CN210881694U - Vehicle array - Google Patents

Abstract

The utility model provides a vehicle array, which comprises a plurality of vehicle monomers, wherein each vehicle monomer comprises a frame, at least one wheel which has a certain distance from the edge of the frame, a driving mechanism which drives the wheel to rotate so as to drive the frame to move, and a power source which provides energy for the driving mechanism; the vehicle single bodies are detachably connected with the vehicle single bodies, and a plurality of vehicle single bodies are transversely connected or transversely and longitudinally connected in a cascade mode to form a vehicle array; the vehicle single body is provided with a main controller, an image collector and/or a distance sensor, and the output ends of the image collector and the distance sensor are respectively connected with the corresponding input end of the main controller. The utility model discloses cascade into the vehicle array with a plurality of vehicle monomers, vehicle monomer load capacity is bigger, the bigger goods of transportable weight and volume is compared to the vehicle array.

Description

Vehicle array

Technical Field

The utility model belongs to the agricultural machine field, concretely relates to vehicle array of constituteing by a plurality of vehicle monomers.

Background

Vehicles are used as main power machines for agricultural production, such as trolleys for transporting goods, tractors in deserts and the like. At present, the traditional vehicle is generally in four-wheel drive, a gearbox with a combined structure is adopted, and the combined structure of the four-wheel drive and the gearbox has the advantages of large volume, heavy weight and low flexibility.

And the single vehicle has limited load capacity, for example, a freight vehicle has low efficiency of transporting large-scale goods, and when multiple vehicles transport goods, if the movement queue and the traveling path of the trolley are not planned, collision conflict of the trolley may be caused, thereby affecting the quality and efficiency of goods transportation. For example, a single tractor cannot pull large-scale agricultural equipment such as a watering cart, a seeding cart or a harvesting cart as a tractor for traction power, and when a plurality of tractor units pull one large-scale agricultural equipment together, the consistency of the movement route is difficult to maintain, the stress is unbalanced, and the mechanical efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving the technical problem who exists among the prior art, the utility model aims at providing a vehicle array, this vehicle array is cascaded by a plurality of vehicle monomers and is formed.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a vehicle array comprises a plurality of vehicle units, each vehicle unit comprises a frame, at least one wheel, a driving mechanism and a power source, wherein the wheels are arranged at a certain distance from the edge of the frame; the vehicle single bodies are detachably connected with the vehicle single bodies, and a plurality of vehicle single bodies are transversely connected or transversely and longitudinally connected in a cascade mode to form a vehicle array;

the vehicle single body is provided with a main controller, an image collector and/or a distance sensor, and the output ends of the image collector and the distance sensor are respectively connected with the corresponding input ends of the main controller.

According to the technical scheme, the plurality of vehicle single bodies are cascaded into the vehicle array, and compared with the vehicle single bodies, the vehicle array has larger load capacity and can transport cargoes with larger weight and volume. After the image collector is arranged, in the process of cascading a plurality of vehicle monomers, two vehicle monomers can be aligned more quickly and accurately according to the collected images. When a plurality of vehicle monomers of the vehicle array are separated, the distance sensor is used for detecting the distance between two adjacent vehicle monomers, when the distance is at a set value, the coil is powered off, each vehicle monomer runs respectively, and electric energy is saved.

In another preferred embodiment of the present invention, the vehicle body and the vehicle body are detachably connected by magnetic attraction. The magnetic suction mode is convenient and quick to detach.

In another preferred embodiment of the present invention, permanent magnets are disposed on the vehicle units, and a coil is wound on the permanent magnet of at least one of the connected vehicle units; the vehicle single bodies are detachably connected by controlling the electrification and the outage of the coils; when the coil is powered off, the permanent magnets of the adjacent vehicle monomers can be attracted; when the coil is electrified, the permanent magnets of the adjacent vehicle single bodies can be separated.

Therefore, when a plurality of vehicle single bodies are cascaded together, the coils do not need to be electrified, and electric energy is saved.

In another preferred embodiment of the present invention, the frame is balanced during operation, and the frame has at least one of the following features:

firstly, the frame is in an axisymmetric and centrosymmetric structure;

and secondly, the frame is directly or indirectly connected with a balance mechanism.

In the technical scheme, the vehicle frame is of an axisymmetric and centrosymmetric structure, so that the single vehicle body has better balance and cannot topple over on a plane; the balance mechanism is arranged, so that the vehicle monomer can not topple over in the desert. The vehicle monomer is provided with at least one wheel, the vehicle can work when the number of the wheels is one or two, and the motion flexibility is high.

In a preferred embodiment of the present invention, the vehicle further comprises a casing disposed on the frame, and a shape of one portion of the casing is conformable to a shape of another portion of the casing. Therefore, a plurality of vehicle single bodies can be better cascaded together.

In a preferred embodiment of the present invention, the vehicle body is overlooked, and the outer periphery of the vehicle body shell has an N-sided polygonal structure, where N is an integer and N > 2.

In a preferred embodiment of the present invention, the periphery of the vehicle shell is a hexagon, the hexagon is symmetrical in front and back and symmetrical in left and right, and the front and back length of the hexagon is smaller than the left and right width thereof; two opposite tips of the hexagon are the front part and the rear part of the vehicle single body respectively. The length of the vehicle single body is smaller than the width of the vehicle single body, so that the stability of the vehicle single body is better.

In a preferred embodiment of the present invention, a battery support is fixedly connected to the frame, and the power source includes a battery pack mounted on the battery support;

and/or the number of the wheels is two, the wheels are arranged in a hollow manner and consist of two sub-wheels, the driving mechanism comprises a driving motor which is arranged in the wheels and drives the two sub-wheels to synchronously rotate, and the two wheels are respectively driven by one driving motor and are a first driving motor and a second driving motor.

The power supply adopts the group battery, compares traditional fuel vehicle, and more environmental protection, noise, vibration are little. The number of the wheels is two, and compared with three wheels and four wheels, the size is smaller, and the flexibility is higher; and two wheels are respectively driven by a driving motor, the structure is simple, and the turning flexibility is high.

In another preferred embodiment of the present invention, the battery pack is located between two wheels, and the center of gravity of the battery pack is located below the center of rotation of the wheels. The center is positioned below the rotation center, so that the stability of the vehicle single body is better.

In another preferred embodiment of the present invention, the distance from the lower surface of the battery pack to the ground is greater than 20 cm. The top that this vehicle monomer can smoothly pass through the plant cutting of being convenient for.

The utility model discloses an in another kind of preferred embodiment, two sub-wheels of wheel link together through the pivot, and driving motor's output shaft has the reduction gear, the output shaft and the coaxial rigid coupling of pivot of reduction gear, and balance mechanism rotates with the pivot to be connected, and frame and balance mechanism rigid coupling are adjusted balancedly by balance mechanism. Compared with a driving motor with double output shafts, the two sub-wheels are connected together through the rotating shaft, only one output shaft of the driving motor is needed, and the structure is simpler.

In another preferred embodiment of the present invention, the electric vehicle further comprises a first motor controller and a second motor controller;

the first motor controller controls the starting, stopping and rotating speed of the first driving motor, and the battery pack, the first motor controller and the first driving motor are sequentially and electrically continuous;

the second motor controller controls the start, stop and rotation speed of the second driving motor, and the battery pack, the second motor controller and the second driving motor are electrically continuous in sequence.

After the first motor controller and the second motor controller are arranged, the two driving motors are controlled by the corresponding motor controllers, the control is not interfered with each other, and different requirements such as large torque or small torque can be output.

In another preferred embodiment of the present invention, the mobile terminal further includes a signal transceiver, and a signal transmission end of the signal transceiver is connected to a signal transceiving end of the main controller. Thereby facilitating the knowledge of the position information of the vehicle alone.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a first arrangement diagram of a vehicle array according to a first embodiment.

Fig. 2 is a schematic process diagram of a vehicle array composed of vehicle units according to the first embodiment.

Fig. 3 is an arrangement diagram of a vehicle array according to the first embodiment.

Fig. 4 is a third arrangement diagram of the vehicle array according to the first embodiment.

Fig. 5 is a fourth arrangement diagram of the vehicle array according to the first embodiment.

Fig. 6 is an arrangement diagram of a vehicle array according to the first embodiment.

Fig. 7 is a sixth arrangement diagram of the vehicle array according to the first embodiment.

Fig. 8 is an arrangement diagram of a vehicle array according to a seventh embodiment.

Fig. 9 is an arrangement diagram eight of the vehicle array according to the first embodiment.

Fig. 10 is an arrangement diagram nine of the vehicle array according to the first embodiment.

Fig. 11 is a schematic top view of the vehicle unit according to the second embodiment.

Fig. 12 is a schematic sectional view a-a in fig. 11.

Fig. 13 is a schematic sectional view B-B in fig. 12.

Fig. 14 is a schematic cross-sectional view of C-C in fig. 12.

Fig. 15 is a view from direction D in fig. 11.

Reference numerals in the drawings of the specification include: the vehicle comprises a vehicle body 10, a vehicle shell 1, a vehicle frame 11, a hanging piece 12, a power source 2, a battery support 21, a battery pack 22, wheels 3, sub-wheels 31, a first driving motor 321, a second driving motor 322, a driving gear 33, a driven gear 34, a rotating shaft 35, a balance mechanism 4, a connecting frame 41, a connecting block 42, a motor support 43, a signal transceiving device 5, an image collector 61, a distance sensor 62 and a permanent magnet 63.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, or may be connected between two elements through an intermediate medium, or may be directly connected or indirectly connected, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

Example one

The present embodiment provides a vehicle array, as shown in fig. 1 to 10, which includes a plurality of vehicle single bodies 10, the vehicle single bodies 10 are detachably connected to the vehicle single bodies 10, and the plurality of vehicle single bodies 10 are cascaded in a vehicle array in a transverse and/or longitudinal direction. The vehicle unit may be configured as the vehicle unit in the following second embodiment.

A plurality of vehicle monomers 10 are cascaded to form a vehicle array, and the vehicle array has larger load capacity compared with the vehicle monomers and can transport cargoes with larger weight and volume.

In one embodiment, as shown in fig. 1, the vehicle unit 10 has a hexagonal shape, the vehicle array is formed by a plurality of vehicle units 10 which are cascaded transversely and longitudinally, and the whole vehicle array is in an upright triangular shape, for example, a first row of vehicle units 10 is provided with one vehicle unit 10, a second row of vehicle units 10 is provided with two vehicle units 10, a third row of vehicle units 10 is provided with three vehicle units 10, a fourth row of vehicle units 10 is provided with four vehicle units 10, and so on … …, the front part of the rear row of vehicle units 10 is attached to the rear part of the front row of vehicle units 10, and the side parts of the same row of adjacent vehicle units 10 are. The upper end in fig. 1 is the front part of the vehicle array, the lower end in fig. 1 is the tail part of the vehicle array, and the agricultural equipment is connected with the hitching elements 12 on the four vehicle single bodies 10 at the lowest end through connecting ropes or connecting nets.

Specifically, the vehicle single bodies 10 and the vehicle single bodies 10 may be detachably connected by magnetic attraction, for example, permanent magnets 63 are disposed on both sides of the front end and both sides of the rear end of each vehicle single body 10, coils are wound on the two permanent magnets 63 at the rear end, magnetic force generated by the coils is opposite to the magnetic force of the permanent magnets wound by the coils, and the permanent magnets 63 may protrude out of the vehicle shell 1 or may be flush with the vehicle shell 1, as shown in fig. 2. When the coil is powered off, the coil does not generate magnetic force, and the permanent magnets 63 of the adjacent single vehicles 10 can be attracted, so that the single vehicles 10 are fixedly connected with each other, and electric energy is not consumed; when the coil is energized, the coil generates a magnetic force opposite to the permanent magnet, so that the attraction force between the vehicle units 10 is reduced or eliminated, and the vehicle units 10 can be separated from each other.

The vehicle shell 1 is selectively arranged, when the vehicle shell 1 is not arranged, the shape of the vehicle frame 11 can be hexagonal, the two wheels 3 are both positioned in the vehicle frame 11, and a plurality of vehicle units 10 can also be cascaded into a vehicle array.

In a preferred embodiment, as shown in fig. 2, each of the vehicle units 10 is provided with a main controller, an image collector 61 and/or a distance sensor 62, and output ends of the image collector 61 and the distance sensor 62 are respectively connected with corresponding input ends of the main controller; the number of the image collectors 61 may be plural, and the distance sensors 62 are two and are respectively disposed on both sides of the front end of the vehicle body 10. The image collector 61 can be a WCC-301A type vehicle-mounted camera of Beijing Saiximax digital science and technology Limited; the distance sensor 62 may be a SICK model DT60-P11B distance sensor.

The image collector 61 collects images and then transmits the images to the main controller, the main controller sends corresponding control instructions to the first motor controller and the second motor controller, the first motor controller and the second motor controller control the rotating speed of the driving motor according to the control instructions of the main controller, and therefore the position of the vehicle single body 10 is adjusted, the rear row of vehicle single bodies 10 can be quickly aligned with the front row of vehicle single bodies 10, and the specific control method can adopt a method disclosed in CN109062205A for controlling the rotating speed of the vehicle according to the images obtained by the camera. The scheme disclosed in CN201711280604.6 can also be used to identify magnetic connection areas between vehicles.

As shown in fig. 2, the rear single vehicle 10 continues to move forward, and is attached to and aligned with the right side of the rear end of the front single vehicle 10, and the permanent magnets 63 on the front and rear single vehicles attract each other, so that the rear single vehicle 10 is fixedly connected with the front single vehicle 10.

When the single vehicles 10 are separated, the coil on the electromagnet 63 is electrified, the distance sensor 62 detects the distance between two single vehicles 10 in front and at the back, and when the distance is a set value, for example, greater than 1m, the main controller powers off the coil, and each single vehicle 10 operates independently, so that electric energy is saved.

Of course, the vehicle array may be a row in the transverse direction, a column in the longitudinal direction, an array shape, or an array of other shapes. In practice, the hexagon can be modified appropriately, for example, the vehicle body 10 is formed by protruding the front end of the vehicle body and recessing the rear end of the vehicle body to form the vehicle array shown in fig. 3.

In another embodiment, when the single vehicle body 10 has a triangular shape, the vehicle array may have an upright triangular shape as shown in fig. 4, and permanent magnets 63 may be disposed on both sides and the rear end of the single vehicle body 10, and coils may be wound on the permanent magnets at the rear end. The inverted triangular vehicle body 10 can be moved forward, backward, turned, and the like in synchronization with the upright triangular vehicle body 10 by changing the rotational direction of the output shaft of the drive motor. The vehicle array in this embodiment may also be a row in the lateral direction, a column in the longitudinal direction, an array shape, or an array of other shapes.

In another embodiment, when the vehicle unit is a quadrilateral, such as a rectangle, the arrangement of the vehicle arrays may be as shown in fig. 5 and 6, and when the vehicle array is as shown in fig. 8, a permanent magnet 63 may be respectively disposed on the left and right of the front end surface of the vehicle unit 10, a permanent magnet 63 may also be respectively disposed on the left and right of the rear end surface of the vehicle unit 10, and the coils are disposed on the two permanent magnets 63 on the rear end surface; in the case shown in fig. 6, a permanent magnet 63 may be provided on each of the front, rear, left, and right end surfaces of the vehicle unit 10, and the coil may be provided on the permanent magnet 63 on the rear end surface and the right end surface. When the single vehicle 10 is a diamond, the arrangement of the vehicle array may be as shown in fig. 7, in which case, permanent magnets 63 may be respectively disposed on two sides of the front end and two sides of the rear end of the single vehicle 10, and the coils are located on the permanent magnets 63 on the two sides of the rear end. The vehicle array in this embodiment may also be a row in the lateral direction, a column in the longitudinal direction, an array shape, or an array of other shapes.

In another embodiment, when the vehicle units are pentagonal, the arrangement of the vehicle array may be as shown in fig. 8; when the vehicle single bodies are heptagonal, the arrangement of the vehicle array may be as shown in fig. 9; when the vehicle units are octagonal, the arrangement of the vehicle arrays can be as shown in fig. 10; in all three cases, a permanent magnet 63 may be disposed on each of the front and rear sides of the single vehicle body 10, and the coil is disposed on the permanent magnet 63 on each of the rear sides. The vehicle array formed by the vehicle single bodies 10 in other shapes is similar to the above and is not described in detail herein.

Example two

This embodiment provides a single vehicle body, as shown in fig. 11-15, in a preferred embodiment of the present invention, it includes a frame 11, at least one wheel 3 located below the frame 11, a driving mechanism for driving the wheel 3 to rotate, and a power source 2 for providing energy for the driving mechanism; in operation, the frame 11 is balanced, and the frame 11 has at least one of the following characteristics: firstly, the frame 11 is in an axisymmetric and centrosymmetric structure; secondly, the frame 11 is directly or indirectly connected with a balance mechanism 4.

Preferably, the frame 11 is formed by welding square steel, the casing 1 is fixed to the frame 11, the shape of one part of the casing 1 can be fitted with the shape of the other part of the casing 1, as shown in fig. 1, when the vehicle is seen from the top, the periphery of the casing 1 is in a hexagonal structure, the upper and lower two opposite tips of the hexagon are the front and rear parts of the vehicle, respectively, the hexagon is symmetrical front and back (up and down in fig. 1) and left and right, and the front and back length (up and down in fig. 1) of the hexagon is smaller than the left and right width thereof.

The outer periphery of the vehicle body case 1 may have other shapes such as a triangle, a quadrangle (e.g., a square, a rhombus, a trapezoid, etc.), a pentagon, a heptagon, an octagon, etc.

As shown in fig. 11, 14 and 15, a hanging member 12 is provided at the rear part of the vehicle shell 1, and the hanging member 12 is used for connecting with agricultural equipment such as a watering vehicle, a seeding vehicle or a harvesting vehicle, so that the vehicle unit can pull the agricultural equipment to move.

In another preferred embodiment of the present invention, the power source 2 includes a battery pack 22 installed on the battery support 21, the battery pack 22 has a charging and discharging interface, and the coils of the main controller and the permanent magnet in the first embodiment are all connected to the battery pack 22. The battery pack 22 may be a storage battery pack, a fuel battery pack, or the like, and a solar panel may be provided on the vehicle body 1, and the storage battery pack is charged by the solar panel. The battery bracket 21 is fixedly connected with the frame 11 or the vehicle shell 1, and in fig. 12 of the embodiment, the battery bracket 21 is fixedly connected with the vehicle shell 1. Of course, the power source 2 may also be a conventional fuel-powered generator, which provides electrical power to the vehicle unit.

In another preferred embodiment of the present invention, the battery pack 22 is located between the two wheels 3, and the center of gravity of the battery pack 22 is located below the center of rotation of the wheels 3, thereby facilitating the free balance of the vehicle. When the watering vehicle is dragged by the vehicle body 10 to operate, plant slips planted in desert are watered, if the height of the plant slips extending out of the ground is 10-20cm, the distance h from the lower surface of the battery pack 22 to the ground is larger than 20cm, and the vehicle body can smoothly pass through the top of the plant slips.

The present embodiment will be described with reference to the number of wheels 3 being two, and the number of wheels 3 is one, and is located at the center of the frame 11, and the arrangement is the same as that of a tricycle in the related art when the number of wheels 3 is three, and the arrangement is the same as that of a four-wheel vehicle in the related art when the number of wheels 3 is four.

As shown in fig. 11-13, two wheels 3 are respectively disposed on the left and right sides of the single vehicle body and located inside the vehicle shell 1, and the wheels 3 are hollow and are composed of two sub wheels 31. The driving mechanism is arranged inside the wheel 3, and includes a driving motor for driving the two sub-wheels 31 to rotate synchronously, the driving motor is a variable frequency motor, and the two wheels 3 are respectively driven by one driving motor, which is a first driving motor 321 and a second driving motor 322. The two sub-wheels 31 of one wheel 3 are connected together through a rotating shaft 35, an output shaft of the driving motor is connected with a speed reducer, the speed reducer comprises a driving gear 33 coaxially connected with the output shaft of the driving motor, the driving gear 33 is meshed with a driven gear 34, and the driven gear 34 is sleeved and coaxially fixedly connected on the rotating shaft 35, so that the two sub-wheels 31 of one wheel 3 synchronously rotate through one driving motor.

Of course, the driving mechanism may have other structures, for example, two output shafts of the driving motor are coaxially and fixedly connected to the two sub-wheels 31, and a speed reducer may be disposed between the output shafts and the sub-wheels 31.

In another preferred embodiment of the present invention, as shown in fig. 12 to 14, a balancing mechanism 4 is provided in each wheel 3 and connected to the rotating shaft 35, and the balancing mechanism 4 is rotatable with respect to the rotating shaft 35. The balance mechanism 4 comprises a balance motor and a hanging hammer fixedly connected with an output shaft of the balance motor, the balance mechanism 4 further comprises a gyroscope, an accelerometer or an electronic compass and other sensors for detecting the attitude information of the vehicle body, the sensors output the attitude information of the vehicle frame 11 to the main controller, the main controller outputs a control signal to the balance motor, the balance state of the vehicle body is dynamically adjusted, and the self-balancing function is achieved. Of course, other balancing devices in the prior art for keeping the vehicle body self-balanced, such as the balancing technology disclosed in CN108107898A, can be adopted.

The front end and the rear end of the balance mechanism 4 are respectively fixedly connected with an arc-shaped connecting frame 41, the lower end of the connecting frame 41 is fixedly connected with a connecting block 42, the connecting block 42 is fixedly connected with the vehicle frame 11, and the connecting block 42 is also fixedly connected with a motor support 43 fixedly connected with a driving motor.

The balance mechanism 4 is supported by the rotating shaft 35, and the balance mechanism 4 drives the frame 11 and the parts directly and indirectly fixedly connected with the frame 11 to swing forwards and backwards together, thereby adjusting the balance of the vehicle unit 10.

In another preferred embodiment of the present invention, the single vehicle body further includes a first motor controller and a second motor controller; the first motor controller controls the start, stop and rotation speed of the first driving motor 321, and specifically, the first motor controller may be connected to a coil input loop of the first relay, one end of the first relay output loop is connected to a power supply end of the battery pack 22, and the other end of the first relay output loop is continuous with the first driving motor 321; the second motor controller controls the start, stop and rotation speed of the second driving motor 322, and specifically, the second motor controller may be connected to a coil input circuit of the second relay, one end of the second relay output circuit is connected to the power supply terminal of the battery pack 22, and the other end of the second relay output circuit is connected to the second driving motor 321. The method for specifically controlling the rotation speed of the driving motor adopts the prior art, for example, a variable resistor is connected in series in an excitation loop of the motor, and the specific connection mode and the control mode adopt the prior art and are not described herein again.

As shown in fig. 14 and 15, in another preferred embodiment of the present invention, the single vehicle body further includes a signal transceiver device 5, a signal transmission terminal of the signal transceiver device 5 is connected to a signal transceiving terminal of the main controller, and a motor control terminal of the main controller is further electrically connected to the first motor controller and the second motor controller. The signal transceiver device 5 may be a small radar for positioning, facilitating the knowledge of the position of the vehicle body.

The work of the vehicle monomer can be controlled in an intelligent way: for example, the main controller receives motion signals and working signals of the vehicle body, the main controller sends corresponding motor operation instructions to the first motor controller and the second motor controller, and the first motor controller and the second motor controller control the rotating speed and the rotating direction of the two driving motors according to the control instructions of the main controller.

The first driving motor 321 and the second driving motor 322 convert the electric energy into mechanical energy, and when the vehicle monomer moves forward linearly, the rotating speed and the rotating direction of the left wheel 3 and the right wheel 3 are the same; when turning left, the rotating speed of the right wheel 3 is greater than that of the left wheel 3; when turning right, the rotating speed of the left wheel 3 is greater than that of the right wheel 3; when the straight line is reversed, the two wheels 3 rotate reversely and at the same rotating speed.

In the description herein, reference to the description of the terms "preferred embodiment," "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (13)

1. A vehicle array is characterized by comprising a plurality of vehicle units, wherein each vehicle unit comprises a frame, at least one wheel which is arranged at a certain distance from the edge of the frame, a driving mechanism for driving the wheel to rotate so as to enable the frame to move, and a power source for providing energy for the driving mechanism; the vehicle single bodies are detachably connected with the vehicle single bodies, and a plurality of vehicle single bodies are transversely connected or transversely and longitudinally connected in a cascade mode to form a vehicle array;

the vehicle single body is provided with a main controller, an image collector and/or a distance sensor, and the output ends of the image collector and the distance sensor are respectively connected with the corresponding input ends of the main controller.

2. The vehicle array of claim 1, wherein the vehicle units are detachably connected by magnetic attraction.

3. The vehicle array according to claim 2, wherein the single vehicles are provided with permanent magnets, and at least one permanent magnet of the connected single vehicles is wound with a coil; the vehicle single bodies are detachably connected by controlling the electrification and the outage of the coils; when the coil is powered off, the permanent magnets of the adjacent vehicle monomers can be attracted; when the coil is electrified, the permanent magnets of the adjacent vehicle single bodies can be separated.

4. A vehicle array according to any of claims 1-3,

during operation, the frame is kept balanced, and the frame has at least one of the following characteristics:

the frame is of an axisymmetric and centrosymmetric structure;

and secondly, the frame is directly or indirectly connected with a balance mechanism.

5. The vehicle array of claim 4, wherein the single vehicle body further comprises a shell disposed on the frame, wherein a portion of the shell is shaped to conform to another portion of the shell.

6. The vehicle array according to claim 5, wherein, looking down on the single vehicle body, the outer periphery of the vehicle shell is in an N-sided polygon structure, wherein N is an integer and N > 2.

7. The vehicle array of claim 6, wherein the outer periphery of the hull is hexagonal, the hexagon being symmetrical front to back and side to side, the hexagon having a front to back length less than a left to right width; two opposite tips of the hexagon are the front part and the rear part of the vehicle single body respectively.

8. The vehicle array of claim 4, wherein a battery support is secured to the frame, and the power source comprises a battery pack mounted on the battery support;

and/or the quantity of wheel is two, wheel cavity sets up and comprises two sub-wheels, actuating mechanism is including setting up the driving motor who drives two sub-wheel synchronous rotation in wheel inside, and two wheels are respectively by a driving motor drive, for first driving motor and second driving motor.

9. A vehicle array according to claim 8 wherein the battery pack is located between two wheels, the centre of gravity of the battery pack being located below the centre of rotation of the wheels.

10. A vehicle array according to claim 9 wherein the distance from the lower surface of the battery pack to the ground is greater than 20 cm.

11. The vehicle array according to claim 8, wherein the two sub-wheels of the wheel are connected together by a rotating shaft, the output shaft of the driving motor is connected with a speed reducer, the output shaft of the speed reducer is coaxially and fixedly connected with the rotating shaft, the balancing mechanism is rotatably connected with the rotating shaft, the frame is fixedly connected with the balancing mechanism, and the balancing mechanism is used for adjusting the balance.

12. The vehicle array of claim 8, further comprising a first motor controller and a second motor controller;

the first motor controller controls the starting, stopping and rotating speed of the first driving motor, and the battery pack, the first motor controller and the first driving motor are sequentially and electrically continuous;

the second motor controller controls the start, stop and rotation speed of the second driving motor, and the battery pack, the second motor controller and the second driving motor are sequentially and electrically continuous.

13. The vehicle array of claim 1, further comprising a signal transceiver device, a signal transmission terminal of said signal transceiver device being connected to a signal transceiver terminal of said master controller.

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