame body 11, the wheel body 13 is based on hub adapter assembly and is arranged in the lower position of the frame body 11, to form the established cart function structure, in turn through cart function structure effectively as the framework assembly basis of overall system.

[0088] Please refer to Figure 1 And Figure 5 , the terrain detection structure 2 includes visual camera 21 and reflective photoelectric sensor 22;Wherein, the visual camera 21 is provided with at least two groups, at least two groups of visual camera 21 are respectively fixedly assembled in the front upper position of the hopper body 12, and when the cart main body structure 1 keeps the posture of advancing, at least two groups of visual camera 21 all have predetermined downward inclination angle, to obtain the terrain image of the front side of current advancing position and direction by at least two groups of visual camera 21, and further analyze the terrain change according to terrain image based on preset program algorithm.

[0089] The reflective photoelectric sensor 22 is provided with at least two groups, and the at least two groups of reflective photoelectric sensors 22 are respectively fixedly connected and assembled on the damping base structure 3, and when the trolley main body structure 1 is kept in a running attitude, the at least two groups of reflective photoelectric sensors 22 all have a predetermined downward inclination angle, and the damping base structure 3 is fixedly connected and arranged at the front lower position of the hopper body 12, so as to further monitor the front obstacles such as steep slope tree stumps and potholes based on the emission and feedback signal principle, thereby realizing synchronous cooperation with the visual camera 21, significantly improving the automatic identification accuracy of the running terrain, and improving the structural function stability.

[0090] Specifically, please refer to Figure 3 The damping base structure 3 includes an electric control containing bin 31 and a damping cover plate 32; wherein the electric control containing bin 31 is fixedly connected and arranged at the front lower position of the hopper body 12, so as to effectively form a containing assembly space of the electric control structure by the electric control containing bin 31; the damping cover plate 32 is connected and arranged between the hopper body 12 in a switching assembly, and the damping cover plate 32 is arranged on the top opening position of the electric control containing bin 31, a damping pad layer is arranged between the damping cover plate 32 and the top opening outer edge of the electric control containing bin 31, and a tension spring piece is arranged between the damping cover plate 32 and the electric control containing bin 31; at least two groups of reflective photoelectric sensors 22 are respectively fixedly connected and arranged on the damping cover plate 32; so as to effectively reduce the conduction vibration energy of the damping cover plate 32 from the ground and the electric control containing bin 31 by the damping pad layer, and the vibration amplitude of the damping cover plate 32 based on the electric control containing bin 31 can be effectively reduced by the tension spring piece, thereby significantly improving the structural function stability of the damping cover plate 32 and the reflective photoelectric sensor 22 corresponding to different terrain running.

[0091] Please refer to Figure 1 and Figure 4The roller shaft adjusting structure 4 is provided with two groups, each group of the roller shaft adjusting structure 4 comprising a first hydraulic telescopic force arm 41, a second hydraulic telescopic force arm 42 and an electric control shaft seat and brake assembly 43; wherein the base parts of the two groups of first hydraulic telescopic force arms 41 are respectively connected and assembled on the upper front side of the car body 12, and the two groups of first hydraulic telescopic force arms 41 are arranged in parallel; the base parts of the two groups of second hydraulic telescopic force arms 42 are respectively and correspondingly connected and assembled on the upper sides of the two sides of the car body 12, and the kinetic energy output ends of the two groups of second hydraulic telescopic force arms 42 are respectively and correspondingly connected and assembled with the base parts of the two groups of first hydraulic telescopic force arms 41; the two groups of electric control shaft seat and brake assemblies 43 are respectively and correspondingly transmission assembled on the kinetic energy output ends of the two groups of first hydraulic telescopic force arms 41; so as to effectively detect the roller shaft structure 5 through the two groups of electric control shaft seat and brake assemblies 43, and the speed rotation and brake control of the roller shaft structure 5 can be realized by the electric control shaft seat and brake assembly 43, in addition, the first hydraulic telescopic force arm 41 and the second hydraulic telescopic force arm 42 can be flexibly adjusted to adjust the forward stretching height and angle of the roller shaft structure 5 based on different field terrains, so that the roller shaft structure 5 can always keep in touch with the ground, and on this basis, the stretching amount of the hydraulic telescopic force arm is fed back to the electric control structure to realize the roller pressing detection of the terrain.

[0092] Please continue to refer to Figure 1 and Figure 4 The roller shaft structure 5 comprises a roller shaft body 51, a pressure sensor 52 and a vibration sensor 53; wherein the roller shaft body 51 is transmission assembled between the two groups of electric control shaft seat and brake assemblies 43; the pressure sensor 52 and the vibration sensor 53 are provided with several groups, and several groups of the pressure sensor 52 and several groups of the vibration sensor 53 are alternately and circumferentially embedded and fixed on the outer side wall of the roller shaft body 51; so as to monitor the ground pressure value of the roller shaft body 51 in real time through several groups of pressure sensors 52 and feed back to the electric control structure, and the electric control structure outputs instructions to control the first hydraulic telescopic force arm 41 and the second hydraulic telescopic force arm 42 to adjust the forward stretching height and angle of the roller shaft body 51, and synchronously controls the electric control shaft seat and brake assembly 43 to adjust the real-time rotating speed of the roller shaft body 51, so that the roller shaft body 51 can keep a relatively stable ground pressure value and adaptive rotating speed running state within a preset threshold range, so as to realize the roller pressing detection of the terrain based on the feedback of the stretching amount of the hydraulic telescopic force arm, at the same time, the topography hardness value of the current position can be monitored in real time through several groups of vibration sensors 53, and when the monitored topography hardness value is lower than the preset threshold range, such as mud, sand and the like, the visual identification bypassing or obstacle crossing action can be selected to be performed.

[0093] Please refer toFigure 1 and Figure 2 The assisting and obstacle surmounting adjusting structure 6 is provided with two groups, and each group of the assisting and obstacle surmounting adjusting structure 6 comprises a bottom support rod 61, a third hydraulic telescopic force arm 62, a top support rod 63 and a hydraulic motor 64; wherein the top positions of the two ends of the bottom support rod 61 are respectively connected and arranged in transition assembly with the base parts of the two groups of third hydraulic telescopic force arms 62 one by one, the bottom positions of the two ends of the top support rod 63 are respectively connected and arranged in transition assembly with the kinetic energy output end parts of the two groups of third hydraulic telescopic force arms 62 one by one, and the top support rod 63 is connected and arranged in fixed assembly with the vehicle frame body 11; the two groups of third hydraulic telescopic force arms 62 are arranged in parallel, and the bottom support rod 61 and the top support rod 63 are arranged in parallel, so as to form a parallelogram support structure by the bottom support rod 61, the two groups of third hydraulic telescopic force arms 62 and the top support rod 63, and the bottom support rod 61 can be effectively used as the assembly basis of the assisting and obstacle surmounting bottom support structure 7; the hydraulic motor 64 is provided with at least one group, the base part of at least one group of the hydraulic motor 64 is fixedly assembled on the bottom support rod 61, and the rotary kinetic energy output end part of at least one group of the hydraulic motor 64 is connected and arranged in transmission assembly with the transition shaft between the base parts of at least one group of the third hydraulic telescopic force arms 62, so as to effectively drive the third hydraulic telescopic force arm 62 to rotate by the output rotary kinetic energy of the hydraulic motor 64, so that the top support rod 63 can always keep parallel with the bottom support rod 61 to complete the top support lifting of the vehicle frame body 11, so as to realize the small obstacle surmounting function of the vehicle frame body 11 in the current inclined state, and the two groups of third hydraulic telescopic force arms 62 can be synchronously stretched, so as to further parallelly lift the height of the top support rod 63 and the vehicle frame body 11, so that the top support rod 63 and the vehicle frame body 11 can keep the current inclined state to complete the large obstacle surmounting function.

[0094] Please refer to Figure 1 , Figure 2 and Figure 5The assisting and obstacle-surmounting supporting structure 7 is provided with a plurality of groups, and the plurality of groups of the assisting and obstacle-surmounting supporting structure 7 are uniformly arranged at the bottom positions of the two groups of the supporting rods 61; specifically, the assisting and obstacle-surmounting supporting structure 7 comprises a hydraulic lifting supporting rod 71, a direction-adjusting turntable 72 and a supporting driving wheel body 73; wherein the base part of the hydraulic lifting supporting rod 71 is fixedly connected and arranged with the bottom position of the supporting rod 61; the base part of the direction-adjusting turntable 72 is transmissionally fixedly connected and arranged with the linear kinetic energy output end part of the hydraulic lifting supporting rod 71; the base part of the supporting driving wheel body 73 is transmissionally fixedly connected and arranged with the rotary kinetic energy output end part of the direction-adjusting turntable 72, and a touch pressure sensor is arranged between the base part of the supporting driving wheel body 73 and the rotary kinetic energy output end part of the direction-adjusting turntable 72; so as to realize real-time monitoring of the ground touch pressure of the supporting driving wheel body 73 through the touch pressure sensor, and the hydraulic lifting supporting rod 71 can output linear kinetic energy to make the supporting driving wheel body 73 always touch the ground, so that the inclination angle of the manually lifted frame body 11 can be self-adapted, and the electrically driven ground touch traveling assisting and obstacle-surmounting ground touch stable support can be further completed by the supporting driving wheel body 73, in addition, the traveling assisting direction of the supporting driving wheel body 73 can be flexibly adjusted by the direction-adjusting turntable 72, and then the visual recognition detouring can be completed based on the specific terrain condition by the manual pushing, so that the obstacle-surmounting is not needed, and the operation flexibility is improved.

[0095] It should be noted that the electric control structure comprises a mobile power supply and a control module connected by a circuit, the mobile power supply can adopt but is not limited to a lithium battery, and the control module can select but is not limited to a single-chip microcomputer control board with a model of AT80C51 and a microcontroller with a model of STM32; the control output end part of the control module is connected with the input end part of a relay through a circuit, and the output end part of the relay is respectively connected with the first hydraulic telescopic arm 41 and the second hydraulic telescopic arm 42 in the roller adjusting structure 4, the electric control shaft seat and brake assembly 43, the third hydraulic telescopic arm 62 and the hydraulic motor 64 in the assisting and obstacle-surmounting adjusting structure 6, and the hydraulic lifting supporting rod 71, the direction-adjusting turntable 72 and the supporting driving wheel body 73 in the assisting and obstacle-surmounting supporting structure 7 through a circuit; the visual camera 21 and the reflective photoelectric sensor 22 in the terrain detection structure 2 and the roller main body 51, the pressure sensor 52 and the vibration sensor 53 in the detection roller structure 5 are further connected with the control input end part of the control module through a circuit; so as to realize the automatic operation control of the overall system architecture function.

[0096] The embodiment of the present application also provides an assisting and obstacle-surmounting automatic switching control method of the assisting and obstacle-surmounting automatic switching control trolley system based on field terrain, specifically comprising the following steps:

[0097] By artificially lifting the stroller main structure 1, the wheels 13 of the stroller main structure 1 remain in contact with the ground when the detection roller shaft structure 5 is in the initial position, and the top support rod 63 in the boost and obstacle adjustment structure 6 remains in a synchronous corresponding inclined state with the frame body 11 of the stroller main structure 1;

[0098] By controlling the hydraulic motor 64 in the boost and obstacle adjustment structure 6 through the electric control structure, the third hydraulic telescopic force arm 62 is driven to rotate, so that the bottom support rod 61 is lowered to a certain height; continue to control the hydraulic lifting support rod 71 in the boost and obstacle bottom support structure 7 through the electric control structure to adapt to the telescopic action, so that the corresponding bottom support driving wheel body 73 in the boost and obstacle bottom support structure 7 detects the ground pressure, at this time the bottom support driving wheel body 73 is in contact with the ground, and the bottom support driving wheel body 73 is always kept in contact with the ground during the running process;

[0099] Please refer to Figure 5 When the stroller is running on flat ground, the electric control structure outputs instructions to control the bottom support driving wheel body 73 to rotate at a preset speed, thereby completing the stroller running boost;

[0100] Please refer to Figure 6 and Figure 7 When the stroller is running on flat ground and encounters a slope, the vision camera 21 and the reflective photoelectric sensor 22 in the terrain detection structure 2 cooperate to identify the slope, and further adjust the front extension height and angle of the roller body 51 in the detection roller shaft structure 5 through the electric control structure control first hydraulic telescopic force arm 41 and second hydraulic telescopic force arm 42, and synchronously control the electric control shaft seat and brake assembly 43 to adjust the real-time speed of the roller body 51, so that the roller body 51 based on the pressure monitoring function of its pressure sensor 52 always keeps a stable ground pressure value and adaptive speed within a preset threshold range, and then the extension amount of the first hydraulic telescopic force arm 41 and the second hydraulic telescopic force arm 42 is fed back to the electric control structure to obtain the real-time position of the roller body 51 corresponding to the slope, and the roller pressure terrain detection is completed;

[0101] Please refer to Figure 6 When the slope is a low slope a and its height does not need to be climbed, the stroller running boost state is continued; please refer to Figure 7 and Figure 8 When the slope is a low slope a but its height needs to be climbed, the electric control structure controls the hydraulic motor 64 to output rotary kinetic energy to drive the third hydraulic telescopic force arm 62 to rotate, so that the top support rod 63 and the bottom support rod 61 always keep parallel state to complete the forward lifting of the frame body 11, and then the frame body 11 keeps the current inclined state to complete the low slope a obstacle function, and after completing the low slope a obstacle, the bottom support driving wheel body 73 is driven back to the stroller running boost state;

[0102] Please refer to Figure 9 and Figure 10 When the slope is high slope b and its height needs to be overcome, the third hydraulic telescopic force arm 62 is driven by the hydraulic motor 64 controlled by the electric control structure to output rotary kinetic energy to drive the third hydraulic telescopic force arm 62 to rotate, and at the same time, two groups of third hydraulic telescopic force arms 62 are selected to be synchronously stretched, thereby further parallelly lifting the height of the top support rod 63 and the frame body 11, so that the top support rod 63 and the frame body 11 can keep the current inclined state to complete the high slope b obstacle overcoming function; again, the third hydraulic telescopic force arm 62 is driven by the hydraulic motor 64 controlled by the electric control structure to output rotary kinetic energy to drive the third hydraulic telescopic force arm 62 to rotate, at this time, the bottom support rod 61 is lifted based on the position of the top support rod 63, until the bottom support driving wheel body 73 reaches the height of the high slope b to complete synchronous obstacle overcoming, after the bottom support driving wheel body 73 completes obstacle overcoming, the bottom support driving wheel body 73 is controlled to return to the state of pushing the cart to proceed with assistance;

[0103] Please refer to Figure 11 When the travel path monitors a wide pit c, the first hydraulic telescopic force arm 41 and the second hydraulic telescopic force arm 42 in the roller shaft positioning structure 4 are respectively controlled to gradually stretch, so that the roller shaft body 51 is gradually displaced to the opposite bank of the wide pit c, and two groups of third hydraulic telescopic force arms 62 are continuously controlled to synchronously rotate and stretch, until the bottom cart wheel body 13 of the frame body 11 is gradually lifted to the opposite bank of the wide pit c, then the first hydraulic telescopic force arm 41 and the second hydraulic telescopic force arm 42 are respectively controlled to return to the initial positions corresponding to the state of pushing the cart to proceed with assistance, and at the same time, after the cart is continuously displaced to a standard terrain position, the bottom support driving wheel body 73 is controlled to return to the state of pushing the cart to proceed with assistance, thereby completing the wide pit c obstacle overcoming function;

[0104] In addition, the topography and its hardness value of the current position are monitored in real time based on the visual camera 21 and a plurality of groups of vibration sensors 53 of the roller shaft body 51, and when the monitored topography hardness value is lower than the preset threshold range, such as a marsh, a sandy land, etc., an obstacle action is selected or the travel assistance orientation of the bottom support driving wheel body 73 is adjusted by the steering turntable 72 in the assistance and obstacle bottom support structure 7, thereby cooperating with the human pushing cart to complete visual identification detouring based on specific terrain conditions, or when low slope a, high slope b and wide pit c need to be overcome, the visual camera 21 performs visual identification detouring action based on specific terrain conditions.

[0105] Although the present application has been described in detail by the general description and specific embodiments above, some modifications or improvements can be made on the basis of the present application, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application, all belong to the scope of protection claimed by the present application.

Claims

1. A cart system with power assistance and automatic switching control based on outdoor terrain, characterized in that: include: Cart main structure; 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 trolley, and the roller shaft positioning structure has a retractable end; A detection roller structure, wherein a controllable rotary transmission assembly is provided at a retractable end portion of the roller adjustment structure, and the detection roller structure is provided with a pressure sensor for rolling pressure detection of 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 transmission-fixedly connected to the main structure of the cart, 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 portion of the bottom support driving wheel body is telescopically mounted on the opposite side of one side of the variable-form parallelogram structure; The main structure of the cart includes a frame body and a bucket body arranged on the upper part of the frame body; 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 arm and a top support rod; The top positions of both ends of the bottom support rod are respectively and one-to-one corresponding to the base parts of the two sets of the third hydraulic telescopic force arms, and the bottom positions of both ends of the top support rod are respectively and one-to-one corresponding to the kinetic energy output ends of the two sets of the third hydraulic telescopic force arms, and the top support rod is fixedly assembled and connected to the frame body as a side of the parallelogram structure; The two sets 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 sets 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 adjustment structures further 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 connected to the adapter shaft of at least one group of the third hydraulic telescopic arm base by a transmission assembly, so as to drive the third hydraulic telescopic arm to rotate by outputting rotational kinetic energy through the hydraulic motor.

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

3. The outdoor terrain-based power-assistance and obstacle-overcoming automatic switching control cart system according to claim 2, characterized in that: Also includes: A shock-absorbing base structure, comprising an electrically controlled accommodating compartment and a shock-absorbing cover plate; The electric control accommodating compartment is extended and fixedly arranged at the front lower 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 accommodating compartment; A shock-absorbing cushion layer is provided between the shock-absorbing cover plate and the outer edge of the top opening of the electric control accommodating compartment body, and a tension spring is provided between the shock-absorbing cover plate and the electric control accommodating compartment body; At least two groups of the reflective photoelectric sensors are respectively fixedly mounted on the shock-absorbing cover plate.

4. The outdoor terrain-based power-assistance and obstacle-overcoming automatic switching control cart system 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 includes a first hydraulic telescopic arm, a second hydraulic telescopic arm, an electric control shaft seat and a brake assembly; The bases of the two sets of the first hydraulic telescopic arms are respectively connected and assembled at the upper front portion of the vehicle body, and the two sets of the first hydraulic telescopic arms are arranged in parallel; The bases of the two sets of the second hydraulic telescopic 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 sets of the second hydraulic telescopic arms are respectively and one-to-one connected and assembled with the bases of the two sets of the first hydraulic telescopic arms; The two groups of the electrically controlled axle seats and brake assemblies are respectively and one-to-one correspondingly assembled 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 axle seats and brake assemblies, and use the electrically controlled axle seats and brake assemblies to control the speed rotation and braking of 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 outdoor terrain-based power-assistance and obstacle-crossing automatic switching control cart system according to claim 4 is 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 location in real time through the vibration sensors.

6. The outdoor terrain-based power-assistance and obstacle-crossing automatic switching control cart system according to claim 5 is 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 the power-assisting and obstacle-crossing bottom support structures are 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 of the turning platform is connected to the linear kinetic energy output end of the hydraulic lifting support rod by transmission and fixed connection, and the rotational kinetic energy output end of the turning platform is connected to the base of the bottom support driving wheel body by transmission and fixed connection; A touch pressure sensor is provided between the base of the bottom support driving wheel body and the rotational kinetic energy output end of the turning table, which is used to monitor the ground contact pressure of the bottom support driving wheel body in real time through the touch pressure sensor, and use the hydraulic lifting support rod to output linear kinetic energy to keep the bottom support driving wheel body always in contact with the ground.

7. A method for controlling power-assistance and obstacle-overcoming automatic switching of a cart system according to claim 6, characterized in that: The steps include: Lift the main structure of the trolley so that the wheels 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 assist and obstacle adjustment structure and the frame of the main structure of the trolley keep in a synchronous and corresponding tilt state; The hydraulic motor in the power assist and obstacle adjustment structure is controlled by the electronic control structure to drive the third hydraulic telescopic arm to rotate, so that the bottom support rod is shifted and lowered to a specific height; The electronic control structure continues to control the hydraulic lifting support rods in the plurality of power-assisting and obstacle-crossing bottom support structures to adaptively extend and retract, so that the contact pressure sensors of the corresponding bottom support drive wheel bodies in the plurality of power-assisting and obstacle-crossing bottom support structures all detect the ground contact pressure. At this time, the plurality of bottom support drive wheel bodies are all in the ground contact state, and then the plurality of bottom support drive wheel bodies are adaptively adjusted to always maintain the ground contact state during the travel process; When the cart is moving on flat ground, the electronic control structure outputs instructions to control several groups of bottom support drive wheels to maintain the preset speed rotation, thereby completing the cart's moving power. 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 electronic control structure to adjust the forward extension height and angle of the roller body in the detection roller structure, and synchronously control the electronic control shaft seat and the brake assembly to adjust the real-time rotation speed of the roller body, so that the roller body always maintains a stable ground contact pressure value and an adaptive rotation speed within a preset threshold range based on the pressure monitoring function of its pressure sensor. Then, the real-time position of the roller body corresponding to the slope is obtained by feeding back the extension and contraction amount of the first hydraulic telescopic arm and the second hydraulic telescopic arm to the electronic control structure, thereby completing the roller pressure detection of the terrain; 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 electronic control structure controls the hydraulic motor 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 are always kept parallel to each other, and the top support of the vehicle frame is lifted forward, thereby keeping the frame in 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 the height requires overcoming 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 again. At this time, 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. After the bottom support driving wheel body completes the obstacle crossing, the bottom support driving wheel body is controlled to drive back to the cart moving power assist state.

8. The power assist and obstacle overcoming automatic switching control method according to claim 7, characterized in that: The following steps are also included: When a wide pit is detected in the travel path, the first hydraulic telescopic arm and the second hydraulic telescopic arm in the roller adjustment structure are controlled to extend step by step, so that the roller body is gradually moved to the other side of the wide pit, and the two sets of third hydraulic telescopic arms are continued to be controlled to rotate and extend synchronously until the wheels at the bottom of the frame body are gradually lifted forward to the other side of the wide pit, and the first hydraulic telescopic arm and the second hydraulic telescopic arm are controlled to return to the initial positions corresponding to the trolley travel power-assisting state respectively. At the same time, after the trolley continues to move to the standard terrain position, the bottom support driving wheel body is controlled to return to the trolley travel power-assisting state to complete the wide pit obstacle crossing function.

9. The power assist and obstacle overcoming automatic switching control method according to claim 8, characterized in that: The following steps are also included: Based on the visual camera and several groups of vibration sensors on the roller body, the terrain and hardness value of the current location are monitored in real time. When the monitored terrain hardness value is lower than the preset threshold range, the obstacle-crossing action is selected or the steering turntable in the power-assisting and obstacle-crossing base support structure is used to adjust the travel power-assisting direction of the base support driving wheel body, thereby completing visual recognition bypass control based on specific terrain conditions.

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