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

Abstract

Embodiments of the present application disclose a wheel cooperative control method and device during extension and retraction of a vehicle, a medium and a product. The vehicle comprises driving wheels and an extension gear. The driving wheels rotate along a longitudinal direction to drive the vehicle to move. The extension gear rotates along a transverse direction to drive the vehicle to extend and retract along the transverse direction. The method comprises judging whether the vehicle satisfies an extension condition and / or a retraction condition according to a current position of the extension gear, a preset initial position and a preset end position; and controlling the driving wheels and the extension gear to jointly move according to a judgment result and an extension / retraction instruction of the vehicle, so as to extend and retract the vehicle. The driving wheels and the extension gear are matched in the vehicle, so that the vehicle can be extended and retracted, and the vehicle can move in various space scenes.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment technology, and in particular to a method, device, medium, and product for coordinated wheel control during vehicle extension and retraction. Background Technology

[0002] Vehicles typically have fixed dimensions, which hinders their movement in confined spaces. Current technology offers little research on scalable vehicles, and there are no methods for coordinated wheel control when vehicle dimensions expand or contract.

[0003] In order to enable the vehicle to travel in different spaces, the inventor added telescopic gears to the vehicle and achieved the extension and retraction of the vehicle by jointly controlling the driving wheels and the telescopic gears. Summary of the Invention

[0004] This invention provides a method, device, medium, and product for coordinated wheel control during vehicle extension and retraction, enabling the vehicle to travel in various spaces through extension and retraction.

[0005] According to one aspect of the present invention, a wheel coordination control method for a vehicle during extension and retraction is provided, the vehicle including driving wheels and extension gears, the driving wheels rotating longitudinally to drive the vehicle to move; the extension gears rotating laterally to drive the vehicle to extend and retract laterally, the method comprising:

[0006] Based on the current position, preset initial position, and preset end position of the telescopic gear, determine whether the vehicle meets the expansion and / or retraction conditions.

[0007] Based on the judgment result and the vehicle's extension / retraction command, the vehicle's driving wheels and extension / retraction gears are controlled to move in combination to extend or retract the vehicle.

[0008] According to another aspect of the present invention, a wheel coordination control device for vehicle extension and retraction is provided, the vehicle including driving wheels and extension gears, the driving wheels rotating longitudinally to drive the vehicle to move; the extension gears rotating laterally to drive the vehicle to extend and retract laterally, the device comprising:

[0009] The condition judgment module is used to determine whether the vehicle meets the extension and / or retraction conditions based on the current position, preset initial position, and preset end position of the telescopic gear.

[0010] The telescopic control module is used to control the combined movement of the vehicle's driving wheels and telescopic gears based on the judgment result and the vehicle's telescopic command, so as to telescopically extend or retract the vehicle.

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

[0012] At least one processor; and

[0013] A memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the wheel coordination control method for vehicle extension and retraction as described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the wheel coordination control method for vehicle extension and retraction as described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the wheel coordination control method for vehicle extension and retraction as described in any embodiment of the present invention.

[0017] In the technical solution of this invention embodiment, the vehicle includes driving wheels and telescopic gears. The driving wheels rotate longitudinally to drive the vehicle to move; the telescopic gears rotate laterally to drive the vehicle to extend and retract laterally. By determining whether the vehicle meets the extension and / or retraction conditions based on the current position, preset initial position, and preset end position of the telescopic gears, the vehicle is controlled to extend and retract. Based on the determination result and the vehicle's extension and retraction command, the driving wheels and telescopic gears are controlled to move together to extend and retract the vehicle, thus solving the problem of vehicle extension and retraction. Through the cooperation of the driving wheels and the telescopic gears, the extension and retraction of the vehicle can be realized, enabling the vehicle to travel in spaces of multiple sizes.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1a This is a flowchart of a wheel coordination control method for vehicle extension and retraction according to Embodiment 1 of the present invention;

[0021] Figure 1b An example is a schematic diagram of a vehicle structure;

[0022] Figure 1c This illustrates a wheel coordination control process during vehicle extension.

[0023] Figure 1d This illustrates a wheel coordination control process during vehicle retraction;

[0024] Figure 1e A wheel coordination control process is shown when a vehicle stops or encounters a malfunction midway.

[0025] Figure 2a This is a flowchart of a wheel coordination control method for vehicle extension and retraction according to Embodiment 2 of the present invention;

[0026] Figure 2b The structural relationship between the vehicle's telescopic gears and the driving wheels is shown;

[0027] Figure 3 This is a schematic diagram of a wheel coordination control device for vehicle extension and retraction according to Embodiment 3 of the present invention;

[0028] Figure 4 A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1a This is a flowchart of a wheel coordination control method for vehicle extension and retraction according to Embodiment 1 of the present invention. This embodiment is applicable to situations where the vehicle body size changes when the vehicle is traveling in different spaces. The method can be executed by a wheel coordination control device for vehicle extension and retraction. The wheel coordination control device for vehicle extension and retraction can be implemented in hardware and / or software. The wheel coordination control device for vehicle extension and retraction can be configured in an electronic device, which can be a vehicle controller or a driver, etc.

[0033] Figure 1b An example is a schematic diagram of a vehicle structure. For example... Figure 1b As shown, vehicle 200 includes driving wheels 210 and telescopic gears 220. The driving wheels rotate longitudinally to move the vehicle; the telescopic gears rotate laterally to extend or retract the vehicle laterally. The vehicle can be an Automated Guided Vehicle (AGV). The driving wheels can be casters, such as Mecanum wheels. The driving wheels can rotate longitudinally to move the vehicle left, right, straight, stop, forward, or backward. The telescopic gears can rotate laterally to extend or retract a rack mounted laterally within the vehicle, enabling the vehicle to move through various spatial dimensions.

[0034] like Figure 1a As shown, the method includes:

[0035] Step 110: Based on the current position of the telescopic gear, the preset initial position, and the preset end position, determine whether the vehicle meets the extension and / or retraction conditions.

[0036] In a vehicle, the length of the rack mounted laterally determines the vehicle's extendable or retractable dimensions. Based on this dimension, the preset initial and preset end positions of the telescopic gear can be determined. The preset initial position is where the telescopic gear is located when the vehicle is retracted to its minimum size. The preset end position is where the telescopic gear is located when the vehicle is extended to its maximum size. Based on the current position of the telescopic gear, the preset initial position, and the preset end position, it can be determined whether the vehicle can continue to extend or retract.

[0037] The current position of the telescopic gear can be determined in several ways. For example, a position sensor can be installed on the vehicle to detect the position of the telescopic gear. Alternatively, the push drive motor used by the telescopic gear can be set to detect absolute position values ​​to control the position of the telescopic gear.

[0038] Optionally, before determining whether the vehicle meets the extension and / or retraction conditions based on the current position, preset initial position, and preset end position of the telescopic gear, the method further includes: determining the current position of the telescopic gear based on the rotation direction, rotation time, and movement speed of the telescopic gear.

[0039] The push-out drive motor can determine the rotation direction, rotation time, and speed of the telescopic gear through absolute position numerical detection. Through pre-calibrated experiments, the distance traveled in one rotation of the telescopic gear can be determined. Therefore, based on the rotation direction, rotation time, and speed, the number of rotations of the telescopic gear in the extension or retraction direction can be determined, and its current position can be determined based on the number of rotations. The current position of the telescopic gear can then be used to determine whether the vehicle meets the extension and / or retraction conditions, thus allowing the vehicle to extend or retract accordingly.

[0040] Optionally, based on the current position of the telescopic gear, the preset initial position, and the preset end position, it is determined whether the vehicle meets the expansion and / or retraction conditions, including: when the current position of the telescopic gear is the preset initial position, it is determined that the vehicle meets the expansion and extension conditions; when the current position of the telescopic gear is the preset end position, it is determined that the vehicle meets the retraction conditions; when the current position of the telescopic gear is between the preset initial position and the preset end position, it is determined that the vehicle meets both the expansion and extension conditions and the retraction conditions.

[0041] When a vehicle meets the conditions for expansion, it can be expanded; when a vehicle meets the conditions for contraction, it can be contracted.

[0042] Step 120: Based on the judgment result and the vehicle's extension / retraction command, control the combined movement of the vehicle's driving wheels and extension / retraction gears to extend / retract the vehicle.

[0043] The telescopic command can be either an extension command or a retraction command. The driving wheels can be connected to the telescopic gear. When the telescopic gear extends, the driving wheels can move outwards to both sides of the vehicle synchronously, thus extending the vehicle; when the telescopic gear retracts, the driving wheels can move inwards to both sides of the vehicle synchronously, thus retracting the vehicle.

[0044] Optionally, based on the judgment result and the vehicle's extension / retraction command, the vehicle's driving wheels and extension / retraction gear are controlled to move in conjunction to extend / retract the vehicle, including: when it is determined that the vehicle meets the extension / retraction conditions, according to the vehicle's extension / retraction command, controlling the vehicle's extension / retraction gear to rotate laterally to drive the vehicle to extend / retract laterally; and according to the lateral rotation of the extension / retraction gear, the driving wheels are linked; when it is determined that the vehicle meets the retraction conditions, according to the vehicle's retraction command, controlling the vehicle's extension / retraction gear to rotate laterally to drive the vehicle to retract laterally; and according to the lateral rotation of the extension / retraction gear, the driving wheels are linked.

[0045] Figure 1c A wheel coordination control process is illustrated when a vehicle is extended. For example... Figure 1c As shown, the vehicle's push-out drive motor can be set to absolute position value detection mode, and the vehicle's driving wheel drive motors can be set to speed mode. Both the push-out drive motor and the driving wheel drive motor can communicate with a vehicle controller such as a Programmable Logic Controller (PLC). The PLC controller can send origin mode settings to the push-out drive motor, setting the motor's control word and marking the preset initial position. When the current position of the telescopic gear is the preset initial position, or when the current position of the telescopic gear is between the preset initial position and the preset end position, and the telescopic command sent by the PLC is an extension command, then the telescopic gear and the driving wheel are enabled. Specifically, speed values ​​can be assigned to the telescopic gear and the driving wheel, causing them to move outward synchronously and collaboratively. The rack pushes outward, and the driving wheel extends and rotates to both sides of the vehicle, achieving the vehicle's extension. When the vehicle's extension dimension reaches the dimension specified by the extension command, such as when the current position of the telescopic gear is the preset end position, the push-out drive motor and the driving wheel are controlled to stop rotating synchronously.

[0046] In the above-mentioned extension, if the extension dimension of a single telescopic gear does not reach the dimension specified in the extension instruction, the extension dimension of that telescopic gear can be supplemented individually so that the extension dimensions of all telescopic gears in the vehicle are the same, thus meeting the dimension requirements specified in the extension instruction.

[0047] Figure 1d A wheel-coordinated control process during vehicle retraction is illustrated. For example... Figure 1dAs shown, the push-extension drive motor can determine the current position of the telescopic gear through absolute position detection mode and feed the current position back 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 retraction commands to the push-extension drive motor and the travel drive motor. The push-extension drive motor and the travel drive motor can respectively assign speed values ​​to the telescopic gear and the travel wheels. Through the combined movement of the telescopic gear and the travel wheels, the telescopic gear begins to retract inward, and the travel wheels begin to move inward towards the inside of the vehicle, thus achieving vehicle retraction. When the vehicle retracts to the size specified by the retraction command, if the current position of the telescopic gear is the preset initial position, both the telescopic gear and the travel wheels stop running simultaneously.

[0048] Figure 1e This illustrates a wheel coordination control process when a vehicle stops mid-journey or encounters a malfunction. For example... Figure 1e As shown, when the vehicle extends or retracts, if it encounters an obstacle, receives an emergency stop command, or the motor torque exceeds a preset torque causing it to stop, both the driving wheels and the telescopic gear stop simultaneously. When the vehicle resets, the push-extension drive motor can determine the current position of the telescopic gear through absolute position detection mode and feed it back to the PLC controller. If the current position of the telescopic gear is the preset end position when the vehicle resets, the vehicle can reset to the retracted state. That is, the PLC controller sends a retraction command to the push-extension drive motor, causing the vehicle to retract the telescopic gear inwards and coordinate with the driving wheels, moving the driving wheels inwards to retract the vehicle. If the current position of the telescopic gear is the preset initial position when the vehicle resets, the vehicle can reset to the extended state. That is, the PLC controller sends an extended command to the push-extension drive motor, causing the vehicle to extend the telescopic gear outwards and coordinate with the driving wheels, moving the driving wheels outwards to extend the vehicle. If the current position of the telescopic gear is neither the preset initial position nor the preset end position when the vehicle resets, the vehicle can reset to either the retracted state or the extended state.

[0049] In the technical solution of this invention embodiment, the vehicle includes driving wheels and telescopic gears. The driving wheels rotate longitudinally to drive the vehicle to move; the telescopic gears rotate laterally to drive the vehicle to extend and retract laterally. By determining whether the vehicle meets the extension and / or retraction conditions based on the current position of the telescopic gears, a preset initial position, and a preset end position, the vehicle is controlled to extend and retract. Based on the determination result and the vehicle's extension and retraction command, the driving wheels and telescopic gears are controlled to move in combination to extend and retract the vehicle, thus solving the problem of vehicle extension and retraction. Through the cooperation of the vertically moving driving wheels and the horizontally moving telescopic gears, the extension and retraction of the vehicle can be realized, enabling the vehicle to travel in spaces of multiple sizes.

[0050] Example 2

[0051] Figure 2a This is a flowchart of a wheel coordination control method for vehicle extension and retraction according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution, and the technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 2a As shown, the method includes:

[0052] Step 310: Based on the current position of the telescopic gear, the preset initial position, and the preset end position, determine whether the vehicle meets the extension and / or retraction conditions.

[0053] Optionally, based on the current position of the telescopic gear, the preset initial position, and the preset end position, it is determined whether the vehicle meets the expansion and / or retraction conditions, including: when the current position of the telescopic gear is the preset initial position, it is determined that the vehicle meets the expansion and extension conditions; when the current position of the telescopic gear is the preset end position, it is determined that the vehicle meets the retraction conditions; when the current position of the telescopic gear is between the preset initial position and the preset end position, it is determined that the vehicle meets both the expansion and extension conditions and the retraction conditions.

[0054] Optionally, before determining whether the vehicle meets the extension and / or retraction conditions based on the current position, preset initial position, and preset end position of the telescopic gear, the method further includes: determining the current position of the telescopic gear based on the rotation direction, rotation time, and movement speed of the telescopic gear.

[0055] Optionally, after determining the current position of the telescopic gear, it can be determined whether the vehicle can extend or retract. Based on the determination result and the vehicle's extension / retraction command, the vehicle's driving wheels and the telescopic gear are controlled to move in tandem to extend or retract the vehicle. Specifically, when it is determined that the vehicle meets the extension / retraction conditions, the vehicle's telescopic gear is controlled to rotate laterally according to the extension / retraction command, causing the vehicle to extend laterally; the driving wheels are also activated by the lateral rotation of the telescopic gear. When it is determined that the vehicle meets the retraction conditions, the vehicle's telescopic gear is controlled to rotate laterally according to the retraction command, causing the vehicle to retract laterally; the driving wheels are also activated by the lateral rotation of the telescopic gear. The vehicle's telescopic gear and driving wheels can move in tandem according to the following process.

[0056] Step 320: Based on the judgment result and the vehicle's telescopic command, determine the first speed and first direction of movement of the vehicle's telescopic gear.

[0057] Specifically, when the judgment result indicates that the vehicle meets the extension conditions and the extension / retraction command is an extension / retraction command, the first direction of movement of the vehicle's extension / retraction gear is determined to be extending outwards from the vehicle. When the judgment result indicates that the vehicle meets the retraction conditions and the extension / retraction command is a retraction command, the first direction of movement of the vehicle's extension / retraction gear is determined to be retracting inwards from the vehicle. The first movement speed during vehicle extension / retraction can be set according to the vehicle's extension / retraction requirements.

[0058] Step 330: Based on the judgment result, the vehicle's extension and retraction command, and the vehicle structure, determine the second direction of motion of the vehicle's driving wheels.

[0059] Figure 2b The structural relationship between the vehicle's telescopic gears and the traveling wheels is shown. (In...) Figure 2b In the vehicle structure shown, when the telescopic gear 220 extends outward, the driving wheels 210 rotate clockwise to move outward to both sides of the vehicle; when the telescopic gear retracts inward, the driving wheels rotate counterclockwise to move inward to the inside of the vehicle. That is, when the vehicle meets the extension conditions and receives an extension command, the first direction of movement of the telescopic gear is to extend outward, and the second direction of movement of the driving wheels is clockwise. When the vehicle meets the retraction conditions and receives a retraction command, the first direction of movement of the telescopic gear is to retract inward, and the second direction of movement of the driving wheels is counterclockwise.

[0060] Step 340: Determine the second speed of the vehicle's wheels based on the first speed of the telescopic gear.

[0061] like Figure 2b As shown, the telescopic gear can be a wheel of a different size than the driving wheel. When the telescopic gear and the driving wheel move together, the horizontal and vertical wheels can coordinate at the same frequency, achieving joint speed regulation. That is, the second speed of the vehicle's driving wheel can be determined based on the first speed of the telescopic gear, avoiding poor wheel coordination that could lead to ground rubbing or motor stalling.

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

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

[0064] Step 350: Based on the first speed, the first direction of motion, the second speed, and the second direction of motion, simultaneously control the movement of the vehicle's wheels and the telescopic gear to extend and retract the vehicle.

[0065] The speed of the vehicle's wheels can change in tandem with the speed of the telescopic gears, and the direction of the vehicle's wheels can also change in tandem with the direction of the telescopic gears. This allows for synchronized speed regulation of the wheels and the telescopic gears during synchronous operation, achieving coordinated movement without any interference or wheel rubbing against the ground when the ground expands or contracts.

[0066] like Figure 1b As shown, based on the above embodiments, optionally, connecting devices are provided at the front and rear ends of the vehicle to connect at least two vehicles in the front and rear. In the multiple vehicles connected in the front and rear, the telescopic gears located on the left side of the vehicle adopt the same control method, and the driving wheels located on the left side of the vehicle move in conjunction with the corresponding telescopic gears. In the multiple vehicles connected in the front and rear, the telescopic gears located on the right side of the vehicle adopt the same control method, and the driving wheels located on the right side of the vehicle move in conjunction with the corresponding telescopic gears.

[0067] like Figure 1b As shown, an AGV (Automated Guided Vehicle) can include at least four driving wheels and four telescopic gears. For example... Figure 2b As shown, the driving wheels and the telescopic gear are of different sizes and rotate simultaneously in different directions. The driving wheels rotate forward and backward outward in the vertical direction, while the telescopic gear rotates and pushes upward in the horizontal direction. Through the coordination of their speeds and directions, they can move together at the same frequency, avoiding ground rubbing or motor stalling. Figure 1b As shown, multiple AGVs can be spliced ​​together front to back. When the vehicle expands or contracts, the same type of wheels on the same side are controlled in the same way, enabling free lateral and longitudinal extension and retraction, allowing for free movement in spaces of various sizes. The connecting devices at the front and rear of the vehicle can be electromagnets. When energized, multiple AGVs can be spliced ​​vertically; when de-energized, they can be disconnected.

[0068] In the technical solution of this invention embodiment, the vehicle includes driving wheels and a telescopic gear. The driving wheels rotate longitudinally to drive the vehicle to move; the telescopic gear rotates laterally to extend and retract the vehicle laterally. Based on the current position, preset initial position, and preset end position of the telescopic gear, it is determined whether the vehicle meets the conditions for extension and / or retraction. Based on the determination result and the vehicle's extension / retraction command, a first speed and a first direction of motion of the vehicle's telescopic gear are determined. Based on the determination result, the vehicle's extension / retraction command, and the vehicle structure, a second direction of motion of the driving wheels is determined. Based on the first speed of motion of the telescopic gear, a second speed of motion of the driving wheels is determined. Based on the first speed, first direction of motion, second speed, and second direction of motion, the driving wheels and the telescopic gear are simultaneously controlled to move in unison to extend and retract the vehicle. This solves the problem of vehicle extension and retraction. Through the cooperation of the driving wheels and the telescopic gear, vehicle extension and retraction can be achieved, enabling the vehicle to travel in spaces of multiple sizes. It also avoids the problems of ground abrasion or motor stalling caused by poor coordination when wheels of different sizes rotate in different directions.

[0069] Example 3

[0070] Figure 3 This is a schematic diagram of a wheel coordination control device for vehicle extension and retraction according to Embodiment 3 of the present invention. The vehicle includes driving wheels and a telescopic gear. The driving wheels rotate longitudinally to drive the vehicle to move; the telescopic gear rotates laterally to extend and retract the vehicle laterally. Figure 3 As shown, the device includes: a condition judgment module 510 and a telescopic control module 520. Wherein:

[0071] The condition judgment module 510 is used to determine whether the vehicle meets the extension and / or retraction conditions based on the current position of the telescopic gear, the preset initial position, and the preset end position.

[0072] The telescopic control module 520 is used to control the combined movement of the vehicle's driving wheels and telescopic gears based on the judgment result and the vehicle's telescopic command, so as to telescopically extend the vehicle.

[0073] Optional, the telescopic control module 520 includes:

[0074] The telescopic gear control unit is used to determine the first speed and first direction of movement of the vehicle's telescopic gear based on the judgment result and the vehicle's telescopic command.

[0075] The first control unit for the driving wheels is used to determine the second direction of movement of the driving wheels of the vehicle based on the judgment result, the vehicle's extension and retraction command, and the vehicle structure.

[0076] The second control unit for the traveling wheels is used to determine the second speed of the traveling wheels of the vehicle based on the first speed of the telescopic gear.

[0077] The wheel coordination control unit is used to simultaneously control the movement of the vehicle's driving wheels and telescopic gears in accordance with a first speed, a first direction of movement, a second speed, and a second direction of movement, so as to extend and retract the vehicle.

[0078] Optionally, a second control unit for the traveling wheel is specifically used to ensure that the telescopic gear and the traveling wheel maintain the same linear speed when the telescopic gear rotates at a first speed and the traveling wheel rotates at a second speed.

[0079] Optionally, the condition judgment module 510 includes:

[0080] The first condition judgment unit is used to determine that the vehicle meets the extension conditions when the current position of the telescopic gear is a preset initial position.

[0081] The second condition judgment unit is used to determine that the vehicle meets the retraction condition when the current position of the telescopic gear is the preset end position;

[0082] The third condition judgment unit is used to determine that the vehicle meets the extension and retraction conditions when the current position of the telescopic gear is between the preset initial position and the preset end position.

[0083] Optional, the telescopic control module 520 includes:

[0084] The extension control unit is used to control the vehicle's telescopic gear to rotate laterally and drive the vehicle to extend laterally according to the vehicle's extension command when it is determined that the vehicle meets the extension conditions; and to link the driving wheels according to the lateral rotation of the telescopic gear.

[0085] The retraction control unit is used to control the retraction gear of the vehicle to rotate laterally and retract the vehicle laterally according to the retraction command of the vehicle when it is determined that the vehicle meets the retraction conditions; and to coordinate the driving wheels according to the lateral rotation of the retraction gear.

[0086] Optionally, the device may also include:

[0087] The telescopic gear position determination module is used to determine the current position of the telescopic gear based on its rotation direction, rotation time, and movement speed before determining whether the vehicle meets the extension and / or retraction conditions based on the current position, preset initial position, and preset end position of the telescopic gear.

[0088] Optionally, the front and rear ends of the vehicle are equipped with connecting devices to connect at least two vehicles one after the other.

[0089] The device also includes:

[0090] The left-side control module is used to control the telescopic gears located on the left side of the vehicle in multiple vehicles connected in front and behind, and to coordinate the movement of the driving wheels located on the left side of the vehicle according to the corresponding telescopic gears.

[0091] The right-side control module is used to control the telescopic gears located on the right side of multiple connected vehicles in the same way, and the driving wheels located on the right side of the vehicle move in conjunction with the corresponding telescopic gears.

[0092] The wheel coordination control device for vehicle extension and retraction provided in the embodiments of the present invention can execute the wheel coordination control method for vehicle extension and retraction provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0093] Example 4

[0094] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

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

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

[0097] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of 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 suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as wheel coordination control methods during vehicle extension and retraction.

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

[0099] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0101] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0102] To provide interaction with a user, the systems and techniques described herein 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; 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 sound input, voice input, or tactile input).

[0103] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0104] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0105] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0106] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. 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 substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A wheel coordination control method for vehicle extension and retraction, characterized in that, The vehicle includes driving wheels and telescopic gears, and the driving wheels rotate longitudinally to drive the vehicle to move. The method involves a telescopic gear rotating laterally to cause the vehicle to extend or retract laterally. Based on the current position, preset initial position, and preset end position of the telescopic gear, determine whether the vehicle meets the expansion and / or retraction conditions. Based on the judgment result and the vehicle's extension / retraction command, control the combined movement of the vehicle's driving wheels and extension / retraction gears to extend / retract the vehicle. Specifically, based on the judgment result and the vehicle's extension / retraction command, the vehicle's driving wheels and extension / retraction gears are controlled to move in tandem to extend or retract the vehicle, including: Based on the judgment result and the vehicle's telescopic command, determine the first speed and first direction of movement of the vehicle's telescopic gear. Based on the judgment result, the vehicle's extension and retraction command, and the vehicle structure, determine the second direction of motion of the vehicle's driving wheels; When the telescopic gear rotates at a first speed and the traveling wheel rotates at a second speed, the telescopic gear and the traveling wheel maintain the same linear velocity. The telescopic gear is a wheel of a different size than the traveling wheel, and the traveling wheel is a Mecanum wheel. Based on the first speed, the first direction of motion, the second speed, and the second direction of motion, the vehicle's wheels and telescopic gears are simultaneously controlled to move in a coordinated manner to extend and retract the vehicle.

2. The method according to claim 1, characterized in that, Based on the current position, preset initial position, and preset end position of the telescopic gear, determine whether the vehicle meets the expansion and / or retraction conditions, including: When the current position of the telescopic gear is a preset initial position, it is determined that the vehicle meets the extension conditions; The current position of the telescopic gear is the preset end position, and it is determined 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 contraction conditions.

3. The method according to claim 2, characterized in that, Based on the judgment result and the vehicle's extension / retraction command, control the coordinated movement of the vehicle's driving wheels and extension / retraction gears to extend or retract the vehicle, including: When it is determined that the vehicle meets the conditions for extension, the vehicle's telescopic gear is controlled to rotate laterally according to the vehicle's extension command, thereby driving the vehicle to extend laterally; the driving wheels are linked according to the lateral rotation of the telescopic gear. When the vehicle meets the retraction conditions, the vehicle's telescopic gear is controlled to rotate laterally according to the vehicle's retraction command, causing the vehicle to retract laterally; the driving wheels are then linked according to the lateral rotation of the telescopic gear.

4. The method according to claim 1, characterized in that, Before determining whether the vehicle meets the extension and / or retraction conditions based on the current position, preset initial position, and preset end position of the telescopic gear, the process further includes: The current position of the telescopic gear is determined based on its rotation direction, rotation time, and movement speed.

5. The method according to claim 1, characterized in that, The vehicle is equipped with connecting devices at the front and rear ends, which connect at least two vehicles one after the other. In multiple vehicles connected front and rear, the telescopic gears located on the left side of the vehicle use the same control method, and the driving wheels located on the left side of the vehicle move in conjunction with the corresponding telescopic gears. In a series of vehicles connected one after the other, the telescopic gears located on the right side of the vehicle use the same control method, and the driving wheels located on the right side of the vehicle move in unison according to the corresponding telescopic gears.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the wheel coordination control method for vehicle extension and retraction as described in any one of claims 1-5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the wheel coordination control method for vehicle extension and retraction as described in any one of claims 1-5.

8. A computer program product comprising a computer program that, when executed by a processor, implements the wheel coordination control method for vehicle extension and retraction according to any one of claims 1-5.

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