Road-rail dual-purpose wheat wheel chassis vehicle and control method thereof

Abstract

The invention provides a road-rail dual-purpose wheat-wheel chassis truck and a control method thereof. The road-rail dual-purpose wheat-wheel chassis truck comprises a chassis, a motor and a motor, the visual assembly is arranged on the chassis and is configured to detect the road condition in front of the road so as to obtain road condition information; the multiple wheat wheel sets comprise rail wheels and wheat wheels, and the rail wheels and the wheat wheels are coaxially connected and are rotationally arranged at the bottom of the chassis; each driving assembly is in transmission connection with the track wheel and the wheat wheel of one wheat wheel set; and the machine head assembly is arranged on the chassis, is electrically connected with the visual assembly and the driving assemblies, and is configured to control the driving assemblies based on the road condition information, so that the wheat wheel set is suitable for working on a track and a road surface. According to the road-rail dual-purpose Mecanum wheel chassis truck, the rail wheels and the Mecanum wheels are combined together, and cooperative work of the two driving systems is achieved in a synchronous movement mode.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent equipment, and in particular to a rail-road dual-purpose McDonnell Douglas chassis vehicle and a control method thereof. Background Art

[0002] As a modern agricultural facility, multi-span greenhouses have been widely used in the agricultural field. This type of greenhouse not only realizes the heating function through the pipes laid on the ground, but also designs them as the running track of the operating equipment, thus forming a standardized planting pattern. This design not only improves the space utilization rate in the greenhouse, but also significantly improves agricultural production efficiency.

[0003] However, with the increasing complexity of the multi-span greenhouse operating environment and the continuous improvement of intelligent requirements, more stringent requirements are placed on the operating equipment in the greenhouse, especially the chassis system. Traditional chassis systems are often difficult to meet the current uniformity and universality requirements of greenhouse operations due to differences in actuators, structural design, drive methods, and intelligence levels. This not only limits the interchangeability and flexibility of operating equipment, but also increases the difficulty of equipment maintenance and management.

[0004] In recent years, with the rapid development of agricultural information technology, the application of intelligent equipment in facility agriculture has become increasingly widespread. Especially in key areas such as precision agriculture, automated management and environmental monitoring, intelligent equipment has played an irreplaceable role with its high efficiency, precision and intelligence. However, most of the operating robot chassis on the market currently have problems such as single design, poor versatility and low intelligence level, which makes it difficult to meet the complex and changeable operating needs of multi-span greenhouses. Summary of the invention

[0005] The invention provides a rail-type dual-purpose wheat wheel chassis vehicle and a control method thereof, which are used to solve the problem that the existing operating robots cannot meet the complex and changeable operating requirements of a multi-span greenhouse.

[0006] The present invention provides a rail-rail dual-purpose McDonnell Douglas chassis vehicle, comprising: Chassis; A visual component, disposed on the chassis, configured to detect road conditions ahead of the road to obtain road condition information; A plurality of sets of McReel wheel assemblies, including rail wheels and McReel wheels, the rail wheels and McReel wheels are coaxially connected and are rotatably arranged at the bottom of the chassis; A plurality of drive components, each of which is drivingly connected to the track wheel and the McDonnell wheel of one McDonnell wheel set; The head assembly is arranged on the chassis, is electrically connected to the visual assembly and the plurality of drive assemblies, and is configured to control the drive assemblies based on the road condition information so that the McLennan wheel set is suitable for working on tracks and roads.

[0007] According to the rail-road dual-purpose McDonnell Douglas chassis provided by the present invention, the McDonnell Douglas comprises a wheel hub and a plurality of rollers surrounding the wheel hub, the rail wheel is connected to the wheel hub via bearings, and the rollers are rotatably connected to the wheel hub.

[0008] According to the rail-road dual-purpose McLennan chassis vehicle provided by the present invention, the McLennan wheel set further comprises: A base, connected to the bottom of the chassis, on which both the track wheel and the wheat wheel are rotatably arranged; A support plate, connected to the base, and used for supporting between the ground and the base; A fixing plate and a shock absorber, wherein the fixing plate is connected to the base through the shock absorber and is used for being supported between the ground and the base.

[0009] According to the rail-road dual-purpose McDonnell Douglas chassis provided by the present invention, the driving assembly comprises: a motor and a reducer, and the motor is drivingly connected to the rail wheel via the reducer.

[0010] According to the rail-road dual-purpose McLennan chassis vehicle provided by the present invention, the visual component comprises: two laser obstacle avoidance radars; The two laser obstacle avoidance radars are both electrically connected to the nose assembly, and the two laser obstacle avoidance radars are diagonally arranged on the chassis, one of which is arranged on the front side of the chassis, and the other is arranged on the rear side of the chassis.

[0011] According to the rail-road dual-purpose Mecklenburg-Vorpommern chassis provided by the present invention, the rail-road dual-purpose Mecklenburg-Vorpommern chassis also includes: A touch display, disposed on the head assembly and electrically connected to the head assembly; An operation button, disposed on the head assembly and electrically connected to the head assembly; An alarm and a buzzer are connected to both sides of the chassis and are used to provide sound and light alarms during operation.

[0012] According to the rail-rail dual-purpose McDonnell Douglas chassis provided by the present invention, a mounting groove is formed on the chassis; The rail-road dual-purpose McLennan chassis vehicle also includes: A hatch cover, sealed on the mounting groove; The battery is arranged in the installation slot and is electrically connected to the driving assembly.

[0013] According to the rail-to-rail dual-purpose McLennan chassis vehicle provided by the present invention, the plurality of McLennan wheel sets are provided with four sets, namely, a first McLennan wheel set, a second McLennan wheel set, a third McLennan wheel set, and a fourth McLennan wheel set; The first McRae wheel group and the second McRae wheel group are symmetrically arranged on both sides of the front end of the chassis, and the third McRae wheel group and the fourth McRae wheel group are symmetrically arranged on both sides of the rear end of the chassis. The McRae wheels in the first McRae wheel group and the third McRae wheel group are left-handed wheels, and the McRae wheels in the second McRae wheel group and the fourth McRae wheel group are right-handed wheels.

[0014] The present invention also provides a control method for a rail-rail dual-purpose McDonnell Douglas chassis vehicle, comprising: During the road driving process, the visual component is used to detect and control the wheel set to move to the upper rail position of the track in a parallel movement mode; When driving to the edge of the selected track upper rail position, the visual component is used to detect and adjust the chassis to align with the track route and the upper rail; When running on the track, the running position is determined according to the running mileage on the track to control the wheel set to run on the track in forward mode or reverse mode; when running to the edge of the selected track lower rail position, the visual component is used to detect and control the lower rail operation; The visual component is used to detect and control the wheel assembly of the McLennan wheel to move to the next track in parallel movement mode and return to the upper and lower tracks until the visual component detects that the chassis vehicle has moved to the last track and starts to return.

[0015] According to the control method of the rail-rail dual-purpose McDonnell Douglas chassis vehicle provided by the present invention, the control method further comprises: During road driving, if insufficient power is detected, the visual component is used to control the McLen wheel assembly to move toward the charging station in parallel movement mode; When it moves to the charging pile, it starts charging automatically. After charging is completed, the visual component is used to detect and control the McLen wheel group to move in parallel to the parking space to wait for the task.

[0016] The rail-rail dual-purpose Mecanum wheel chassis vehicle provided in the present application combines rail wheels and Mecanum wheels together to achieve the coordinated operation of the two drive systems through synchronous movement. Specifically, the rail wheels and Mecanum wheels work together during the operation of the vehicle. The rail wheels are used to guide the chassis to travel along the track, while the Mecanum wheels provide the flexibility of omnidirectional movement. When the vehicle is traveling on the track, the rail wheels and Mecanum wheels move synchronously, effectively reducing the need for additional motors, thereby saving motor power and optimizing the design of the drive system. This integrated design not only improves the operating efficiency of the vehicle, but also reduces the energy consumption and complexity of the overall system, while improving the adaptability of the vehicle in different environments, so that it can adapt to both rail driving and road driving needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 The figure is a three-dimensional structural schematic diagram of a rail-rail dual-purpose McDonnell Douglas chassis vehicle provided by the present invention.

[0019] Figure 2 The figure is a front view of the rail-road dual-purpose McDonnell Douglas chassis vehicle provided by the present invention.

[0020] Figure 3 The present invention is a bottom view of the rail-rail dual-purpose McDonnell Douglas chassis vehicle.

[0021] Figure 4 It is a schematic diagram of the McReiner wheel assembly provided by the present invention.

[0022] Figure 5 The present invention is a schematic diagram of the operation of the rail-road dual-purpose McDonnell Douglas chassis vehicle.

[0023] Figure 6 The invention discloses a process of getting on and off the track of a dual-purpose McDonnell Douglas chassis vehicle for road and rail.

[0024] Figure 7 The invention discloses a kinematic model of a rail-road dual-purpose McLennan chassis vehicle.

[0025] Figure 8 This is one of the schematic diagrams of linear velocity and angular velocity of the upper Meckel wheel set of the rail-rail dual-purpose Meckel chassis vehicle provided by the present invention.

[0026] Fig. 9 This is the second schematic diagram of the linear velocity and angular velocity of the upper Meckel wheel set of the rail-rail dual-purpose Meckel chassis vehicle provided by the present invention.

[0027] Fig.10 This is the third schematic diagram of the linear velocity and angular velocity of the upper Meckel wheel set of the rail-rail dual-purpose Meckel chassis vehicle provided by the present invention.

[0028] Fig.11 This is the fourth schematic diagram of the linear velocity and angular velocity of the upper Meckel wheel set of the rail-rail dual-purpose Meckel chassis vehicle provided by the present invention.

[0029] Fig.12 This is one of the control flow diagrams of the rail-rail dual-purpose McDonnell Douglas chassis vehicle provided by the present invention.

[0030] Fig.13 This is the second control flow diagram of the rail-rail dual-purpose McDonnell Douglas chassis vehicle provided by the present invention.

[0031] Reference numerals: 101. Touch display; 102. Head assembly; 103. Laser obstacle avoidance radar; 104. Chassis; 105. McLennan wheel assembly; 106. Operation button; 107. Alarm; 108. Hatch cover; 201. Reducer; 202. Support plate; 203. Base; 204. Bearing; 205. McLennan wheel; 206. Shock absorber; 207. Track wheel; 208. Fixing plate; 209. Motor; 301. Track; 302. Road surface. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Combine the following Figure 1-Figure 13 The invention provides a dual-purpose wheat wheel chassis vehicle for track and rail and a control method thereof. The dual-purpose wheat wheel chassis vehicle for track and rail has a simple and fast track changing method and is adaptable to different working environments. It can be widely used in intelligent equipment such as picking vehicles, picking robots, pollination robots, transport robots, and inspection robots. This technology is of great significance to promoting the popularization and development of intelligent equipment in facility agriculture.

[0034] In view of the problems of high upper and lower track failure rate, long upper and lower track switching time, and track-wheel asynchrony in the differentially driven dual-purpose road-rail wheelset, this study further optimized the design of the dual-purpose road-rail wheelset, integrated the Mecanum wheel and the rail wheel 207, developed a multifunctional dual-purpose road-rail wheelset, designed an integrated wheel structure of the land wheel and the rail wheel 207, realized the robot's forward and backward and left and right translation, reduced the upper and lower track process from four steps to three, and improved the track switching time and the success rate of upper and lower tracks.

[0035] The present application provides a dual-purpose rail-type McDonnell Douglas chassis vehicle, such as Figures 1 to 5As shown, the rail-rail dual-purpose McLennan chassis vehicle comprises: a chassis 104, a visual component, a plurality of McLennan wheel groups 105, a plurality of drive components and a head component 102. The visual component is arranged on the chassis 104, and is configured to detect the road condition ahead of the road to obtain road condition information; the plurality of McLennan wheel groups 105 include a track wheel 207 and a McLennan wheel 205, the track wheel 207 and the McLennan wheel 205 are coaxially connected, and both can be rotatably arranged at the bottom of the chassis 104; each drive component is transmission-connected to the track wheel 207 and the McLennan wheel 205 of one of the McLennan wheel groups 105; the head component 102 is arranged on the chassis 104, and is electrically connected to the visual component and the plurality of drive components, and is configured to control the drive components based on road condition information, so that the McLennan wheel groups 105 are suitable for working on the track and the road surface.

[0036] In this embodiment, the chassis 104 body serves as the basic structure of the vehicle, and the chassis 104 body supports all other components to ensure the stability and durability of the vehicle. The visual component is cleverly arranged on the chassis 104, and its main task is to detect the road condition information ahead in real time. This information is crucial for the safe driving of the vehicle, because it can help the vehicle avoid obstacles in time and choose the best driving route. Each set of McNam wheel assembly 105 includes a track wheel 207 and a Mecanum wheel, which are tightly combined by coaxial connection. This design enables the vehicle to drive stably on the track and achieve omnidirectional movement on the road surface. The track wheel 207 is responsible for providing stable support and guidance on the track, while the Mecanum wheel provides the vehicle with a full range of mobility by virtue of its unique structural characteristics. Each set of drive components is connected to a set of McNam wheel assembly 105 in transmission and is responsible for providing them with power. Through precise control, the drive component can ensure that the track wheel 207 and the Mecanum wheel move synchronously when needed, thereby achieving smooth driving and flexible steering of the vehicle. The nose assembly 102 is generally located at the front end of the vehicle and integrates a control system, a display and operation buttons 106 for the operator to control and monitor.

[0037] In this embodiment, the head assembly 102 is electrically connected to the visual assembly and multiple drive assemblies. By receiving the road condition information from the visual assembly, the head assembly 102 can intelligently judge the current environment and control the operation of the drive assembly accordingly. This intelligent control method greatly improves the adaptability and driving efficiency of the vehicle.

[0038] like Figure 6 As shown, the head assembly 102 is equipped with a navigation system, the rail-road dual-purpose McLennan chassis vehicle enters the initial state, starts the navigation system, adjusts the chassis 104 to be parallel to the preset running route, and the visual component detects the road condition ahead. Under the guidance of the navigation system, the McLennan wheel assembly 105 is controlled to move to the upper rail position of the track 301 in a parallel movement mode.

[0039] When the vehicle reaches the edge of the selected upper rail position of the track 301, the visual component is used to detect and adjust the chassis 104 to align with the track 301 route. When it is recognized that the center line of the chassis 104 is aligned with the center line of the track 301, the upper rail operation begins.

[0040] When running on the track 301, the running position is determined according to the running mileage on the track 301 to control the wheel set 105 to run on the track 301 in the forward mode or the reverse mode; when running to the edge of the selected lower track position of the track 301, the visual component is used to detect and control the lower track operation. For example, the running distance is calculated by the odometer on the track 301 to simulate the current position, and a stop is set at the end of the track 301. After running the set distance on the track 301 or the contact switch touches the stop, the reverse movement begins; when the reverse movement reaches the edge of the lower track, the visual component recognizes the track 301 and starts the lower track operation.

[0041] The visual component detects and controls the wheel set 105 to move to the next track 301 in parallel movement mode, and returns to the upper track and the lower track, until the visual component detects that the chassis 104 vehicle moves to the last track 301, and then starts to return.

[0042] During driving on road surface 302, if insufficient power is detected, the visual component is used to detect and control the McLen wheel group 105 to move toward the charging pile position in a parallel movement mode; when it moves to the charging pile position, automatic charging begins, and after charging is completed, the visual component is used to detect and control the McLen wheel group 105 to move in a parallel movement mode to the parking space to wait for the task.

[0043] The rail-rail dual-purpose Mecanum wheel chassis vehicle provided in the embodiment of the present application combines the rail wheel 207 and the Mecanum wheel together to achieve the coordinated operation of the two drive systems through synchronous movement. Specifically, the rail wheel 207 and the Mecanum wheel work together during the operation of the vehicle. The rail wheel 207 is used to guide the chassis 104 to travel along the track, while the Mecanum wheel 205 provides the flexibility of omnidirectional movement. When the vehicle is traveling on the track, the rail wheel 207 moves synchronously with the Mecanum wheel 205, effectively reducing the need for an additional motor 209, thereby saving the power of the motor 209 and optimizing the design of the drive system. This integrated design not only improves the operating efficiency of the vehicle, but also reduces the energy consumption and complexity of the overall system, while improving the adaptability of the vehicle in different environments, so that it can adapt to both rail driving and road driving needs.

[0044] In some embodiments, Figures 1 to 5 As shown, the wheat wheel 205 includes: a hub and a plurality of rollers surrounding the hub, the track wheel 207 is connected to the hub via a bearing 204, and the rollers are rotatably connected to the hub.

[0045] In this embodiment, the hub is the central part of the wheel 205, which bears the weight of all rollers and is connected to the track wheel 207 through the bearing 204. The design of the hub is strong and durable, which can ensure stable performance during long-term and high-intensity use. At the same time, the bearing 204 connection between the hub and the track wheel 207 allows the two to maintain a certain degree of coaxiality while moving relative to each other, thereby ensuring stability during driving.

[0046] The rollers are evenly distributed around the hub and connected to the hub by a specific connection method (such as pins, rivets, etc.), with the angle between the hub and the rollers being 45°. The rollers can rotate freely relative to the hub, which enables the McWheel 205 to generate driving force in different directions, thereby achieving omnidirectional movement.

[0047] Optionally, the wheat wheel assembly 105 also includes: a base 203, a support plate 202, a fixed plate 208 and a shock absorber 206, the base 203 is connected to the bottom of the chassis 104, and the track wheel 207 and the wheat wheel 205 are both rotatably arranged on the base 203; the support plate 202 is connected to the base 203, and is used to be supported between the ground and the base 203; the fixed plate 208 is connected to the base 203 through the shock absorber 206, and is used to be supported between the ground and the base 203.

[0048] The base 203 provides a stable mounting platform for the track wheel 207 and the wheat wheel 205. The base 203 is designed to be strong and durable, and can withstand various forces and vibrations during the vehicle's driving. At the same time, a rotating shaft or bearing 204 is also provided on the base 203 to ensure that the track wheel 207 and the wheat wheel 205 can rotate smoothly.

[0049] The support plate 202 is connected to the base 203, and its main function is to support between the ground and the base 203 to prevent the chassis 104 from bottoming out on a low-lying or uneven road surface. The support plate 202 is designed to have a certain rigidity and toughness, and can play a buffering role when impacted, protecting the chassis 104 from damage.

[0050] The fixing plate 208 is connected to the base 203 via the shock absorber 206, and is also used to be supported between the ground and the base 203. The shock absorber 206 can effectively absorb and disperse the vibration and impact generated during the driving process, and improve the driving stability of the chassis 104 vehicle.

[0051] During the driving process, when the chassis 104 needs to drive on the track, the track wheel 207 plays a major guiding role to ensure that the vehicle moves forward stably along the track. At the same time, the wheat wheel 205 also rotates under the drive of the wheel hub to provide the necessary driving force for the vehicle. When the chassis 104 needs to leave the track and drive on the road, the wheat wheel 205 takes advantage of its omnidirectional movement. At this time, the shock absorber 206 begins to play a role, absorbing and dispersing the vibration and impact generated during the driving process, and improving the driving stability of the chassis 104. At the same time, the support plate 202 and the fixed plate 208 also play a role in supporting and protecting the chassis 104.

[0052] In some embodiments, Figures 1 to 5 As shown, the driving assembly includes: a motor 209 and a reducer 201 , and the motor 209 is drivingly connected to the track wheel 207 via the reducer 201 .

[0053] Among them, the motor 209 is the power source of the driving component, which is responsible for converting electrical energy into mechanical energy to provide driving force for the track wheel 207 and the wheat wheel 205. When selecting the motor 209, key parameters such as its power, speed, and torque need to be considered to ensure that it can meet the driving requirements of the chassis 104. At the same time, the control method of the motor 209 is also crucial, which determines the accuracy and response speed of the acceleration, deceleration, steering and other actions of the chassis 104.

[0054] The reducer 201 is connected between the motor 209 and the track wheel 207 to reduce the rotation speed and increase the torque. The design of the reducer 201 can ensure that the power output by the motor 209 can be smoothly and efficiently transmitted to the track wheel 207, thereby achieving stable driving of the chassis 104. When selecting the reducer 201, key parameters such as its reduction ratio, load capacity, and transmission efficiency need to be considered to ensure that it can perfectly match the motor 209 and the track wheel 207.

[0055] In some embodiments of the present invention, the motor 209 is connected to the track wheel 207 through the reducer 201. This connection method can ensure that the power output by the motor 209 can be smoothly transmitted to the track wheel 207 after being decelerated and torque-increased by the reducer 201. At the same time, the reducer 201 can also protect the motor 209 from being damaged due to overload or overheating.

[0056] During the driving process, when the chassis 104 needs to drive, the motor 209 starts to work and converts electrical energy into mechanical energy. Then, this mechanical energy is transmitted to the track wheel 207 through the reducer 201, causing it to start rotating. The rotation of the track wheel 207 drives the coaxially connected wheat wheel 205 to rotate together, thereby providing the necessary driving force for the chassis 104. At the same time, due to the existence of the reducer 201, the speed output by the motor 209 is reduced, and the torque is increased, which enables the chassis 104 to travel more stably on the track and road surface.

[0057] In some embodiments, Figure 1 As shown, the visual component includes: two laser obstacle avoidance radars 103; the two laser obstacle avoidance radars 103 are electrically connected to the head component 102, and the two laser obstacle avoidance radars 103 are diagonally arranged on the chassis 104, one of which is arranged on the front side of the chassis 104, and the other laser obstacle avoidance radar 103 is arranged on the rear side of the chassis 104. The detection angle and coverage range are optimized, thereby enhancing the perception of the surrounding environment and ensuring that obstacles can be detected and avoided in time.

[0058] In certain embodiments of the present invention, two laser obstacle avoidance radars 103 are arranged diagonally on the chassis 104. This configuration optimizes the detection angle and coverage. Specifically, one laser obstacle avoidance radar 103 is arranged on the front side of the chassis 104, responsible for detecting obstacles in front; the other laser obstacle avoidance radar 103 is arranged on the rear side of the chassis 104, responsible for detecting obstacles in the rear. This diagonal configuration not only ensures that there is sufficient detection range in front and behind the vehicle, but also can reduce blind spots to a certain extent, and improve the accuracy and reliability of detection.

[0059] The two laser obstacle avoidance radars 103 are electrically connected to the head assembly 102 (or control unit) to achieve real-time data transmission and processing. The head assembly 102 is responsible for receiving obstacle information sent by the laser obstacle avoidance radar 103, and performing corresponding processing and analysis, and then controlling the driving direction and speed of the vehicle according to the analysis results to achieve autonomous navigation and obstacle avoidance functions.

[0060] During driving, the laser obstacle avoidance radar 103 continuously scans and detects the surrounding environment, and transmits the detected obstacle information to the head assembly 102 in real time. The head assembly 102 calculates the distance and position of the obstacle based on the received information, and determines whether obstacle avoidance measures are needed. If obstacle avoidance is required, the head assembly 102 will control the driving direction and speed of the vehicle so that the vehicle can safely bypass the obstacle or stop driving to avoid a collision accident.

[0061] In some embodiments, Figure 1 -to Figure 5As shown, the rail-rail dual-purpose McLennan chassis vehicle also includes: a touch display 101, which is arranged on the head assembly 102 and is electrically connected to the head assembly 102; an operation button 106, which is arranged on the head assembly 102 and is electrically connected to the head assembly 102; an alarm 107 and a buzzer, and the alarm 107 and the buzzer are connected to both sides of the chassis 104 for providing sound and light alarms during operation.

[0062] In this embodiment, the touch display 101, as an important interface for human-machine interaction, is disposed on the head assembly 102 and is electrically connected to the head assembly 102. The touch display 101 is intuitive and easy to operate, and can display key data such as the vehicle's operating status, navigation information, obstacle information, etc. in real time, making it convenient for users to monitor and operate.

[0063] The interface design of the touch display 101 is simple and clear, and the user can control the vehicle's driving direction, speed, navigation mode and other parameters by touching the buttons or sliding bars on the screen. At the same time, the touch display 101 can also provide fault alarm information to help users quickly locate and solve problems that occur during vehicle operation.

[0064] The operation button 106 is also disposed on the head assembly 102 and is electrically connected to the head assembly 102. The operation button 106 is a physical button, and the user can perform specific operations such as starting / stopping the vehicle, switching navigation modes, adjusting driving speed, etc. by pressing or rotating these buttons.

[0065] The design of the operation button 106 takes into account the user's usage habits and safety, and the button layout is reasonable and easy to operate. At the same time, some key buttons are also equipped with an anti-mistouch design to ensure that the user can perform operations accurately and safely.

[0066] The alarm 107 and the buzzer are connected to both sides of the chassis 104 as safety warning devices, and are used to provide sound and light alarms during operation. When the vehicle encounters an emergency or failure, the alarm 107 and the buzzer will start at the same time, emitting strong sound and light signals to remind users and other personnel to pay attention and take corresponding measures. The design of the alarm 107 and the buzzer fully considers safety and reliability, and can work normally in extreme environments. At the same time, their sound and light signals have sufficient strength and recognition, and can quickly attract people's attention in complex environments.

[0067] like Figure 1 As shown, a mounting groove is formed on the chassis 104; the rail-rail dual-purpose McLennan chassis vehicle also includes: a hatch 108, which is sealed on the mounting groove to form a storage compartment; a battery, which is arranged in the mounting groove and is electrically connected to the drive assembly.

[0068] The hatch 108 is a cover component of the installation slot, and its main function is to protect the battery from interference and damage from the external environment. The hatch 108 is made of a strong and durable material, and has waterproof and dustproof properties to ensure that the battery can still work normally in a harsh environment. In addition, the design of the hatch 108 also takes into account the convenience of opening and closing, so that the user can easily install, replace and maintain the battery.

[0069] The battery, controller and other electronic components are arranged in the mounting slot and are electrically connected to the drive assembly through dedicated wires or cables. This connection method ensures that the battery can stably provide the required electrical energy for the drive assembly, provide power supply and control support, and thus drive the chassis 104 to operate normally.

[0070] In some embodiments, Figures 1 to 5 As shown, the plurality of Mecanum wheel sets 105 are provided with four sets, namely the first Mecanum wheel set, the second Mecanum wheel set, the third Mecanum wheel set, and the fourth Mecanum wheel set; the first Mecanum wheel set and the second Mecanum wheel set are symmetrically arranged on both sides of the front end of the chassis 104, and the third Mecanum wheel set and the fourth Mecanum wheel set are symmetrically arranged on both sides of the rear end of the chassis 104, the Mecanum wheels 205 in the first Mecanum wheel set and the third Mecanum wheel set are left-handed wheels, and the Mecanum wheels 205 in the second Mecanum wheel set and the fourth Mecanum wheel set are right-handed wheels. The landing points of the four first Mecanum wheel sets, the second Mecanum wheel sets, the third Mecanum wheel sets, and the fourth Mecanum wheel sets together form a rectangular layout. This arrangement enables the Mecanum wheels to achieve omnidirectional movement, that is, not only forward and backward, but also lateral sliding or rotation in place. The motion state of the rail-rail dual-purpose Mecanum wheel chassis vehicle is determined by the rotation speed of the four Mecanum wheels. By calculating the rotation speed of the four wheels, the motion state of the chassis 104 can be obtained; conversely, according to the motion state of the chassis 104 (including translation and rotation), the required rotation speed of the four wheels can also be calculated in reverse. The motion of the chassis 104 can be described by three independent variables: X-axis translation (forward and backward movement), Y-axis translation (left and right movement) and Z-axis rotation (rotation). The rotation speed of each McLennan wheel set 105 is driven by an independent motor 209. Therefore, the omnidirectional movement of the chassis 104 is controlled by four independent motors 209 to control the rotation speed of the four McLennan wheel sets 105, ensuring the precise control and high flexibility of the vehicle in any direction. This design enables the dual-purpose McLennan chassis vehicle for road and rail to have all-round mobility, and can realize forward, backward, lateral sliding and rotation in place in complex environments. This high mobility enables the vehicle to perform well in narrow spaces and environments with dense obstacles, greatly improving its adaptability in greenhouses, warehouses and other complex scenes.

[0071] Kinematic model analysis of the McLennan wheel set, kinematic model of the McLennan dual-purpose chassis vehicle Figure 7 As shown in the figure, the coordinate system is established with the center point of the chassis as the origin. The forward direction of the track-rail dual-purpose McLennan chassis vehicle is Axis, left side The distance from the center of the wheel assembly to the center of the chassis is express. and Respectively In the coordinate system Axis and The projection distance on the axis. The speed of the center point of the chassis is known to be , the angular velocity is .

[0072] The speed of each wheel group is a combination of the center point speed and the angular velocity, which can be expressed as: like Figure 8 and Fig. 9 As shown, Indicates that the McLennan platform follows the angular velocity The speed generated by spinning.

[0073] Take the right front wheel as an example. Take the center of the wheel as the origin and axis The axis is decomposed into like Fig.10 As shown, Decomposed along the roller axis direction and the roller rolling direction, the roller axis speed is and the roller rolling direction speed .

[0074] and denote the unit vectors parallel to the roller axis and perpendicular to the axis, respectively. , Both are 1.

[0075] Mathematical definition of dot product, In the formula and The analysis is carried out with the center of the wheel as the origin.

[0076] Vector Direction Usually represents a direction in a two-dimensional space. They usually represent The direction of the axis. and Respectively The unit vector of the coordinate axis.

[0077] Simplified: like Fig.11 As shown, the linear velocity of the point where the Mecanum wheel roller contacts the ground is , is the angular velocity , the wheel radius is .

[0078] Eliminate both sides of the equation have to: Similarly, the angular velocities of the other three wheels can be obtained: It can be seen from the above formula that the free movement of the pollination robot can be achieved by controlling the angular velocity of the four wheels; when the dual-purpose wheat wheel chassis vehicle is moving on the track, it is in the forward and backward movement mode.

[0079] The present application also provides a control method for a rail-type dual-purpose McDonnell Douglas chassis vehicle. Fig.12 and Fig.13 As shown, the control method includes the following steps: Step S1: During the road driving process, the visual component is used to detect and control the McLennan wheel assembly to move to the upper rail position of the track in a parallel movement mode.

[0080] Step S2: When the vehicle reaches the edge of the selected upper rail position, the visual component is used to detect and adjust the chassis to align the upper rail with the track route.

[0081] Step S3: When running on the track, the running position is determined according to the running mileage on the track to control the McLennan wheel set to run on the track in forward mode or reverse mode; when running to the edge of the selected track lower rail position, the visual component is used to detect and control the lower rail operation.

[0082] Step S4: Control the wheel assembly of the McLennan wheel group to move to the next track in parallel movement mode through visual component detection, and return to the upper and lower tracks until the visual component detects that the chassis vehicle has moved to the last track and starts to return.

[0083] In this embodiment, the head assembly is equipped with a navigation system, the dual-purpose McLennan chassis vehicle for road and rail enters the initial state, starts the navigation system, adjusts the chassis to be parallel to the preset running route, and the visual component detects the road conditions ahead. Under the guidance of the navigation system, the McLennan wheel assembly is controlled to move to the upper rail position of the track in a parallel movement mode.

[0084] When the vehicle reaches the edge of the selected track upper rail position, the visual component is used to detect and adjust the chassis to align with the track route and the upper rail. When it is recognized that the center line of the chassis is aligned with the center line of the track, the upper rail operation begins.

[0085] When running on the track, the running position is determined according to the running mileage on the track to control the wheel set to run on the track in forward mode or reverse mode; when running to the edge of the selected lower rail position, the visual component is used to detect and control the lower rail operation. For example, the running distance is calculated by the odometer on the track to simulate the current position, and a card position is set at the end of the track. After running the set distance on the track or the contact switch touches the card position, it starts to move in the reverse direction; when walking in the reverse direction to the edge of the lower rail, the visual component recognizes the track and starts running on the lower rail.

[0086] The visual component is used to detect and control the wheel assembly of the McLennan wheel to move to the next track in parallel movement mode and return to the upper and lower tracks until the visual component detects that the chassis vehicle has moved to the last track and starts to return.

[0087] In some embodiments, Fig.12 and Fig.13 As shown, the control method also includes the following steps: Step S5: During road driving, if insufficient power is detected (for example, the battery power is less than 20%), the visual component is used to detect and control the McLen wheel set to move toward the charging pile in a parallel movement mode; when it moves to the charging pile, it starts automatic charging, and after charging is completed, the visual component is used to detect and control the McLen wheel set to move in a parallel movement mode to a parking space to wait for the task.

[0088] In this embodiment, the chassis vehicle detects the surrounding environment in real time through the visual component, identifies and locks the position of the charging pile. According to the location information of the charging pile, the chassis vehicle adjusts the driving direction and moves toward the charging pile in a parallel movement mode. When the chassis vehicle moves to the charging pile position, it automatically docks with the charging pile through a preset docking mechanism (such as a mechanical arm, a magnetic suction device, etc.).

[0089] After successful docking, the chassis vehicle starts charging automatically. During the charging process, the system will monitor the charging progress and battery status in real time.

[0090] After charging is completed, a signal of charging completion will be sent, and the chassis vehicle will detect the surrounding environment through the visual component, and disconnect from the charging pile after ensuring safety. The chassis vehicle will move to the preset parking space in parallel movement mode again, waiting for the next task or instruction.

[0091] In summary, the rail-road dual-purpose McDonnell Douglas chassis vehicle and its control method provided by the present application realize the omnidirectional movement function, so that the vehicle can not only move forward and backward, but also slide sideways and rotate on the spot, thus having extremely high maneuverability. The omnidirectional movement capability enables the vehicle to be flexibly dispatched in a small or complex space, greatly improving the adaptability and operational flexibility of the vehicle in various environments.

[0092] The rail-rail dual-purpose McLennan chassis vehicle and its control method provided by the present application can adapt to both rail and non-rail environments, and has strong adaptability and a wide range of application scenarios. The McLennan chassis vehicle can not only travel smoothly on conventional ground, but also accurately adapt to the rail environment. By accurately adjusting the contact between the rail wheel and the rail, it can run stably on the railway track, avoiding problems such as derailment and sliding.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-purpose rail-road chassis vehicle, characterized in that: include: Chassis; A visual component, disposed on the chassis, configured to detect road conditions ahead of the road to obtain road condition information; A plurality of sets of McReel wheel assemblies, including rail wheels and McReel wheels, the rail wheels and McReel wheels are coaxially connected and are rotatably arranged at the bottom of the chassis; A plurality of drive components, each of which is drivingly connected to the track wheel and the McDonnell wheel of one McDonnell wheel set; The head assembly is arranged on the chassis, is electrically connected to the visual assembly and the plurality of drive assemblies, and is configured to control the drive assemblies based on the road condition information so that the McLennan wheel set is suitable for working on tracks and roads.

2. The rail-road dual-purpose McDonnell Douglas chassis vehicle according to claim 1, characterized in that: The wheat wheel comprises: a hub and a plurality of rollers surrounding the hub, the track wheel is connected to the hub via bearings, and the rollers are rotatably connected to the hub.

3. The rail-road dual-purpose McDonnell Douglas chassis vehicle according to claim 2, characterized in that: The McLennan wheel assembly also includes: A base, connected to the bottom of the chassis, on which both the track wheel and the wheat wheel are rotatably arranged; A support plate, connected to the base, used for supporting between the ground and the base; A fixing plate and a shock absorber, wherein the fixing plate is connected to the base through the shock absorber and is used for being supported between the ground and the base.

4. The rail-road dual-purpose McDonnell Douglas chassis vehicle according to claim 3, characterized in that: The driving assembly comprises: a motor and a reducer, and the motor is drivingly connected to the rail wheel via the reducer.

5. The rail-road dual-purpose McDonnell Douglas chassis vehicle according to claim 1, characterized in that: The visual component includes: two laser obstacle avoidance radars; The two laser obstacle avoidance radars are both electrically connected to the nose assembly, and the two laser obstacle avoidance radars are diagonally arranged on the chassis, one of which is arranged on the front side of the chassis, and the other is arranged on the rear side of the chassis.

6. The rail-road dual-purpose McDonnell Douglas chassis vehicle according to claim 1, characterized in that: The rail-road dual-purpose McLennan chassis vehicle also includes: A touch display, disposed on the head assembly and electrically connected to the head assembly; An operating button, disposed on the head assembly and electrically connected to the head assembly; An alarm and a buzzer are connected to both sides of the chassis and are used to provide sound and light alarms during operation.

7. The rail-road dual-purpose McDonnell Douglas chassis vehicle according to claim 1, characterized in that: A mounting groove is formed on the chassis; The rail-road dual-purpose McLennan chassis vehicle also includes: A hatch cover, sealed on the mounting groove; The battery is arranged in the installation slot and is electrically connected to the driving assembly.

8. The rail-rail dual-purpose Myron chassis vehicle according to any one of claims 1 to 7, characterized in that: The plurality of groups of McLennan wheel sets are provided with four groups, namely a first McLennan wheel set, a second McLennan wheel set, a third McLennan wheel set, and a fourth McLennan wheel set; The first McRae wheel group and the second McRae wheel group are symmetrically arranged on both sides of the front end of the chassis, and the third McRae wheel group and the fourth McRae wheel group are symmetrically arranged on both sides of the rear end of the chassis. The McRae wheels in the first McRae wheel group and the third McRae wheel group are left-handed wheels, and the McRae wheels in the second McRae wheel group and the fourth McRae wheel group are right-handed wheels.

9. A control method for a rail-rail dual-purpose McDonnell Douglas chassis according to any one of claims 1 to 8, characterized in that: include: During the road driving process, the visual component is used to detect and control the wheel set to move to the upper rail position of the track in a parallel movement mode; When driving to the edge of the selected track upper rail position, the visual component is used to detect and adjust the chassis to align with the track route and the upper rail; When running on the track, the running position is determined according to the running mileage on the track to control the Mailun wheel set to run on the track in forward mode or reverse mode; When the vehicle reaches the edge of the selected lower rail position, the visual component is used to detect and control the lower rail operation; The visual component is used to detect and control the wheel assembly of the McLennan wheel to move to the next track in parallel movement mode, and return to the steps of the upper and lower tracks, until the visual component detects that the chassis vehicle has moved to the last track and starts to return.

10. The control method according to claim 9, characterized in that: The control method further comprises: During road driving, if insufficient power is detected, the visual component is used to control the McLen wheel assembly to move toward the charging station in parallel movement mode; When it moves to the charging pile, it starts charging automatically. After charging is completed, the visual component is used to detect and control the McLen wheel group to move in parallel to the parking space to wait for the task.

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