An automatic obstacle avoidance device based on artificial intelligence

Abstract

The present invention relates to the field of artificial intelligence technology, and provides an automatic obstacle avoidance device based on artificial intelligence. By adding an environment acquisition module, the scene around the device is scanned and transmitted to the main control module for processing and analysis, and then the travel path is replanned based on the preset planned path and combined with the environmental information (and a corresponding control command is generated). At this time, under the control of the control command, the first power assembly, the second power assembly, and the third power assembly are driven respectively, wherein the combined action of the first power assembly and the second power assembly drives the walking wheel to rotate horizontally to complete the turning of the device, and the third power assembly drives the walking wheel to rotate to complete the movement of the device. By continuously scanning the scene around the device, it is possible to effectively avoid the device from colliding with obstacles during the turning and displacement process, and the device has strong stability and high safety performance.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to an automatic obstacle avoidance device based on artificial intelligence. Background Art

[0002] Artificial intelligence is a branch of computer science that attempts to understand the essence of intelligence and produce new intelligent machines that can respond in a similar way to human intelligence. Research in this field includes robotics, speech recognition, image recognition, natural language processing, and expert systems.

[0003] Obstacle avoidance is a key technology for unmanned driving. Accurately detecting obstacles ahead and safely passing through obstacles to reach the destination are the prerequisites for smart cars to travel in complex working environments. The existing technology provides "an artificial intelligence automatic obstacle avoidance device", which mainly avoids obstacles by raising the height of the entire chassis. However, when the chassis load is too large, it becomes more difficult to lift the chassis, and the energy consumption of obstacle avoidance is high. After lifting, the overall center of gravity of the chassis rises, resulting in poor stability of the chassis and reduced safety. Summary of the invention

[0004] The present invention provides an automatic obstacle avoidance device based on artificial intelligence, which solves the technical problems of the existing obstacle avoidance devices, such as high difficulty in achieving obstacle avoidance, poor device stability and low safety.

[0005] In order to solve the above technical problems, the present invention provides an automatic obstacle avoidance device based on artificial intelligence, comprising a base, a main control module fixed on the base, an environment acquisition module, and multiple groups of one-to-one corresponding steering drive modules and displacement drive modules; the steering drive module comprises a first power assembly and a second power assembly, and the first power assembly is gear-connected with the second power assembly; the displacement drive module comprises a third power assembly and a walking wheel; the walking wheel is shaft-connected with the second power assembly;

[0006] The environment acquisition module is used to obtain the surrounding environment information and feed it back to the main control module;

[0007] The main control module is used to generate a control command for path movement according to the preset planned path and the environmental information;

[0008] The third power assembly is used to respond to the control command to drive the walking wheel to rotate to complete the movement of the device;

[0009] The first power assembly is started under the control of the control command, and drives the second power assembly to rotate, thereby driving the walking wheel to rotate horizontally to complete the steering of the device.

[0010] This basic solution adds an environment acquisition module to scan the scene around the device and transmit it to the main control module for processing and analysis, and then re-plans the travel path based on the preset planned path and the environmental information (and generates corresponding control commands). At this time, under the control of the control command, the first power assembly, the second power assembly, and the third power assembly are driven respectively, wherein the combined action of the first power assembly and the second power assembly drives the walking wheel to rotate horizontally to complete the device turning, and the third power assembly drives the walking wheel to rotate to complete the device movement. By continuously scanning the scene around the device, the device can effectively avoid collisions with obstacles during turning and displacement, and the device has strong stability and high safety performance.

[0011] In a further embodiment, the first power assembly comprises an electric push rod, a slide plate and a servo motor connected in sequence, and a first gear connected to the servo motor shaft; the fixed end of the electric push rod is fixed to the base, and the movable end is movably connected to the fixed end through the push rod; the slide plate is horizontally installed on the upper part of the movable end; the servo motor is installed on the top of the slide plate, and its rotating shaft passes through the slide plate and extends to the bottom of the slide plate; the first gear is installed on the rotating shaft;

[0012] When the control command includes a steering instruction, the electric push rod is activated, pushing the skateboard to slide on the base, driving the servo motor to move outward until the first gear is connected to the gear of the second power component; then, driven by the servo motor, the first gear drives the second power component to rotate to control the steering of the walking wheel.

[0013] This solution sets up a first power assembly with an electric push rod and a servo motor as the core. Under the action of the electric push rod, when the device moves in a straight line, the first power assembly is separated from the second power assembly to ensure that the travel wheel maintains movement in a specific direction; when the device is turning, the first power assembly is pushed to engage the gears of the second power assembly to drive the travel wheel to turn horizontally, thereby completing the steering of the device. The structure is compact, the layout is reasonable, and the steering efficiency is high.

[0014] In a further embodiment, the second power assembly comprises a support plate and a second gear movably mounted on the support plate, a rotating rod, and a mounting cylinder fixed on the rotating rod; the bottom of the mounting cylinder is mounted with the walking wheel, and the side of the mounting cylinder is mounted with the third power assembly; the second gear is axially connected to the rotating rod;

[0015] When the control command includes a steering instruction, the first gear drives the second gear to rotate, and the second gear drives the rotating rod to rotate horizontally, so that the mounting tube also rotates synchronously, thereby controlling the walking wheel installed at the bottom of the mounting tube to complete the steering.

[0016] In this solution, the second gear and the rotating rod are movably installed on the support plate to ensure the stability of the installation structure. When a steering command is received, the driven second gear drives the rotating rod to rotate horizontally, thereby synchronously rotating the walking wheel installed at the bottom of the mounting cylinder to a preset angle, thereby quickly completing the steering and cooperating with the environment acquisition module to complete automatic obstacle avoidance.

[0017] In a further embodiment, the base comprises a base plate, a support rod, a support frame and a protective pad, wherein the support rods are radially distributed and installed on the side of the base plate; the support frame is installed around the outer end of the support rod; the main control module is installed at the bottom of the base plate; the protective pad is an arc-shaped covering structure that fits the edge of the support frame, and a mounting through hole is provided in the middle thereof for installing the environment collection module; the first power assembly is installed on the support rod;

[0018] The base also includes a sleeve fixed on the top of the base plate, as well as a support column, a load-bearing plate and a guide rod; the support column is embedded in the sleeve; the load-bearing plate is fixed on the top surface of the support column, and a guide groove is provided at the bottom edge thereof; the bottom of the guide rod is fixed on the top surface of the protective pad, and the top of the guide rod is embedded in the guide groove.

[0019] This solution takes the base as the center point, and sets support rods, support frames and protective pads outward in sequence to form a stable base support structure. The load-bearing plate is installed on the base through sleeves and support columns. Combined with the guide rods installed on the edge and the guide grooves, the stability of the load-bearing plate can be further improved, thereby improving transportation stability. The protective pad is set on the outside of the support frame to reduce the collision impact of external obstacles on the device and improve the safety performance of the device.

[0020] In a further embodiment, an internal cavity is provided in the load-bearing plate, an annular groove is provided on the arc-shaped side surface of the load-bearing plate, and the internal cavity is connected to the annular groove through a slot hole.

[0021] In a further embodiment, the present invention further comprises a safety protection component, the safety protection component comprises a control computer, a gas generating device, and a safety airbag, the control computer and the gas generating device are installed in the internal cavity; the safety airbag is installed in the annular groove in a surrounding manner, and the safety airbag is connected to the gas generating device through a hose;

[0022] When the control computer detects a severe collision, it controls the gas generating device to start and inflate the airbag for collision protection.

[0023] In this solution, the control computer and the gas generating device are installed in an embedded form in the load-bearing plate, and the airbag is embedded in an annular groove on the side of the load-bearing plate in a surround manner. When the control computer detects a severe collision, the gas generating device is controlled to start and inflate the airbag for collision protection.

[0024] In a further embodiment, it also includes a dividing guide plate fixed on the middle bottom surface of the protective pad, the bottom surface of the dividing guide plate is parallel to the ground and higher than the lowest point of the running wheel; its inner side surface is an outwardly concave arc surface, and the arc surface fits the outer contour of the protective pad; its top surface is an inclined surface whose horizontal height gradually decreases toward the outside.

[0025] In this solution, a dividing guide plate extending outward is arranged on the outermost side of the base. The bottom surface of the dividing guide plate, which is parallel to the ground and higher than the lowest point of the running wheel, can push away smaller obstacles that affect the movement of the device (such as impurities such as mud or gravel on the ground) without affecting the normal movement of the device. At the same time, with the inclined surface that gradually decreases in height toward the outside, smaller obstacles can be pushed away to both sides of the device and will not remain on the dividing guide plate. The structure is simple and the effect is good.

[0026] In a further embodiment, the environment acquisition module is an image acquisition device, and the image acquisition device includes a scanning camera.

[0027] In a further embodiment, the present invention comprises at least three groups of the steering drive modules and the displacement drive modules, and each group of the steering drive modules and the displacement drive modules is independently connected to the main control module;

[0028] When the control command only includes a movement instruction, the three groups of steering drive modules are controlled to drive the three groups of displacement drive modules to move horizontally, so that the three groups of walking wheels maintain the same direction; at this time, all the third power components are controlled to drive the walking wheels to rotate, so as to complete the movement of the device;

[0029] When the control command includes a steering instruction, a group of the steering drive modules at the rear is controlled to drive the corresponding displacement drive module to move horizontally by a predetermined angle, and the corresponding third power assembly is controlled to drive the walking wheel to rotate, and the other two groups of the steering drive modules and the displacement drive modules are controlled to be stable and motionless, thereby completing the steering control in the forward direction and completing the steering of the device.

[0030] This solution sets up three groups of steering drive modules and displacement drive modules. When the device needs to turn, one group that originally bears the function of the driving wheel is controlled to remain stationary. According to actual needs, any electric push rod in the other two groups is started to drive the skateboard and servo motor to move, control the corresponding walking wheel to move horizontally to a predetermined angle, and cooperate with the third power component of the same group to rotate with the originally stationary walking wheel as the axis point, so that the device rotates, and the steering operation of the device can be completed.

[0031] In a further embodiment, the third power component is a power motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is an overall structural diagram of an automatic obstacle avoidance device based on artificial intelligence provided by an embodiment of the present invention;

[0033] Figure 2 The embodiment of the present invention provides Figure 1 Side view of;

[0034] Figure 3 The embodiment of the present invention provides Figure 1 Bottom view of

[0035] Figure 4 The embodiment of the present invention provides Figure 1 Partial structural diagram of

[0036] Figure 5 The embodiment of the present invention provides Figure 1 Part of the structure of the middle base;

[0037] Figure 6 The embodiment of the present invention provides Figure 1 Partial structural diagram of

[0038] Figure 7 The embodiment of the present invention provides Figure 1 A three-dimensional structural diagram of the first power assembly;

[0039] Figure 8 The embodiment of the present invention provides Figure 1 A three-dimensional structural diagram of the second power assembly;

[0040] Fig. 9 The embodiment of the present invention provides Figure 1 Installation structure diagram of the safety protection components;

[0041] Fig.10 The embodiment of the present invention provides Fig. 9 Schematic diagram of the connection between the gas generating device and the airbag.

[0042] Among them: base 1, base plate 11, support rod 12, support frame 13, protective pad 14, sleeve 15, support column 16, load-bearing plate 17 (upper cover A, lower cover B), guide rod 18; main control module 2; environment acquisition module 3; steering drive module 4, first power assembly 41, electric push rod 411, slide plate 412, servo motor 413, first gear 414; second power assembly 42, support plate 421, second gear 422, rotating rod 423, mounting tube 424; displacement drive module 5, third power assembly 51, walking wheel 52; safety protection assembly 6, control computer 61, gas generating device 62, airbag 63; dividing guide plate 7. DETAILED DESCRIPTION

[0043] The following specifically illustrates the implementation mode of the present invention in conjunction with the accompanying drawings. The embodiments are provided for illustrative purposes only and cannot be understood as limiting the present invention. The accompanying drawings are provided for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present invention, because many changes can be made to the present invention without departing from the spirit and scope of the present invention.

[0044] Example 1

[0045] An embodiment of the present invention provides an automatic obstacle avoidance device based on artificial intelligence, such as Figure 1 to Figure 7 As shown, in this embodiment, it includes a base 1, a main control module 2 fixed on the base 1, an environment acquisition module 3, and multiple sets of one-to-one corresponding steering drive modules 4 and displacement drive modules 5; the steering drive module 4 includes a first power assembly 41 and a second power assembly 42, and the first power assembly 41 is gear-connected with the second power assembly 42; the displacement drive module 5 includes a third power assembly 51 and a walking wheel 52; the walking wheel 52 is axially connected with the second power assembly 42;

[0046] The environment acquisition module 3 is used to obtain the surrounding environment information and feed it back to the main control module 2;

[0047] In this embodiment, the environment acquisition module 3 includes but is not limited to an image acquisition device (it can also be set as an infrared detector in other embodiments as needed), and the image acquisition device includes a scanning camera.

[0048] The main control module 2 is used to generate a control command for path movement according to the preset planned path and environmental information;

[0049] The preset planned path is the moving path initially received by the device.

[0050] The main control module 2 is a processing chip with data receiving and sending capabilities and data processing capabilities, including but not limited to MCU.

[0051] The third power assembly 51 is used to respond to the control command and drive the walking wheel 52 to rotate to complete the movement of the device;

[0052] The first power assembly 41 is started under the control of the control command, and drives the second power assembly 42 to rotate, and then drives the running wheel 52 to rotate horizontally, completing the steering of the device.

[0053] In this embodiment, see Figure 7 The first power assembly 41 includes an electric push rod 411, a slide plate 412 and a servo motor 413 connected in sequence, and a first gear 414 axially connected to the servo motor 413; the fixed end of the electric push rod 411 is fixed to the base 1, and the movable end is movably connected to the fixed end through the push rod; the slide plate 412 is horizontally installed on the upper part of the movable end and slidably installed on the support rod 12; the servo motor 413 is installed on the top of the slide plate 412, and its rotating shaft passes through the slide plate 412 and extends to the bottom of the slide plate 412; the first gear 414 is installed on the rotating shaft;

[0054] When the control command includes a steering instruction, the electric push rod 411 is activated, pushing the slide plate 412 to slide on the base 1, driving the servo motor 413 to move outward until the first gear 414 is connected to the gear of the second power component 42; then, driven by the servo motor 413, the first gear 414 drives the second power component 42 to rotate to control the steering of the walking wheel 52.

[0055] This embodiment is provided with a first power assembly 41 with an electric push rod 411 and a servo motor 413 as the core. Under the action of the electric push rod 411, when the device moves in a straight line, the first power assembly 41 is separated from the second power assembly 42 to ensure that the travel wheel 52 maintains movement in a specific direction; when the device is turning, the first power assembly 41 is pushed to engage the gears of the second power assembly 42 to drive the travel wheel 52 to turn horizontally, thereby completing the turning of the device. The structure is compact, the layout is reasonable, and the steering efficiency is high.

[0056] In this embodiment, see Figure 8 The second power assembly 42 includes a support plate 421 and a second gear 422 movably mounted on the support plate 421, a rotating rod 423, and a mounting cylinder 424 fixed on the rotating rod 423; a running wheel 52 is mounted on the bottom of the mounting cylinder 424, and a third power assembly 51 is mounted on the side; the second gear 422 is axially connected to the rotating rod 423;

[0057] When the control command includes a steering instruction, the first gear 414 drives the second gear 422 to rotate, and the second gear 422 drives the rotating rod 423 to rotate horizontally, so that the mounting tube 424 also rotates synchronously, thereby controlling the walking wheel 52 installed at the bottom of the mounting tube 424 to complete the steering.

[0058] In this embodiment, the second gear 422 and the rotating rod 423 are movably installed on the support plate 421, so as to ensure the stability of the installation structure. When receiving a steering command, the driven second gear 422 drives the rotating rod 423 to rotate horizontally, so that the walking wheel 52 installed at the bottom of the installation cylinder 424 is synchronously rotated to a preset angle, so that the steering can be completed quickly, and the automatic obstacle avoidance can be completed in cooperation with the environment acquisition module 3.

[0059] In this embodiment, the base 1 includes a base plate 11, a support rod 12, a support frame 13 and a protective pad 14. The support rods 12 are radially distributed and installed on the side of the base plate 11; the support frame 13 is installed around the outer end of the support rod 12; the main control module 2 is installed at the bottom of the base plate 11; the protective pad 14 is an arc-shaped covering structure that fits the edge of the support frame 13, and a mounting through hole is provided in the middle for installing the environment collection module 3; the first power assembly 41 is installed on the support rod 12;

[0060] Preferably, three groups of support rods 12 are radially distributed and installed on the side of the base plate 11, each group of support rods 12 includes two horizontally parallel bar rods, a gap is provided between the two bar rods for installing the first power assembly 41, and the slide plate 412 slides along the upper surface of the bar rod under the push of the electric push rod 411. Correspondingly, a support frame 13 with an equilateral triangle structure is installed around the outer end of the support rod 12.

[0061] The base 1 also includes a sleeve 15 fixed on the top of the base plate 11, as well as a support column 16, a load-bearing plate 17 and a guide rod 18; the support column 16 is embedded in the sleeve 15; the load-bearing plate 17 is fixed on the top surface of the support column 16, and a guide groove is opened at the bottom edge thereof; the bottom of the guide rod 18 is fixed on the top surface of the protective pad 14, and the top thereof is embedded in the guide groove.

[0062] Preferably, the load-bearing plate 17 includes but is not limited to a disc-shaped structure.

[0063] In this embodiment, the base plate 11 is taken as the center point, and support rods 12, support frames 13 and protective pads 14 are arranged outward in sequence to form a stable base support structure. A load-bearing plate 17 is installed on the base plate 11 through sleeves 15 and support columns 16. Combined with the guide rods 18 installed on the edge and the embedded installation of the guide grooves, the stability of the load-bearing plate 17 can be further improved, thereby improving transportation stability; the protective pad 14 is sleeved on the outer side of the support frame 13, which can reduce the impact of external obstacles on the device and improve the safety performance of the device.

[0064] In this embodiment, the present invention also includes a dividing guide plate 7 fixed on the middle bottom surface of the protective pad 14, the bottom surface of the dividing guide plate 7 is parallel to the ground and higher than the lowest point of the walking wheel 52; its inner side surface is an outwardly concave arc surface, and the arc surface fits the outer contour of the protective pad 14; its top surface is an inclined surface whose horizontal height gradually decreases toward the outside.

[0065] Preferably, three groups of dividing guide plates 7 are provided and fixed on the outer sides of the running wheels 52 respectively.

[0066] In this embodiment, an outwardly extending dividing guide plate 7 is provided at the outermost side of the base 1. Its bottom surface, which is parallel to the ground and higher than the lowest point of the running wheel 52, can push away smaller obstacles that affect the movement of the device (such as impurities such as mud or gravel on the ground) without affecting the normal movement of the device. At the same time, with the inclined surface that gradually decreases in height toward the outside, smaller obstacles can be pushed away to both sides of the device and will not remain on the dividing guide plate 7. The structure is simple and the effect is good.

[0067] In this embodiment, the present invention comprises at least three groups of steering drive modules 4 and displacement drive modules 5, and each group of steering drive modules 4 and displacement drive modules 5 is independently connected to the main control module 2;

[0068] When the control command only includes a movement instruction, the three steering drive modules 4 are controlled to drive the three displacement drive modules 5 to move horizontally, so that the three walking wheels 52 maintain the same direction; at this time, all the third power components 51 are controlled to drive the walking wheels 52 to rotate, so as to complete the movement of the device;

[0069] When the control command includes a steering instruction, a group of steering drive modules 4 at the rear is controlled to drive the corresponding displacement drive module 5 to move horizontally at a predetermined angle, and the corresponding third power component 51 is controlled to drive the walking wheel 52 to rotate, and the other two groups of steering drive modules 4 and displacement drive modules 5 are controlled to be stable and motionless, thereby completing the steering control in the forward direction and completing the steering of the device.

[0070] This embodiment is provided with three groups of steering drive modules 4 and displacement drive modules 5. When the device needs to turn, one group that originally bears the function of the driving wheel is controlled to remain stationary. According to actual needs, any electric push rod 411 in the other two groups is started to drive the slide plate 412 and the servo motor 413 to move, control the corresponding walking wheel 52 to move horizontally at a predetermined angle, and cooperate with the third power component 51 of the same group to rotate with the originally stationary walking wheel 52 as the axis point, so that the device rotates, and the steering operation of the device can be completed.

[0071] In this embodiment, the third power assembly 51 is a power motor.

[0072] In this embodiment, the number of groups of the steering drive module 4 and the displacement drive module 5 can be set as needed, and the number of groups of the support rods 12 and the support frame 13 (for example, set to corresponding polygons) can be set synchronously. This embodiment is not limited, and only three groups are used as the best embodiment for illustration:

[0073] The scene around the device is scanned by the environment acquisition module 3 and transmitted to the main control module 2 for digital image analysis. At the same time, the location of the device and obstacles in the area around the device are simulated. The movement path is further replanned according to the preset planned path and environmental information, and corresponding control commands are generated.

[0074] When there is no obstacle in front of the device, the control command only includes a movement instruction (straight line movement), and controls the three steering drive modules 4 to drive the three displacement drive modules 5 to move horizontally, so that the three walking wheels 52 keep the same direction; at this time, all the third power components 51 are controlled to drive the walking wheels 52 to rotate, and the device movement is completed;

[0075] When an obstacle appears in front of the device, the control command includes a steering instruction, and a group of steering drive modules 4 at the original rear of the control device drives the corresponding displacement drive module 5 to move horizontally by a predetermined angle. Specifically, the electric push rod 411 starts to drive the slide plate 412 to slide on the support rod 12, and drives the servo motor 413 and the first gear 414 to displace, so that the first gear 414 can contact the second gear 422, and then the servo motor 413 is started to drive the first gear 414 at the output end of the servo motor 413 to rotate. When the first gear 414 rotates, it will mesh with the second gear 422 and drive the second gear 422 to rotate, so that the second gear 422 can drive the rotating rod 423 to rotate, and then the mounting tube 424 can rotate, driving the walking wheel 52 to adjust the steering; and when the rotating rod 423 drives the mounting tube 424 to rotate, the third power assembly 51 (power motor) arranged on the bottom side of the mounting tube 424 is started, so that the rotating shaft of the walking wheel 52 can rotate. At the same time, the other two groups of steering drive modules 4 and displacement drive modules 5 are controlled to be stable and immobile, and rotate with the originally stationary walking wheel 52 (that is, the front walking wheel 52 with the original forward direction of the device as the front, or a group of walking wheels 52 that originally served as the driving wheel function) as the axis point, thereby completing the steering control in the forward direction and completing the steering of the device.

[0076] The embodiment of the present invention adds an environment acquisition module 3 to perform image scanning of the scene around the device and transmit it to the main control module 2 for processing and analysis, and then re-plans the travel path based on the preset planned path in combination with the environmental information (and generates corresponding control commands). At this time, under the control of the control command, the first power component 41, the second power component 42, and the third power component 51 are driven respectively, wherein the combined action of the first power component 41 and the second power component 42 drives the walking wheel 52 to rotate horizontally to complete the device turning, and the third power component 51 drives the walking wheel 52 to rotate to complete the device movement. By continuously performing image scanning of the scene around the device, the device can effectively avoid collision with obstacles during turning and displacement, and the device has strong stability and high safety performance.

[0077] Example 2

[0078] In this embodiment, see Fig. 9 , Fig.10 The difference between this embodiment and embodiment 1 is that an internal cavity is provided in the load-bearing plate 17, an annular groove is provided on the arc-shaped side surface of the load-bearing plate 17, and the internal cavity is connected to the annular groove through a slot hole.

[0079] In this embodiment, the present invention further includes a safety protection component 6 (not shown in the figure), which includes a control computer 61, a gas generating device 62, and a safety airbag 63. The control computer 61 and the gas generating device 62 are installed in the inner cavity of the load-bearing plate 17; the safety airbag 63 is installed in the annular groove in a surrounding manner, and the safety airbag 63 is connected to the gas generating device 62 through a hose;

[0080] When the control computer 61 detects a severe collision, the control gas generating device 62 is activated to inflate the airbag 63 for collision protection.

[0081] In this embodiment, the control computer 61 and the gas generating device 62 are installed in the load-bearing plate 17 in an embedded manner, and the airbag 63 is embedded in an annular groove on the side of the load-bearing plate 17 in a surrounding manner. When the control computer 61 detects a severe collision, the control gas generating device 62 is started to inflate the airbag 63 for collision protection.

[0082] When the device collides during displacement, the collision sensor in the control computer 61 senses the collision signal and feeds it back to the control computer 61 for analysis, so that the gas generating device 62 is activated, and the airbag 63 can be filled with gas in a very short time, thereby achieving the function of protecting the device.

[0083] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. An automatic obstacle avoidance device based on artificial intelligence, characterized in that: It includes a base, a main control module fixed on the base, an environment acquisition module, and multiple sets of steering drive modules and displacement drive modules corresponding to each other; the steering drive module includes a first power assembly and a second power assembly, and the first power assembly is connected with the second power assembly through gears; the displacement drive module includes a third power assembly and a walking wheel; the walking wheel is connected with the second power assembly through a shaft; The environment acquisition module is used to obtain the surrounding environment information and feed it back to the main control module; The main control module is used to generate a control command for path movement according to the preset planned path and the environmental information; The third power assembly is used to respond to the control command to drive the walking wheel to rotate to complete the movement of the device; The first power assembly is started under the control of the control command, and drives the second power assembly to rotate, thereby driving the walking wheel to rotate horizontally, thereby completing the steering of the device; The first power assembly comprises an electric push rod, a slide plate and a servo motor connected in sequence, and a first gear connected to the servo motor shaft; the fixed end of the electric push rod is fixed to the base, and the movable end is movably connected to the fixed end through the push rod; the slide plate is horizontally installed on the upper part of the movable end; the servo motor is installed on the top of the slide plate, and its rotating shaft passes through the slide plate and extends to the bottom of the slide plate; the first gear is installed on the rotating shaft; When the control command includes a steering instruction, the electric push rod is activated, pushing the skateboard to slide on the base, driving the servo motor to move outward until the first gear is connected to the gear of the second power component; then, driven by the servo motor, the first gear drives the second power component to rotate to control the steering of the walking wheel.

2. The automatic obstacle avoidance device based on artificial intelligence as claimed in claim 1, characterized in that: The second power assembly includes a support plate, a second gear movably mounted on the support plate, a rotating rod, and a mounting cylinder fixed on the rotating rod; the bottom of the mounting cylinder is mounted with the walking wheel, and the side of the mounting cylinder is mounted with the third power assembly; the second gear is axially connected to the rotating rod; When the control command includes a steering instruction, the first gear drives the second gear to rotate, and the second gear drives the rotating rod to rotate horizontally, so that the mounting tube also rotates synchronously, thereby controlling the walking wheel installed at the bottom of the mounting tube to complete the steering.

3. The automatic obstacle avoidance device based on artificial intelligence as claimed in claim 1, characterized in that: The base comprises a base plate, a support rod, a support frame and a protective pad, wherein the support rods are radially distributed and installed on the side of the base plate; the support frame is installed around the outer end of the support rod; the main control module is installed at the bottom of the base plate; the protective pad is an arc-shaped covering structure that fits the edge of the support frame, and a mounting through hole is provided in the middle thereof for installing the environment acquisition module; the first power assembly is installed on the support rod; The base also includes a sleeve fixed on the top of the base plate, as well as a support column, a load-bearing plate and a guide rod; the support column is embedded in the sleeve; the load-bearing plate is fixed on the top surface of the support column, and a guide groove is provided at the bottom edge thereof; the bottom of the guide rod is fixed on the top surface of the protective pad, and the top of the guide rod is embedded in the guide groove.

4. The automatic obstacle avoidance device based on artificial intelligence as claimed in claim 3, characterized in that: An internal cavity is provided in the load-bearing plate, an annular groove is provided on the arc-shaped side surface of the load-bearing plate, and the internal cavity is connected with the annular groove through a slot hole.

5. The automatic obstacle avoidance device based on artificial intelligence as claimed in claim 4, characterized in that: It also includes a safety protection component, which includes a control computer, a gas generating device, and a safety airbag. The control computer and the gas generating device are installed in the internal cavity; the safety airbag is installed in the annular groove in a surrounding manner, and the safety airbag is connected to the gas generating device through a hose; When the control computer detects a severe collision, it controls the gas generating device to start and inflate the airbag for collision protection.

6. The automatic obstacle avoidance device based on artificial intelligence as claimed in claim 3, characterized in that: It also includes a dividing guide plate fixed on the bottom surface of the middle part of the protective pad, the bottom surface of the dividing guide plate is parallel to the ground and higher than the lowest point of the running wheel; its inner side surface is an outwardly concave arc surface, and the arc surface fits the outer contour of the protective pad; its top surface is an inclined surface whose horizontal height gradually decreases toward the outside.

7. The automatic obstacle avoidance device based on artificial intelligence as claimed in claim 3, characterized in that: The environment acquisition module is an image acquisition device, and the image acquisition device includes a scanning camera.

8. The automatic obstacle avoidance device based on artificial intelligence as claimed in claim 1, characterized in that: At least three groups of the steering drive modules and the displacement drive modules are included, and each group of the steering drive modules and the displacement drive modules is independently connected to the main control module; When the control command only includes a movement instruction, the three groups of steering drive modules are controlled to drive the three groups of displacement drive modules to move horizontally, so that the three groups of walking wheels maintain the same direction; at this time, all the third power components are controlled to drive the walking wheels to rotate, so as to complete the movement of the device; When the control command includes a steering instruction, a group of the steering drive modules at the rear is controlled to drive the corresponding displacement drive module to move horizontally by a predetermined angle, and the corresponding third power assembly is controlled to drive the walking wheel to rotate, and the other two groups of the steering drive modules and the displacement drive modules are controlled to be stable and motionless, thereby completing the steering control in the forward direction and completing the steering of the device.

9. The automatic obstacle avoidance device based on artificial intelligence as claimed in claim 1, characterized in that: The third power component is a power motor.

Images