Rack railway vehicle and rack entry control method thereof

Abstract

The application discloses a rack railway vehicle and a rack entering control method thereof, and relates to the technical field of railway trains. The rack entering control method comprises the following steps: obtaining a driving speed value of the vehicle, controlling the rack wheel of the rack bogie to idle, and adjusting the idle linear speed value of the rack wheel to match the driving speed value of the vehicle; obtaining the attitude feature of the rack wheel and the distance parameter between the rack wheel and the rack, determining the rack entering attitude of the rack wheel according to the attitude feature and the distance parameter, and controlling the rack wheel to mesh with the rack in the rack entering attitude. The application can make the rack wheel of the rack railway vehicle and the rack normally mesh, saves the cost of laying the rack entering device on the rack line, and reduces the construction cost of the rack line.

Description

Technical Field

[0001] This invention relates to the technical field of rail vehicles, and more specifically, to a rack and pinion vehicle and a method for controlling its gear engagement. Background Technology

[0002] A rack railway is a rail transit system that utilizes racks laid in the middle of the track and rack wheels mounted on the vehicles to provide additional traction or braking force on steep slopes. Rack railway vehicles typically possess both adhered bogies (relying on wheel-rail friction for traction) and rack bogies (relying on rack and pinion meshing for traction) to allow switching between gentle and steep sections. When a rack railway vehicle enters a rack railway section from an adhered section, the rack wheels need to precisely mesh with the stationary racks on the ground. If the teeth of the rack wheels do not align with the grooves of the rack teeth, the rack wheels will directly impact the top of the rack, causing tooth breakage, damage to the rack wheels or racks, and even derailment. To ensure proper meshing of the rack wheels and racks during the rack entry process, related technologies incorporate an additional three-stage rack entry device on the rack railway line to assist the rack railway vehicle in entering the rack railway track. However, the complex structure of the tooth-entry device not only increases the construction cost of the rack and pinion track but also requires regular maintenance. Therefore, how to ensure the normal meshing of the rack and pinion wheels of the rack and pinion vehicle without using track-side tooth-entry equipment to assist in the tooth entry of the rack and pinion vehicle has become an urgent problem to be solved. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a rack and pinion vehicle and a rack and pinion control method thereof, which enables the rack and pinion wheels of the rack and pinion vehicle to mesh normally, and saves the cost of laying rack and pinion devices on rack and pinion lines, thereby reducing the construction cost of rack and pinion lines.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] The rack-and-gear vehicle gear engagement control method of the present invention includes: acquiring the vehicle's travel speed value; controlling the rack wheel of the rack bogie to idle, and adjusting the idle linear velocity value of the rack wheel to match the vehicle's travel speed value; acquiring the attitude characteristics of the rack wheel and the distance parameter between the rack wheel and the rack; determining the gear engagement attitude of the rack wheel based on the attitude characteristics and the distance parameter; and controlling the rack wheel to mesh with the rack in the gear engagement attitude.

[0006] In some embodiments, obtaining the attitude characteristics of the gear wheel and the distance parameters between the gear wheel and the rack, and determining the tooth entry attitude of the gear wheel based on the attitude characteristics and the distance parameters, includes:

[0007] At preset time intervals, the attitude characteristics of the toothed wheel and the distance parameters between the toothed wheel and the rack are acquired;

[0008] The rotation parameters of the geared wheel are determined based on the attitude characteristics of the geared wheel and the distance parameters, and the geared wheel is adjusted to rotate according to the rotation parameters.

[0009] In some embodiments, controlling the gear wheel to mesh with the rack in the tooth engagement posture includes:

[0010] Determine whether the distance parameter between the toothed wheel and the rack is less than or equal to a first preset distance value;

[0011] If so, the power to the rack wheel is cut off, causing the rack wheel to rotate by inertia until it meshes with the rack.

[0012] In some embodiments, obtaining the attitude characteristics of the gear wheel and the distance parameters between the gear wheel and the rack includes:

[0013] Acquire image information of the toothed wheel, and obtain the attitude features of the toothed wheel based on the image information of the toothed wheel.

[0014] In some embodiments, the attitude characteristics of the geared wheel are the phase angle parameters of each tooth of the geared wheel.

[0015] In some embodiments, prior to acquiring the attitude characteristics of the gear wheel and the distance parameters between the gear wheel and the rack, the process includes:

[0016] Obtain the distance parameter between the rack and the gear;

[0017] Determine whether the distance parameter between the toothed wheel and the rack is less than or equal to a second preset distance value;

[0018] If so, then the process of obtaining the attitude characteristics of the gear wheel and the distance parameters between the gear wheel and the rack is performed.

[0019] In some embodiments, the geared wheel cooperates with a driver to drive the geared wheel to rotate with the rotation parameters; wherein the driver is a motor and the rotation parameters are the frequency of the motor inverter.

[0020] In some embodiments, adjusting the idle linear speed of the rack wheel to match the travel speed of the vehicle includes: controlling the idle linear speed of the rack wheel to be consistent with the travel speed of the vehicle.

[0021] The rack vehicle of the present invention includes a control device, the control device including a memory and a processor, the memory storing a control program, which, when executed by the processor, is used to implement the rack vehicle tooth entry control method as described in any of the above.

[0022] In some embodiments, the rack vehicle further includes:

[0023] A ranging device is provided for detecting the distance between the toothed wheel and the rack; the ranging device is electrically connected to the control device.

[0024] A vision sensor is used to acquire spatial angle and attitude information of the geared wheel; the vision sensor is electrically connected to the control device.

[0025] The rack-and-gear vehicle tooth engagement control method of the present invention first adjusts the idle linear velocity of the rack wheel to match the vehicle's travel speed, and then adjusts the rack wheel to a tooth engagement posture based on the acquired attitude characteristics of the rack wheel and the distance parameters between the rack wheel and the rack, so that the rack wheel meshes with the rack in this tooth engagement posture. Thus, before the rack wheel meshes with the rack, it actively adjusts to the tooth engagement posture, enabling precise meshing between the rack wheel and the rack. Furthermore, no additional tooth engagement device is required to assist the rack wheel and rack in meshing. Therefore, the rack-and-gear vehicle tooth engagement control method of the present invention not only enables the rack wheel and rack of the rack-and-gear vehicle to mesh normally, but also saves the cost of laying tooth engagement devices on rack tracks, thereby reducing the construction cost of rack tracks.

[0026] The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 This is a schematic structural diagram of a rack and pinion vehicle according to an embodiment of the present invention.

[0029] Figure 2 This is a schematic structural diagram of the rack and pinion vehicle from another perspective, according to an embodiment of the present invention.

[0030] Figure 3 This is a schematic structural diagram of the meshing of the gear wheel and rack in an embodiment of the present invention.

[0031] Figure 4 This is a flowchart of the gear train tooth entry control method according to an embodiment of the present invention.

[0032] Figure label:

[0033] 100. Gear wheel; 200. Rack; 300. Ranging radar; 400. Vision sensor. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0035] The rack and pinion vehicle described in this embodiment includes an adhesive bogie and a rack and pinion bogie. The adhesive bogie provides traction on flat roads by relying on the friction between the wheels and the rails. The rack and pinion bogie has a rack and pinion wheel 100 mounted in the middle to engage with a rack and pinion 200 laid in the middle of the track on steep slopes, thereby providing additional traction or braking force.

[0036] The tooth entry control method for a rack vehicle according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0037] like Figures 1-4 As shown, the tooth entry control method for rack-rail vehicles according to an embodiment of the present invention includes the following steps:

[0038] S100: Obtain the vehicle's travel speed value, control the rack wheel 100 of the rack bogie to idle, and adjust the idle linear speed value of the rack wheel 100 to match the vehicle's travel speed value. That is, when the vehicle is traveling, the vehicle's travel speed is consistent with the speed at which the rack wheel 100 approaches the rack 200.

[0039] S200: Acquire the attitude characteristics of the gear 100 and the distance parameters between the gear 100 and the rack 200, and determine the tooth engagement posture of the gear 100 based on the attitude characteristics and distance parameters. That is, as the gear 100 approaches the rack 200, its attitude is adjusted based on the acquired attitude characteristics and distance parameters, and it is adjusted to the tooth engagement posture before engaging with the rack 200. When the gear 100 is in the tooth engagement posture and in the corresponding meshing position with the rack 200, the gear 100 can mesh normally with the rack 200. The tooth engagement posture refers to the alignment of the center line of the tooth tip of a specific tooth of the gear 100 with the center line of a tooth groove of the rack 200, and the phase angle of the gear 100 in this posture is within a preset range.

[0040] It should be noted that the gear wheel 100 in the tooth-entry posture is not stationary; it has a certain rotational speed. The gear wheel 100 in the tooth-entry posture can rotate due to inertia or by being driven by a drive device.

[0041] S300 controls the gear wheel 100 to mesh with the rack 200 in an engaged position.

[0042] The specific implementation of the tooth entry control method for rack-rail vehicles according to embodiments of the present invention is described below with reference to the accompanying drawings.

[0043] When the rack vehicle begins its gear engagement operation, for example, when the vehicle approaches the rack track or receives a command to switch to rack drive, the vehicle's current speed is acquired. Based on this speed, the idle linear velocity of the rack wheel 100 is matched to the vehicle's speed. The attitude characteristics of the rack wheel 100 and the distance parameters between the rack wheel 100 and the rack 200 are acquired, and the attitude of the rack wheel 100 is adjusted. When the distance between the rack wheel 100 and the rack 200 is preset, or when the rack wheel 100 moves to the meshing position with the rack 200, the rack wheel 100 is adjusted to the gear engagement posture and meshes with the rack 200 in this posture. During the process of the rack wheel 100 approaching the rack 200, the rack vehicle provides traction power through the friction between its wheels and rails.

[0044] Compared with related technologies, the gear train vehicle tooth engagement control method of this invention first adjusts the idle linear speed of the gear train wheel 100 to match the vehicle's travel speed, and then adjusts the gear train wheel 100 to a tooth engagement posture based on the acquired posture characteristics of the gear train wheel 100 and the distance parameters between the gear train wheel 100 and the rack 200, thus enabling the gear train wheel 100 to mesh with the rack 200 in this tooth engagement posture. Therefore, before the gear train wheel 100 meshes with the rack 200, it actively adjusts to the tooth engagement posture, allowing for precise meshing between the gear train wheel 100 and the rack 200. Furthermore, no additional tooth engagement device is required to assist the gear train wheel 100 and the rack 200 in meshing. Therefore, the gear train vehicle tooth engagement control method of this invention not only enables the gear train wheel 100 and the rack 200 to mesh normally, but also saves the cost of installing tooth engagement devices on the gear train line, thereby reducing the construction cost of the gear train line.

[0045] In some embodiments, such as Figure 2 As shown, the rack vehicle of this embodiment of the invention also includes a ranging device for detecting the distance between the rack wheel 100 and the rack 200. The ranging device can be a ranging radar 300. For example, the ranging radar 300 is positioned in front of the rack wheel 100, and the distance between the ranging radar 300 and the rack wheel 100 is S2. During ranging, the ranging radar 300 detects a distance of S1 between itself and the end of the rack 200. The distance between the rack wheel 100 and the rack 200 is the sum of the distance between the ranging radar 300 and the rack wheel 100 and the distance between the ranging radar 300 and the end of the rack 200, S3.

[0046] In some embodiments, the step of obtaining the attitude characteristics of the gear 100 and the distance parameters between the gear 100 and the rack 200, and determining the tooth entry attitude of the gear 100 based on the attitude characteristics and the distance parameters, includes the following steps:

[0047] At preset time intervals, the attitude characteristics of the gear wheel 100 and the distance parameters between the gear wheel 100 and the rack 200 are acquired.

[0048] The rotation parameters of the rack wheel 100 are determined based on the attitude characteristics and distance parameters of the rack wheel 100, and the rack wheel 100 is adjusted to rotate according to the rotation parameters.

[0049] In other words, as the rack 100 approaches the rack 200, the attitude characteristics of the rack 100 and the distance parameters between the rack 100 and the rack 200 are monitored in real time. The rotation parameters of the rack 100 are adjusted based on the real-time acquired attitude characteristics and distance parameters. By continuously adjusting the rotation parameters of the rack 100 in real time, the attitude of the rack 100 is continuously adjusted to ensure smoother meshing with the rack 200 when they engage, thus preventing tooth breakage.

[0050] In some embodiments, the step of controlling the gear wheel 100 to mesh with the rack 200 in an engaged position as described above includes the following steps:

[0051] It determines whether the distance parameter between the rack 100 and the rack 200 is less than or equal to a first preset distance value. That is, when the distance between the rack 100 and the rack 200 reaches the first preset distance value, the correction of the rotation parameter of the rack 100 is stopped.

[0052] If so, the power to the rack 100 is cut off, causing the rack 100 to rotate by inertia until it meshes with the rack 200.

[0053] In other words, when the distance between the rack 100 and the rack 200 reaches a first preset distance value, the drive device stops providing rotational power to the rack 100, allowing the rack 100 to rotate due to its own inertia and mesh with the rack 200 under inertial conditions. This causes the unpowered rack 100 to contact the rack 200 under inertial rotation. Even with a small residual phase error between the rack 100 and the rack 200, the unpowered rack 100 will only generate a small reverse torque when it contacts the tooth tip of the rack 200, thus avoiding rigid contact during meshing. This not only ensures the accuracy of the meshing between the rack 100 and the rack 200 but also protects the tooth surfaces of both rack 100 and rack 200 from impact damage.

[0054] In some embodiments, such as Figure 1 As shown, the steps described above for obtaining the attitude characteristics of the rack 100 and the distance parameters between the rack 100 and the rack 200 include the following steps:

[0055] Image information of the rack wheel 100 is acquired, and the attitude characteristics of the rack wheel 100 are obtained based on the image information. The rack vehicle is also equipped with a vision sensor 400, which is used to acquire spatial angle and attitude information of the rack wheel 100. For example, the vision sensor 400 can be an industrial camera, a CCD camera, or a CMOS camera, with its lens aimed at the teeth of the rack wheel 100.

[0056] During the movement of the rack vehicle, the vision sensor 400 takes pictures of the rack wheel 100 at a preset frequency (e.g., 10 times per second) and transmits the image data to the control device in real time. The control device has a pre-installed image processing algorithm that can identify key feature points in the image, such as the outline of the rack wheel 100, the tooth tips, and tooth roots, and calculate the spatial angle of each tooth on the rack wheel 100 relative to a fixed reference coordinate system (e.g., ...). Figure 3 As shown, the angle r between the teeth on the gear 100 and the vertical direction.

[0057] In some alternative embodiments, one or more visually identifiable reference marks, such as high-contrast color blocks, reflective patches, or notches of a specific shape, are provided on the end face or side of the toothed wheel 100. An industrial camera is fixedly mounted on the toothed vehicle and continuously captures images of the end face of the toothed wheel 100. The position of the mark in the current frame image is identified through image processing, the angle between the center of the mark and the image reference axis is calculated, and then combined with the pixel angle correspondence determined during camera calibration, the current phase angle of the tooth is obtained.

[0058] In some alternative embodiments, the tooth profile features of the gear 100 itself are directly used as natural markers. The contours of the teeth of all gear 100s are extracted by edge detection, and the position of a feature tooth (such as the first complete tooth to enter the field of view) is determined according to the distribution of the teeth. The orientation of this tooth represents the phase angle of the entire gear 100.

[0059] Furthermore, the attitude characteristics of the gear 100 are the phase angle parameters of each tooth of the gear 100.

[0060] In some embodiments, before obtaining the attitude characteristics of the rack 100 and the distance parameters between the rack 100 and the rack 200 in the above steps, the following steps are included:

[0061] Obtain the distance parameter between the gear wheel 100 and the rack 200.

[0062] Determine whether the distance parameter between the rack wheel 100 and the rack 200 is less than or equal to a second preset distance value. The second preset distance value can be greater than a first preset distance value.

[0063] If so, then execute the process to obtain the attitude characteristics of the gear 100 and the distance parameters between the gear 100 and the rack 200.

[0064] In other words, the steps of acquiring the attitude characteristics of the rack 100 and the distance parameters between the rack 100 and the rack 200 are performed only when the rack wheel 100 on the rack vehicle is close to the rack 200 and the distance parameters between the rack wheel 100 and the rack 200 do not exceed a second preset distance value. This avoids the vision sensor 400, which is used to acquire spatial angle and attitude information of the rack wheel 100, from starting to acquire image information too early, thereby achieving energy saving.

[0065] In some embodiments, the gear 100 cooperates with a driver so that the driver drives the gear 100 to rotate by a rotational parameter. The driver is a motor, and the rotational parameter is the frequency of the motor inverter.

[0066] Specifically, the formula for calculating the frequency of the motor inverter is as follows:

[0067] ;

[0068] Where n is the motor speed (in r / min), p is the number of motor pole pairs, and f is the inverter frequency.

[0069] ;

[0070] Where S3 is the sum of the distance between the center of the ranging radar 300 and the center of the rack 100 and the distance between the end of the ranging radar 300 and the rack 200; z is the number of teeth of the rack 100; s is the distance between the first tooth groove of the rack 200 and the center of the rack 100 when the rack 100 and the rack 200 are in the tooth engagement state; v is the vehicle's speed; and r1 is the phase angle of the rack 100. Wherein, as... Figure 4 As shown, the value of s is obtained by direct measurement after vehicle assembly.

[0071] ;

[0072] Where [z] represents the integer part of z, and z1 represents the fractional part of z.

[0073] Therefore, the frequency f1 of the motor inverter is:

[0074] .

[0075] In some embodiments, the step of adjusting the idle linear speed of the rack wheel 100 to match the vehicle's travel speed includes the following steps: controlling the idle linear speed of the rack wheel 100 to be consistent with the vehicle's travel speed.

[0076] In some embodiments, the rack vehicle of the present invention further includes a control device, which includes a memory and a processor. The memory stores a control program, which, when executed by the processor, is used to implement the rack vehicle tooth entry control method as described in any of the above embodiments. A distance measuring device for detecting the distance between the rack wheel 100 and the rack 200 is electrically connected to the control device, and a vision sensor 400 for acquiring spatial angle and attitude information of the rack wheel 100 is electrically connected to the control device.

[0077] Specifically, a processor can be a central processing unit (CPU) or a digital processing unit, etc. The processor sends and receives data through a communication interface. Memory is used to store the program executed by the processor. Memory is any medium capable of carrying or storing desired program code in the form of instructions or data structures, and accessible by a computer; it can also be a combination of multiple memory sources. The aforementioned machine-executable program can be downloaded from a computer-readable storage medium to the corresponding computing / processing device or via a network (e.g., the Internet, local area network, wide area network, and / or wireless network) to a computer or external storage device.

[0078] The rack-and-gear vehicle of this invention can first adjust the idle linear speed of the rack wheel 100 to match the vehicle's travel speed, and then adjust the rack wheel 100 to an engagement position based on the acquired attitude characteristics of the rack wheel 100 and the distance parameters between the rack wheel 100 and the rack 200, thus enabling the rack wheel 100 to mesh with the rack 200 in this engagement position. This allows the rack wheel 100 to actively adjust to the engagement position before meshing with the rack 200, ensuring precise meshing. Furthermore, no additional engagement device is required to assist the engagement of the rack wheel 100 and the rack 200. Therefore, the rack wheel 100 of the rack-and-gear vehicle of this invention can normally mesh with the rack 200 when entering the rack track, and the construction cost of the corresponding rack track is lower due to the savings in the cost of laying engagement devices on the rack track.

[0079] Optionally, the controller can be a train control and management system (TCMS).

[0080] The following describes in detail the specific implementation process of the tooth entry control method for the rack vehicle according to an embodiment of the present invention.

[0081] Before the rack vehicle enters the rack 200, the vehicle traction mode is set to adhesive bogie traction, and the rack vehicle's travel speed is set to 5 km / h. Simultaneously, the rack wheel 100 of the rack bogie rotates at a linear speed of 5 km / h. The distance S1 between the end of the rack bogie and the end of the rack 200 is detected using the ranging radar 300. When S1 is less than 10 meters, the vision sensor 400 begins to photograph the rack wheel 100, and the ranging radar 300 simultaneously records the value of S1. The vision sensor 400 transmits the image of the rack wheel 100 and the S1 value to the control device for analysis and calculates the inverter frequency f1 for safe rack engagement. Then, the vehicle's TCMS sets the inverter frequency to f1. The above steps are repeated during vehicle movement, continuously correcting the inverter frequency f1 to ensure accurate meshing of the rack wheel 100 and rack 200 as the vehicle enters the rack 200. When the ranging radar 300 detects that the distance S1 between the end of the rack bogie and the end of the rack 200 is less than 0.2 meters, the vehicle cuts off the power to the rack wheel 100, and the rack wheel 100 continues to rotate due to inertia until it engages with the rack 200.

[0082] The foregoing has provided a detailed description of the rack-and-gear vehicle and its gear-entry control method provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A method for controlling tooth entry in a rack-rail vehicle, characterized in that, include: The vehicle's travel speed value is obtained, the rack wheel of the rack bogie is controlled to idle, and the idle linear velocity value of the rack wheel is adjusted to match the vehicle's travel speed value. The attitude characteristics of the toothed wheel and the distance parameters between the toothed wheel and the rack are obtained, and the tooth entry attitude of the toothed wheel is determined according to the attitude characteristics and the distance parameters. The gear wheel is controlled to engage with the rack in the tooth engagement posture.

2. The method for controlling the tooth entry of a rack-rail vehicle according to claim 1, characterized in that, The process of acquiring the attitude characteristics of the gear wheel and the distance parameters between the gear wheel and the rack, and determining the tooth entry attitude of the gear wheel based on the attitude characteristics and the distance parameters, includes: At preset time intervals, the attitude characteristics of the toothed wheel and the distance parameters between the toothed wheel and the rack are acquired; The rotation parameters of the geared wheel are determined based on the attitude characteristics of the geared wheel and the distance parameters, and the geared wheel is adjusted to rotate according to the rotation parameters.

3. The method for controlling the entry of a rack vehicle into the gear teeth according to claim 2, characterized in that, The control of the gear wheel to mesh with the rack in the tooth engagement posture includes: Determine whether the distance parameter between the toothed wheel and the rack is less than or equal to a first preset distance value; If so, the power to the rack wheel is cut off, causing the rack wheel to rotate by inertia until it meshes with the rack.

4. The method for controlling the entry of a rack vehicle into the gear teeth according to claim 2, characterized in that, The acquisition of the attitude characteristics of the gear wheel and the distance parameters between the gear wheel and the rack includes: Acquire image information of the toothed wheel, and obtain the attitude features of the toothed wheel based on the image information of the toothed wheel.

5. The method for controlling the tooth entry of a rack-rail vehicle according to claim 4, characterized in that, The attitude characteristics of the geared wheel are the phase angle parameters of each tooth of the geared wheel.

6. The method for controlling the tooth entry of a rack-rail vehicle according to claim 5, characterized in that, Before acquiring the attitude characteristics of the gear wheel and the distance parameters between the gear wheel and the rack, the process includes: Obtain the distance parameter between the rack and the gear; Determine whether the distance parameter between the toothed wheel and the rack is less than or equal to a second preset distance value; If so, then the process of obtaining the attitude characteristics of the gear wheel and the distance parameters between the gear wheel and the rack is performed.

7. The method for controlling the entry of a rack vehicle into the gear teeth according to claim 2, characterized in that, The geared wheel cooperates with the driver so that the driver drives the geared wheel to rotate with the rotation parameters; wherein, the driver is a motor, and the rotation parameters are the frequency of the motor inverter.

8. The method for controlling the entry of a rack vehicle into the rack according to any one of claims 1-7, characterized in that, The method of adjusting the idle linear speed of the rack wheel to match the travel speed of the vehicle includes: controlling the idle linear speed of the rack wheel to be consistent with the travel speed of the vehicle.

9. A rack-and-pinion vehicle, characterized in that, The device includes a control unit, which comprises a memory and a processor. The memory stores a control program, which, when executed by the processor, is used to implement the gear-entry control method for a rack vehicle as described in any one of claims 1 to 8.

10. The rack and pinion vehicle according to claim 9, characterized in that, Also includes: A ranging device, the ranging device being used to detect the distance between the toothed wheel and the rack; The ranging device is electrically connected to the control device; A vision sensor is used to acquire spatial angle and attitude information of the geared wheel; the vision sensor is electrically connected to the control device.

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