Wheel cooperative control method, device, medium and product during stretching and retracting of vehicle

Abstract

The embodiment of the invention discloses a wheel cooperative control method and device during vehicle stretching, a medium and a product. Wherein the vehicle comprises running wheels and telescopic gears, and the running wheels rotate in the longitudinal direction to drive the vehicle to move and run; the method comprises the steps that according to the current position, the preset initial position and the preset final position of the telescopic gear, whether the vehicle meets the expansion and extension condition and / or the contraction condition or not is judged; and according to the judgment result and the telescopic instruction of the vehicle, driving wheels of the vehicle and a telescopic gear are controlled to move jointly so as to stretch out and draw back the vehicle. Through cooperation of the driving wheels and the telescopic gears in the vehicle, the vehicle can stretch out and draw back, and the vehicle can run in various space scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transportation equipment, in particular to a wheel cooperative control method, device, medium and product during extension and contraction of a vehicle. BACKGROUND

[0002] Generally, the size of a vehicle body is fixed, and the driving of the vehicle is hindered in a narrow space. At present, there is little research on expandable vehicles, and there is no related wheel cooperative control method during extension and contraction of a vehicle body.

[0003] The inventor increases an extension gear on the vehicle to realize the extension and contraction of the vehicle by joint control of the driving wheel and the extension gear. SUMMARY

[0004] The present application provides a wheel cooperative control method, device, medium and product during extension and contraction of a vehicle, so that the vehicle can drive in various spaces by extension and contraction.

[0005] According to an aspect of the present application, a wheel cooperative control method during extension and contraction of a vehicle is provided, the vehicle comprising a driving wheel and an extension gear, the driving wheel rotating in a longitudinal direction to drive the vehicle to move, and the extension gear rotating in a transverse direction to drive the vehicle to extend and contract in the transverse direction, the method comprising:

[0006] determining whether the vehicle satisfies an extension condition and / or a contraction condition according to a current position, a preset initial position and a preset terminal position of the extension gear;

[0007] controlling the driving wheel and the extension gear of the vehicle to jointly move according to a determination result and an extension instruction of the vehicle, so as to extend and contract the vehicle.

[0008] According to another aspect of the present application, a wheel cooperative control device during extension and contraction of a vehicle is provided, the vehicle comprising a driving wheel and an extension gear, the driving wheel rotating in a longitudinal direction to drive the vehicle to move, and the extension gear rotating in a transverse direction to drive the vehicle to extend and contract in the transverse direction, the device comprising:

[0009] a condition determination module configured to determine whether the vehicle satisfies an extension condition and / or a contraction condition according to a current position, a preset initial position and a preset terminal position of the extension gear;

[0010] an extension control module configured to control the driving wheel and the extension gear of the vehicle to jointly move according to a determination result and an extension instruction of the vehicle, so as to extend and contract the vehicle.

[0011] According to another aspect of the present application, an electronic device is provided, the electronic device comprising:

[0012] at least one processor; and

[0013] a memory communicatively connected with the at least one processor; wherein,

[0014] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the wheel cooperative control method during vehicle extension and retraction according to any one of the embodiments of the present application.

[0015] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the wheel cooperative control method during vehicle extension and retraction according to any one of the embodiments of the present application when executed by the processor.

[0016] According to another aspect of the present application, a computer program product is provided, which comprises a computer program for implementing the wheel cooperative control method during vehicle extension and retraction according to any one of the embodiments of the present application when executed by a processor.

[0017] In the technical solution of the embodiments of the present application, the vehicle comprises a running wheel and an extension gear, the running wheel rotates along the longitudinal direction to drive the vehicle to move and run, and the extension gear rotates along the transverse direction to drive the vehicle to extend and retract along the transverse direction. The vehicle is determined whether to meet the extension condition and / or the retraction condition according to the current position of the extension gear, the preset initial position and the preset terminal position. The running wheel and the extension gear of the vehicle are controlled to jointly move according to the determination result and the extension instruction of the vehicle, so as to extend and retract the vehicle. The problem of vehicle extension and retraction is solved, and the vehicle can be extended and retracted through the cooperation of the running wheel and the extension gear, so that the vehicle can run in a multi-size space.

[0018] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Figure 1a is a flowchart of a wheel cooperative control method during vehicle extension and retraction according to the first embodiment of the present application;

[0021] Figure 1b A vehicle structure diagram is shown;

[0022] Figure 1c A wheel cooperative control flow when a vehicle is extended is shown;

[0023] Figure 1d A wheel cooperative control flow when a vehicle is retracted is shown;

[0024] Figure 1e A wheel cooperative control flow when a vehicle is parked or breaks down is shown;

[0025] Figure 2a A flow chart of a wheel cooperative control method when a vehicle is extended according to the second embodiment of the present application is shown;

[0026] Figure 2b A structural relationship between the extension gear of a vehicle and the driving wheels is shown;

[0027] Figure 3 A structural diagram of a wheel cooperative control device when a vehicle is extended according to the third embodiment of the present application is shown;

[0028] Figure 4 A structural diagram of an electronic device that can be used to implement the embodiments of the present application is shown. DETAILED DESCRIPTION

[0029] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment one

[0032] Figure 1a Fig. 1 is a flow chart of a method for controlling wheels of a vehicle during extension and retraction according to an embodiment of the present application. The embodiment can be applied to a case where the size of a vehicle body changes when the vehicle travels in different spaces. The method can be performed by a wheel control device for a vehicle during extension and retraction. The wheel control device for the vehicle during extension and retraction can be implemented in the form of hardware and / or software. The wheel control device for the vehicle during extension and retraction can be configured in an electronic device, such as a vehicle controller or a driver.

[0033] Figure 1b Fig. 2 shows a schematic diagram of a vehicle structure. As shown in Fig. 2, a vehicle 200 includes traveling wheels 210 and a retraction gear 220. The traveling wheels rotate in a longitudinal direction to drive the vehicle to move. The retraction gear rotates in a transverse direction to drive the vehicle to extend or retract in the transverse direction. The vehicle can be an automated guided vehicle (AGV). The traveling wheels can be omni-directional wheels, such as Mecanum wheels. The traveling wheels can rotate in the longitudinal direction to drive the vehicle to turn left, turn right, move straight, stop, move forward, or move backward. The retraction gear can rotate in the transverse direction to drive a rack installed in the vehicle in the transverse direction to extend or retract in the transverse direction, so as to enable the vehicle to move in spaces of different sizes. Figure 1b As shown in Fig. 3, the method includes the following steps.

[0034] Figure 1a

[0035] Step 110: determining whether the vehicle meets an extension condition and / or a retraction condition according to a current position of the retraction gear, a preset initial position, and a preset terminal position.

[0036] In the vehicle, the size of the vehicle that can be extended or retracted can be determined according to the length of the rack installed in the vehicle in the transverse direction. According to the size, the preset initial position and the preset terminal position of the retraction gear can be determined. The preset initial position can be the position of the retraction gear when the vehicle is retracted to the minimum size. The preset terminal position can be the position of the retraction gear when the vehicle is extended to the maximum size. According to the current position of the retraction gear, the preset initial position, and the preset terminal position, whether the vehicle can continue to extend or retract can be determined.

[0037] The current position of the retraction gear can be determined in various ways. For example, a position sensor can be installed on the vehicle to detect the position of the retraction gear. Alternatively, an absolute position value detection can be performed on a push-extend driving motor used by the retraction gear to control the position of the retraction gear.

[0038] ​​Optionally, before judging whether the vehicle meets the expansion condition and / or the contraction condition according to the current position of the telescopic gear, the preset initial position, and the preset terminal position, the method further comprises: determining the current position of the telescopic gear according to the rotating direction, the rotating time, and the moving speed of the telescopic gear.

[0039] The rotating direction, the rotating time, and the moving speed of the telescopic gear can be determined by the absolute position value detection of the telescopic driving motor. The moving distance of the telescopic gear when rotating one circle can be determined by the pre-experimental calibration. Thus, the rotating circle number of the telescopic gear in the expansion direction or the contraction direction can be determined according to the rotating direction, the rotating time, and the moving speed, and the current position of the telescopic gear can be determined according to the rotating circle number. Whether the vehicle meets the expansion condition and / or the contraction condition can be determined according to the current position of the telescopic gear, and the vehicle can be expanded or contracted.

[0040] Optionally, judging whether the vehicle meets the expansion condition and / or the contraction condition according to the current position of the telescopic gear, the preset initial position, and the preset terminal position comprises: determining that the vehicle meets the expansion condition when the current position of the telescopic gear is the preset initial position; determining that the vehicle meets the contraction condition when the current position of the telescopic gear is the preset terminal position; and determining that the vehicle meets the expansion condition and the contraction condition when the current position of the telescopic gear is between the preset initial position and the preset terminal position.

[0041] The vehicle can be expanded when the vehicle meets the expansion condition, and the vehicle can be contracted when the vehicle meets the contraction condition.

[0042] Step 120: controlling the joint movement of the running wheels and the telescopic gear of the vehicle according to the judgment result and the telescopic instruction of the vehicle, so as to expand or contract the vehicle.

[0043] The telescopic instruction can be an expansion instruction or a contraction instruction. The running wheels and the telescopic gear can be connected. When the telescopic gear is expanded, the running wheels can be moved outward to the two sides of the vehicle synchronously, so as to expand the vehicle; when the telescopic gear is contracted, the running wheels can be moved inward to the inside of the vehicle synchronously, so as to contract the vehicle.

[0044] Optionally, according to the judgment result and the telescopic instruction of the vehicle, the running wheels and the telescopic gears of the vehicle are controlled to jointly move to realize the telescoping of the vehicle, including: when it is determined that the vehicle meets the expansion extension condition, the telescopic gears of the vehicle are controlled to drive the vehicle to expand and extend laterally according to the expansion extension instruction of the vehicle; the running wheels are linked according to the lateral rotation of the telescopic gears; when it is determined that the vehicle meets the contraction condition, the telescopic gears of the vehicle are controlled to drive the vehicle to contract laterally according to the contraction instruction of the vehicle; and the running wheels are linked according to the lateral rotation of the telescopic gears.

[0045] Figure 1c A wheel cooperative control process during vehicle expansion extension is shown. As shown in Figure 1c The push-and-pull drive motor of the vehicle can be set to an absolute position value detection mode, and the running drive motor of the running wheel of the vehicle can be set to a speed mode. The push-and-pull drive motor and the running drive motor can be in communication connection with a vehicle controller such as a programmable logic controller (PLC). Through the PLC controller, a home mode setting can be sent to the push-and-pull drive motor to set the control word of the motor and mark the preset initial position. When the current position of the telescopic gear is the preset initial position, or the current position of the telescopic gear is between the preset initial position and the preset terminal position, and the telescopic instruction sent by the PLC is an expansion extension instruction, the telescopic gear and the running wheel are enabled. Specifically, the speed of the telescopic gear and the running wheel can be valued, and the telescopic gear and the running wheel start to run synchronously and cooperatively outward, the rack is pushed and stretched outward, the running wheel is expanded and rotated to the two sides of the vehicle, and the expansion extension of the vehicle is realized. When the expansion extension size of the vehicle reaches the size specified by the expansion extension instruction, such as when the current position of the telescopic gear is the preset terminal position, the push-and-pull drive motor and the running drive motor are controlled to make the telescopic gear and the running wheel stop rotating synchronously.

[0046] In the above expansion extension, if the push-and-pull size of a single telescopic gear does not reach the size specified by the expansion extension instruction, the push-and-pull size of the telescopic gear can be supplemented separately to make the push-and-pull sizes of all the telescopic gears in the vehicle the same and meet the size requirement specified by the expansion extension instruction.

[0047] Figure 1d A wheel cooperative control process during vehicle contraction is shown. As shown in Figure 1dAs shown, the pushing drive motor can determine the current position of the telescopic gear through the absolute position detection mode and feed back the current position to the PLC controller. When the current position is the preset end position, or when the current position is between the preset initial position and the preset end position, it is determined that the vehicle meets the retraction condition. The PLC controller can send a retraction instruction to the pushing drive motor and the driving motor. The pushing drive motor and the driving motor can assign speed values ​​to the telescopic gear and the driving wheel respectively. Through the joint movement of the telescopic gear and the driving wheel, the telescopic gear begins to retract inward, and the driving wheel begins to move toward the inside of the vehicle, thereby realizing the retraction of the vehicle. When the vehicle retracts to the size specified by the retraction instruction, such as when the current position of the telescopic gear is the preset initial position, the telescopic gear and the driving wheel stop running at the same time.

[0048] Figure 1e The figure shows a wheel coordination control process when a vehicle stops or encounters a fault. Figure 1e As shown, when the vehicle is extending or retracting, encounters an obstacle, receives an emergency stop command, or stops due to motor torque exceeding a preset torque, the traveling wheels and the telescopic gear simultaneously stop. When the vehicle is resetting, the push drive motor can determine the current position of the telescopic gear using an absolute position detection mode and feed back the current position to the PLC controller. If the telescopic gear's current position is at the preset end position during resetting, the vehicle can be reset to the retracted state. Specifically, the PLC controller sends a retract command to the push drive motor, causing the telescopic gear to retract inward and move in conjunction with the traveling wheels, moving the traveling wheels inward, thereby retracting the vehicle. If the telescopic gear's current position is at the preset initial position during resetting, the vehicle can be reset to the extended state. Specifically, the PLC controller sends an extend command to the push drive motor, causing the telescopic gear to extend outward and move in conjunction with the traveling wheels, moving the traveling wheels outward, thereby extending the vehicle. If the telescopic gear's current position is neither at the preset initial position nor at the preset end position during resetting, the vehicle can be reset to either the retracted or extended state.

[0049] In the technical solution of the embodiment of the present invention, the vehicle includes running wheels and telescopic gears. The running wheels rotate longitudinally to drive the vehicle to move; the telescopic gear rotates transversely to drive the vehicle to extend and retract transversely. By judging whether the vehicle meets the expansion and extension conditions and / or contraction conditions based on the current position, preset initial position, and preset end position of the telescopic gear; according to the judgment result and the extension and retraction instructions of the vehicle, the running wheels and the telescopic gear of the vehicle are controlled to move jointly to extend and retract the vehicle, thereby solving the problem of vehicle extension and retraction. Through the cooperation of the running wheels running in the vertical direction and the telescopic gear running in the horizontal direction, the extension and retraction of the vehicle can be realized, so that the vehicle can be driven in multi-sized spaces.

[0050] Embodiment Two

[0051] Figure 2a is a flow chart of a wheel cooperative control method during vehicle expansion and contraction according to Embodiment Two of the present application. This embodiment is a further refinement of the above technical solution, and the technical solution in this embodiment can be combined with each optional solution in one or more of the above embodiments. As shown in the figure, the method comprises: Figure 2a

[0052] Step 310: determining whether the vehicle meets the expansion and extension condition and / or the contraction condition according to the current position of the expansion and contraction gear, the preset initial position, and the preset end position.

[0053] Optionally, determining whether the vehicle meets the expansion and extension condition and / or the contraction condition according to the current position of the expansion and contraction gear, the preset initial position, and the preset end position comprises: determining that the vehicle meets the expansion and extension condition when the current position of the expansion and contraction gear is the preset initial position; determining that the vehicle meets the contraction condition when the current position of the expansion and contraction gear is the preset end position; and determining that the vehicle meets the expansion and extension condition and the contraction condition when the current position of the expansion and contraction gear is between the preset initial position and the preset end position.

[0054] Optionally, before determining whether the vehicle meets the expansion and extension condition and / or the contraction condition according to the current position of the expansion and contraction gear, the preset initial position, and the preset end position, the method further comprises: determining the current position of the expansion and contraction gear according to the rotation direction, rotation time, and movement speed of the expansion and contraction gear.

[0055] Optionally, after determining the current position of the expansion and contraction gear, it can be determined whether the vehicle can be expanded and contracted, and the running wheels and the expansion and contraction gear of the vehicle are controlled to jointly move according to the determination result and the expansion and contraction instruction of the vehicle, so as to expand and contract the vehicle. Specifically, when it is determined that the vehicle meets the expansion and extension condition, the expansion and contraction gear of the vehicle is controlled to rotate in the transverse direction to drive the vehicle to expand and extend in the transverse direction according to the expansion and extension instruction of the vehicle; the running wheels are linked according to the transverse rotation of the expansion and contraction gear; when it is determined that the vehicle meets the contraction condition, the expansion and contraction gear of the vehicle is controlled to rotate in the transverse direction to drive the vehicle to contract in the transverse direction according to the contraction instruction of the vehicle; and the running wheels are linked according to the transverse rotation of the expansion and contraction gear. The expansion and contraction gear and the running wheels of the vehicle can jointly move according to the following flow.

[0056] Step 320: determining the first movement speed and the first movement direction of the expansion and contraction gear of the vehicle according to the determination result and the expansion and contraction instruction of the vehicle.

[0057] ​Specifically, if the vehicle meets the extension condition and the telescopic command is an extension command, the first movement direction of the telescopic gear of the vehicle is determined to be extension toward the outside of the vehicle. If the vehicle meets the retraction condition and the telescopic command is a retraction command, the first movement direction of the telescopic gear of the vehicle is determined to be retraction toward the inside of the vehicle. During vehicle retraction, the first movement speed can be set according to the vehicle's retraction requirements.

[0058] Step 330: Determine the second movement direction of the vehicle's driving wheels based on the judgment result, the vehicle's extension and retraction instruction, and the vehicle structure.

[0059] Figure 2b The structural relationship between the telescopic gear and the running wheels of the vehicle is shown in FIG. Figure 2b In the illustrated vehicle structure, when the telescopic gear 220 expands outward, the traveling wheels 210 rotate forward, moving outward from the vehicle's sides. When the telescopic gear retracts inward, the traveling wheels rotate counterclockwise, moving inward from the vehicle. In other words, if the vehicle meets the extension conditions and receives an extension command, the first direction of movement of the telescopic gear is toward the vehicle's exterior, while the second direction of movement of the traveling wheels is forward. If the vehicle meets the retraction conditions and receives a retraction command, the first direction of movement of the telescopic gear is toward the vehicle's interior, while the second direction of movement of the traveling wheels is counterclockwise.

[0060] Step 340: Determine a second movement speed of the vehicle's traveling wheels according to the first movement speed of the telescopic gear.

[0061] like Figure 2b As shown, the telescopic gear can be a different size than the traveling wheel. When the telescopic gear and the traveling wheel move in conjunction, the horizontal and vertical wheels can be kept in sync, achieving coordinated speed regulation of both. In other words, the second speed of the vehicle's traveling wheels can be determined based on the first speed of the telescopic gear, preventing poor coordination between the two wheels, which could cause ground grinding or motor stalling.

[0062] Optionally, the second movement speed of the vehicle's traveling wheels is determined based on the first movement speed of the telescopic gear, including: when the telescopic gear rotates at the first movement speed and the traveling wheels rotate at the second movement speed, the telescopic gear and the traveling wheels maintain the same running linear speed.

[0063] Specifically, assuming that the second movement speed of the traveling wheel is set to X revolutions per minute (rad / min), the second movement speed of the traveling wheel is determined by the formula: circumference of the telescopic gear × first movement speed of the telescopic gear = X × circumference of the traveling wheel.

[0064] Step 350, simultaneously control the running wheels and the telescopic gears of the vehicle to move according to the first speed, the first direction, the second speed and the second direction.

[0065] The speed of the running wheels of the vehicle can be changed in linkage with the speed change of the telescopic gears, and the direction of the running wheels of the vehicle can be changed in linkage with the direction change of the telescopic gears. That is, the linkage speed adjustment of the running wheels and the telescopic gears can be realized in the same time of synchronous operation, so as to achieve the purpose of synchronous and cooperative operation, and the situation of dragging and wheel grinding on the ground during the expansion or contraction of the ground can be avoided.

[0066] As shown in Figure 1b , on the basis of the above embodiment, the front end and the rear end of the vehicle are provided with connecting devices, and at least two vehicles are connected in front and back through the connecting devices; in the multiple vehicles connected in front and back, the telescopic gears located on the left side of the vehicle are controlled in the same way, and the running wheels located on the left side of the vehicle are moved in linkage with the corresponding telescopic gears; in the multiple vehicles connected in front and back, the telescopic gears located on the right side of the vehicle are controlled in the same way, and the running wheels located on the right side of the vehicle are moved in linkage with the corresponding telescopic gears.

[0067] As shown in Figure 1b , in one AGV, at least four running wheels and four telescopic gears can be included. As shown in Figure 2b , the running wheels and the telescopic gears are different in size and rotate in different directions, the running wheels rotate outward in the vertical direction, and the telescopic gears rotate and lift in the horizontal direction, and through the cooperation of the speed and direction of the two, the joint movement at the same frequency can be realized, and the situation of grinding or motor blocking can be avoided. As shown in Figure 1b , multiple AGVs can be spliced in front and back, the same type of wheels on the same side of the vehicle are controlled in the same way during the expansion or contraction of the vehicle, the free telescoping of the vehicle in the horizontal and vertical directions can be realized, and the purpose of free driving in multiple size spaces can be achieved. The connecting devices provided at the front end and the rear end of the vehicle can be electromagnets. When the electromagnets are powered on, multiple AGVs can be spliced in the vertical direction, and when the electromagnets are powered off, multiple AGVs can be disconnected.

[0068] The technical scheme of the embodiment of the present application is characterized in that the vehicle comprises running wheels and a telescopic gear, the running wheels rotate along the longitudinal direction to drive the vehicle to move and run, and the telescopic gear rotates along the transverse direction to drive the vehicle to expand and contract along the transverse direction. Whether the vehicle satisfies the expansion and extension condition and / or the contraction condition is judged according to the current position of the telescopic gear, the preset initial position and the preset terminal position. The first movement speed and the first movement direction of the telescopic gear of the vehicle are determined according to the judgment result and the telescopic instruction of the vehicle. The second movement direction of the running wheels of the vehicle is determined according to the judgment result, the telescopic instruction of the vehicle and the structure of the vehicle. The second movement speed of the running wheels of the vehicle is determined according to the first movement speed of the telescopic gear. The running wheels and the telescopic gear of the vehicle are simultaneously controlled to move jointly according to the first movement speed, the first movement direction, the second movement speed and the second movement direction, so as to expand and contract the vehicle. The problem of expanding and contracting the vehicle is solved. The vehicle can expand and contract through the cooperation of the running wheels and the telescopic gear, so that the vehicle can run in a multi-size space. The problem of grinding the ground or motor locked-rotor caused by poor cooperation of wheels of different sizes when running in different directions is avoided.

[0069] Embodiment three

[0070] Figure 3 Fig. 1 is a structural schematic diagram of a wheel cooperative control device when a vehicle expands and contracts according to the embodiment three of the present application. The vehicle comprises running wheels and a telescopic gear. The running wheels rotate along the longitudinal direction to drive the vehicle to move and run. The telescopic gear rotates along the transverse direction to drive the vehicle to expand and contract along the transverse direction. Figure 3 As shown in the figure, the device comprises a condition judging module 510 and a telescopic control module 520. Wherein:

[0071] The condition judging module 510 is used for judging whether the vehicle satisfies the expansion and extension condition and / or the contraction condition according to the current position of the telescopic gear, the preset initial position and the preset terminal position.

[0072] The telescopic control module 520 is used for controlling the running wheels and the telescopic gear of the vehicle to move jointly according to the judgment result and the telescopic instruction of the vehicle, so as to expand and contract the vehicle.

[0073] Optionally, the telescopic control module 520 comprises:

[0074] A telescopic gear control unit is used for determining the first movement speed and the first movement direction of the telescopic gear of the vehicle according to the judgment result and the telescopic instruction of the vehicle.

[0075] A running wheel first control unit is used for determining the second movement direction of the running wheels of the vehicle according to the judgment result, the telescopic instruction of the vehicle and the structure of the vehicle.

[0076] The traveling wheel second control unit is configured to determine a second movement speed of the traveling wheel of the vehicle according to the first movement speed of the telescopic gear.

[0077] The wheel joint control unit is configured to control the traveling wheel and the telescopic gear to jointly move according to the first movement speed, the first movement direction, the second movement speed, and the second movement direction, so as to expand or contract the vehicle.

[0078] Optionally, the traveling wheel second control unit is specifically configured to keep the same running linear speed of the telescopic gear and the traveling wheel when the telescopic gear rotates at the first movement speed and the traveling wheel rotates at the second movement speed.

[0079] Optionally, the condition judging module 510 comprises:

[0080] The first condition judging unit is configured to determine that the vehicle satisfies the expansion condition when the current position of the telescopic gear is the preset initial position.

[0081] The second condition judging unit is configured to determine that the vehicle satisfies the contraction condition when the current position of the telescopic gear is the preset terminal position.

[0082] The third condition judging unit is configured to determine that the vehicle satisfies the expansion condition and the contraction condition when the current position of the telescopic gear is between the preset initial position and the preset terminal position.

[0083] Optionally, the telescopic control module 520 comprises:

[0084] The expansion control unit is configured to control the telescopic gear of the vehicle to rotate in the lateral direction to drive the vehicle to expand in the lateral direction according to the expansion instruction of the vehicle when it is determined that the vehicle satisfies the expansion condition, and to control the traveling wheel to move according to the lateral rotation of the telescopic gear.

[0085] The contraction control unit is configured to control the telescopic gear of the vehicle to rotate in the lateral direction to drive the vehicle to contract in the lateral direction according to the contraction instruction of the vehicle when it is determined that the vehicle satisfies the contraction condition, and to control the traveling wheel to move according to the lateral rotation of the telescopic gear.

[0086] Optionally, the device further comprises:

[0087] The telescopic gear position determining module is configured to determine the current position of the telescopic gear according to the rotation direction, the rotation time, and the movement speed of the telescopic gear before judging whether the vehicle satisfies the expansion condition and / or the contraction condition according to the current position of the telescopic gear, the preset initial position, and the preset terminal position.

[0088] Optionally, the front end and the rear end of the vehicle are provided with connecting devices, and at least two vehicles are connected in front and back through the connecting devices.

[0089] The device further comprises:

[0090] The left control module is configured to control the same retractable gears on the left side of the vehicle in the same way, and the driving wheels on the left side of the vehicle are jointly moved according to the corresponding retractable gears.

[0091] The right control module is configured to control the same retractable gears on the right side of the vehicle in the same way, and the driving wheels on the right side of the vehicle are jointly moved according to the corresponding retractable gears.

[0092] The vehicle wheel coordination control device provided by the embodiment of the application can execute the vehicle wheel coordination control method provided by any embodiment of the application, and has the corresponding function modules and beneficial effects of the execution method.

[0093] Embodiment four

[0094] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the applications described and / or claimed in this document.

[0095] As shown in Figure 4 The electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which are communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0096] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0097] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the wheel coordination control method during vehicle extension and retraction.

[0098] In some embodiments, the wheel coordination control method during vehicle extension and retraction can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the wheel coordination control method during vehicle extension and retraction described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the wheel coordination control method during vehicle extension and retraction by any other appropriate means, such as by means of firmware.

[0099] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0100] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, enables the functions / acts specified in the flowcharts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package and partially on a remote machine or entirely on a remote machine or server.

[0101] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0102] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0103] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0104] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0105] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in series, or executed in different orders, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0106] The specific implementation described above does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for cooperatively controlling wheels during vehicle extension and retraction, characterized in that: The vehicle comprises running wheels and telescopic gears, and the running wheels rotate in the longitudinal direction to drive the vehicle to move; The telescopic gear rotates in the lateral direction to drive the vehicle to telescope in the lateral direction. The method includes: Determining whether the vehicle meets an extension condition and / or a contraction condition based on the current position, the preset initial position, and the preset end position of the telescopic gear; According to the judgment result and the extension and retraction instruction of the vehicle, the vehicle's running wheels and the retractable gear are controlled to move jointly to retract the vehicle.

2. The method according to claim 1, characterized in that According to the judgment result and the extension and retraction instruction of the vehicle, the vehicle's driving wheels and the retractable gear are controlled to move in conjunction to retract the vehicle, including: Determining a first movement speed and a first movement direction of the telescopic gear of the vehicle according to the judgment result and the telescopic instruction of the vehicle; determining a second movement direction of the vehicle's traveling wheels based on the judgment result, the vehicle's extension and retraction instruction, and the vehicle structure; determining a second movement speed of the vehicle's traveling wheels according to the first movement speed of the telescopic gear; According to the first movement speed, the first movement direction, the second movement speed, and the second movement direction, the vehicle's traveling wheels and the telescopic gear are simultaneously controlled to move in conjunction to telescope the vehicle.

3. The method according to claim 2, characterized in that Determining a second movement speed of a traveling wheel of a vehicle according to the first movement speed of the telescopic gear comprises: When the telescopic gear rotates at the first speed and the traveling wheel rotates at the second speed, the telescopic gear and the traveling wheel maintain the same running linear speed.

4. The method according to claim 1, wherein Determining whether the vehicle meets an extension condition and / or a contraction condition based on the current position, the preset initial position, and the preset end position of the telescopic gear includes: When the current position of the telescopic gear is a preset initial position, determining that the vehicle meets the extension condition; When the current position of the telescopic gear is a preset end position, determining that the vehicle meets the retraction condition; When the current position of the telescopic gear is between a preset initial position and a preset end position, it is determined that the vehicle meets the expansion and extension condition and the contraction condition.

5. The method according to claim 4, characterized in that According to the judgment result and the extension and retraction instruction of the vehicle, the vehicle's driving wheels and the retractable gear are controlled to move in conjunction to retract the vehicle, including: When it is determined that the vehicle meets the extension conditions, according to the extension instruction of the vehicle, the telescopic gear of the vehicle is controlled to rotate in the lateral direction to drive the vehicle to extend in the lateral direction; according to the lateral rotation of the telescopic gear, the driving wheels are linked; When it is determined that the vehicle meets the retraction conditions, the telescopic gear of the vehicle is controlled to rotate laterally according to the retraction instruction of the vehicle to drive the vehicle to retract laterally; according to the lateral rotation of the telescopic gear, the driving wheels are linked.

6. The method according to claim 1, wherein Before determining whether the vehicle meets the extension condition and / or the contraction condition based on the current position, the preset initial position, and the preset end position of the telescopic gear, the method further includes: The current position of the telescopic gear is determined according to the rotation direction, rotation time and movement speed of the telescopic gear.

7. The method according to claim 1, characterized in that Connecting devices are provided at the front and rear ends of the vehicles, and at least two vehicles are connected front to back through the connecting devices; In a plurality of vehicles connected in a front-to-rear manner, the telescopic gears on the left side of the vehicles adopt the same control method, and the running wheels on the left side of the vehicles move in conjunction with the corresponding telescopic gears; In a plurality of vehicles connected front to back, the telescopic gears located on the right side of the vehicles adopt the same control method, and the running wheels located on the right side of the vehicles perform joint movement according to the corresponding telescopic gears.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for coordinated control of wheels during extension and retraction of a vehicle according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for coordinated control of wheels during extension and retraction of a vehicle according to any one of claims 1 to 7 when executed.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method for coordinated control of wheels during extension and retraction of a vehicle according to any one of claims 1 to 7.

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