An automatic obstacle avoidance walking control system and its usage method

Abstract

An automatic obstacle avoidance walking control system and its usage method, which are used for the automatic obstacle avoidance walking of vehicles, including a control module, a driving module, an extension module, an obstacle avoidance module, an extension detection module, and an obstacle avoidance detection module. The control module is arranged on the vehicle, the driving module is arranged on one side of the front end of the vehicle, the extension module is arranged at the outer end of the driving module, the obstacle avoidance module is hinged on the extension module, and the obstacle avoidance module rotates back and forth around the extension module. The extension detection module and the obstacle avoidance detection module are arranged around the driving module and the extension module. The vehicle, the driving module, the extension detection module, and the obstacle avoidance detection module are respectively connected to the control module. It solves the technical problems that the existing automatic obstacle avoidance walking devices have poor obstacle avoidance ability and low obstacle avoidance efficiency due to the defects of their structures and usage methods, and can be widely applied to the technical field of automatic obstacle avoidance walking.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic obstacle avoidance walking, and in particular to an automatic obstacle avoidance walking control system and a method for using the same. Background Art

[0002] The biggest problem encountered by automatic obstacle avoidance walking devices during walking is how to avoid obstacles. In the prior art, automatic obstacle avoidance walking devices are generally equipped with induction sensors such as ultrasonic, lidar, or infrared. When the induction sensor senses an obstacle, the automatic obstacle avoidance walking device is controlled to retreat or change the path to avoid or bypass the obstacle. However, these induction sensors have defects. First, the measurement range of the induction sensor is limited, the induction of obstacles is not timely, and the time for planning the route is relatively long, resulting in the automatic obstacle avoidance walking device being unable to react immediately and having a low obstacle avoidance efficiency. Second, the judgment of obstacles by the induction sensor may have errors, and the obstacle avoidance ability is poor, resulting in low safety. In addition, the automatic obstacle avoidance walking device may deviate from the planned obstacle avoidance path during the turning process, resulting in its inability to continue to complete the operation. Therefore, in view of the above problems, the present application proposes an automatic obstacle avoidance walking control system that can achieve efficient and accurate automatic obstacle avoidance, has a high degree of automation, low manufacturing and maintenance costs, and strong attachment. Summary of the Invention

[0003] The purpose of the present application is to provide an automatic obstacle avoidance walking control system and a method for using the same, aiming to solve the technical problems that the existing automatic obstacle avoidance walking devices have poor obstacle avoidance ability and low obstacle avoidance efficiency due to the defects of their structures and usage methods.

[0004] The first aspect of the embodiment of the present application provides an automatic obstacle avoidance walking control system for the automatic obstacle avoidance walking of a vehicle, including a control module, a driving module, an extension module, an obstacle avoidance module, an extension detection module, and an obstacle avoidance detection module. The control module is arranged on the vehicle, the driving module is arranged on one side of the front end of the vehicle, the extension module is arranged at the outer end of the driving module, the obstacle avoidance module is hinged to the extension module, the obstacle avoidance module rotates forward and backward around the extension module, the extension detection module and the obstacle avoidance detection module are arranged around the driving module and the extension module, the vehicle, the driving module, the extension detection module, and the obstacle avoidance detection module are respectively connected to the control module. The control module drives the extension module and the obstacle avoidance module to extend outward through the driving module. The extension module triggers the extension detection module, and the extension detection module transmits an extension signal to the control module to operate the control module to control the vehicle to move forward. When the obstacle avoidance module encounters an obstacle and rotates backward to trigger the obstacle avoidance detection module, the obstacle avoidance detection module transmits an obstacle avoidance signal to the control module, and the control module controls the vehicle to turn.

[0005] In one embodiment, the stretching module includes a stretching unit and a limiting unit. The stretching unit is hinged to the driving module and rotates up and down around the driving module. The limiting unit includes a limiting roller and a limiting plate. One side of the driving module is rotatably connected to the limiting roller. The limiting plate is arranged on the stretching unit. The limiting roller is used in cooperation with the limiting plate to control the up and down rotation of the stretching unit around the driving module. The stretching unit is used to trigger the stretching detection module.

[0006] In one embodiment, the control module includes an operation platform and a control unit. An automatic driving switch, a stretching switch, and a retracting switch are arranged on the operation platform. The automatic driving switch is connected to the vehicle. The stretching switch and the retracting switch are respectively connected to the driving module.

[0007] In one embodiment, the stretching detection module includes a stretching detection plate and a stretching sensor. The stretching detection plate is arranged at the bottom of the stretching unit. The stretching sensor is arranged at the bottom of the driving module. An obstacle avoidance indicator light and a traveling control valve are further arranged on the operation platform. The stretching sensor is connected to the obstacle avoidance indicator light. The traveling control valve is connected to the vehicle. The stretching switch drives the stretching unit to stretch outwards through the driving module, so that the stretching unit drives the obstacle avoidance module to rotate downwards until the stretching detection plate triggers the stretching sensor. The stretching sensor transmits a stretching signal to the obstacle avoidance indicator light, and the obstacle avoidance indicator light lights up. Operate the traveling control valve to control the vehicle to move forward.

[0008] In one embodiment, the obstacle avoidance module includes an obstacle avoidance unit and a reset unit. The obstacle avoidance unit is hinged to the stretching unit and rotates back and forth around the stretching unit. The obstacle avoidance unit is used to avoid obstacles and trigger the obstacle avoidance detection module. Two ends of the reset unit are respectively connected to the obstacle avoidance unit and the stretching unit. The reset unit is used for automatic reset of the obstacle avoidance unit after passing over the obstacle.

[0009] In one embodiment, the obstacle avoidance detection module includes an obstacle avoidance detection plate and an obstacle avoidance sensor. The obstacle avoidance detection plate is arranged on the obstacle avoidance module. The obstacle avoidance sensor is arranged on the stretching unit. The obstacle avoidance sensor is connected to the control unit. When the obstacle avoidance unit touches an obstacle and rotates backwards, the obstacle avoidance detection plate triggers the obstacle avoidance sensor. The obstacle avoidance sensor transmits an obstacle avoidance signal to the control unit, and the control unit controls the vehicle to turn.

[0010] The second aspect of the embodiments of the present application provides a usage method of an automatic obstacle avoidance walking control system, including the following steps:

[0011] (1)When starting to work, turn the autopilot switch, and the vehicle switches to the autopilot mode;

[0012] (2)Press the extension switch. The extension switch drives the extension unit and the obstacle avoidance module to extend outward through the drive module, causing the extension unit and the obstacle avoidance module to rotate downward until the extension detection plate triggers the extension sensor and the obstacle avoidance indicator light lights up. Then, toggle the travel control valve, and the vehicle moves forward; continue to press the extension switch to adjust the extended position of the obstacle avoidance unit;

[0013] (3)The vehicle moves forward slowly. When the obstacle avoidance unit touches an obstacle, it rotates backward, the obstacle avoidance detection plate triggers the obstacle avoidance sensor, the obstacle avoidance sensor detects the obstacle avoidance signal and transmits it to the control unit, and the control unit controls the vehicle to turn;

[0014] (4)After passing over the obstacle, the obstacle avoidance unit automatically resets under the action of the reset unit. At this time, the obstacle avoidance sensor stops transmitting the obstacle avoidance signal, the vehicle stops turning and continues to move forward slowly. Repeat the obstacle avoidance operation like this until the work is completed;

[0015] (5)After the work is completed, toggle the travel control valve in the reverse direction, the vehicle stops moving forward, press the retraction switch, and the retraction switch drives the extension unit and the obstacle avoidance unit to retract inward through the drive module, causing the extension unit and the obstacle avoidance module to rotate upward, and the extension sensor stops transmitting the extension signal, and the obstacle avoidance indicator light goes out;

[0016] (6)Turn the autopilot switch in the reverse direction to turn off the autopilot mode.

[0017] The present invention provides an automatic obstacle avoidance walking control system, and its beneficial effects are as follows: By setting the limit unit to cooperate with the drive module, the extension unit and the obstacle avoidance module rotate up and down around the drive module, realizing the automatic expansion and folding of the extension unit and the obstacle avoidance module; By setting the extension detection module to cooperate with the obstacle avoidance indicator light, the operator can control the forward movement and stop of the vehicle without leaving the vehicle; By setting the obstacle avoidance detection module to cooperate with the control unit, the automatic obstacle avoidance of the obstacle avoidance module and the automatic precise steering of the vehicle are realized; By setting the extension detection module and the obstacle avoidance detection module as collision detection modules, the obstacle avoidance action is timely and rapid, the obstacle avoidance result is accurate, the obstacle avoidance effect is good, and the obstacle avoidance efficiency is high; The structure of the present invention is simple, the operation is convenient, it realizes automatic obstacle avoidance efficiently and accurately, has a high degree of automation, strong dependence, can match a variety of machinery to realize automatic obstacle avoidance operation, greatly improves the operation efficiency, reduces the manufacturing and maintenance costs, and improves the service life of the machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1Schematic diagram of a structure of an automatic obstacle avoidance walking control system provided by an embodiment of the present application;

[0019] Figure 2 For Figure 1 Working principle diagram of the automatic driving mode of an automatic obstacle avoidance walking control system shown;

[0020] Figure 3 For Figure 1 Working principle diagram of the walking mode of an automatic obstacle avoidance walking control system shown;

[0021] Figure 4 For Figure 1 Working principle diagram of the obstacle avoidance mode of an automatic obstacle avoidance walking control system shown.

[0022] Symbol description in the figure:

[0023] 1. Control module; 101. Operating platform; 102. Control unit; 103. Automatic driving switch; 104. Extension switch; 105. Retraction switch; 106. Obstacle avoidance indicator light; 107. Walking control valve;

[0024] 2. Driving module;

[0025] 3. Extension module; 301. Extension unit; 302. Limit unit; 303. Limit roller; 304. Limit plate;

[0026] 4. Extension detection module; 401. Extension detection plate; 402. Extension sensor;

[0027] 5. Obstacle avoidance detection module; 501. Obstacle avoidance detection plate; 502. Obstacle avoidance sensor;

[0028] 6. Obstacle avoidance module; 601. Obstacle avoidance unit; 602. Reset unit;

[0029] 7. Vehicle. Specific implementation manners

[0030] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] It should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "left", "right", "top", "bottom", "high", "low", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and should not be construed as indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0032] Please refer to Figure 1 , which is a schematic structural diagram of an automatic obstacle avoidance walking control system provided by an embodiment of the present application. For the convenience of description, only the parts related to this embodiment are shown and are described in detail as follows:

[0033] In one embodiment, an automatic obstacle avoidance walking control system for automatic obstacle avoidance walking of a vehicle 7 includes a control module 1, a driving module 2, an extension module 3, an obstacle avoidance module 6, an extension detection module 4, and an obstacle avoidance detection module 5. The control module 1 is arranged on the vehicle 7, the driving module 2 is arranged on one side of the front end of the vehicle 7, the driving module 2 includes but is not limited to a hydraulic cylinder, the outer end of the driving module 2 is provided with the extension module 3, the obstacle avoidance module 6 is hinged on the extension module 3, the obstacle avoidance module 6 rotates back and forth around the extension module 3, the extension detection module 4 and the obstacle avoidance detection module 5 are arranged around the driving module 2 and the extension module 3, and the vehicle 7, the driving module 2, the extension detection module 4, and the obstacle avoidance detection module 5 are respectively connected to the control module 1; the operator controls the driving module 2 through the control module 1, the driving module 2 drives the extension module 3 and the obstacle avoidance module 6 to extend outwards until the extension module 3 triggers the extension detection module 4, the extension detection module 4 detects the extension signal and transmits it to the control module 1, the operator controls the vehicle 7 to move forward through the control module 1, and starts the operation; when the obstacle avoidance module 6 encounters an obstacle, it rotates backwards and triggers the obstacle avoidance detection module 5, the obstacle avoidance detection module 5 detects the obstacle avoidance signal and transmits it to the control module 1, and the control module 1 controls the vehicle 7 to turn outwards and then continue to move forward to avoid the obstacle and continue the operation.

[0034] Specifically, please combine Figure 2 and Figure 3 , the control module 1 includes an operation platform 101 and a control unit 102. The operation platform 101 is provided with an automatic driving switch 103, an extension switch 104, and a retraction switch 105. The automatic driving switch 103 is connected to the vehicle 7, and by rotating the automatic driving switch 103 forward or backward, the vehicle 7 is converted into an automatic driving mode or the automatic driving mode is turned off; the extension switch 104 and the retraction switch 105 are respectively connected to the driving module 2, and by pressing the extension switch 104 or the retraction switch 105, the driving module 2 is controlled to drive the extension module 3 and the obstacle avoidance module 6 to extend outwards or retract inwards.

[0035] The extension module 3 includes an extension unit 301 and a limit unit 302. The extension unit 301 is hinged to the drive module 2, and the extension unit 301 rotates up and down around the outer end of the drive module 2. The limit unit 302 includes a limit roller 303 and a limit plate 304. The limit roller 303 is arranged on one side of the drive module 2 and is rotatably connected to the drive module 2. The limit plate 304 is arranged on the extension unit 301. The limit roller 303 is in contact with the limit plate 304. The limit roller 303 and the limit plate 304 are used in cooperation to control the up and down rotation of the extension unit 301 around the drive module 2. The extension unit 301 is used to trigger the extension detection module 4. In this embodiment, the limit plate 304 is arranged as a V-shaped plate. The limit plate 304 includes a short plate and a long plate. The included angle between the short plate and the long plate is an obtuse angle. Before operation, the opening of the limit plate 304 faces outward. The short plate at the upper end of the limit plate 304 is close to the vertical state, and the long plate at the lower end of the limit plate 304 is in an inclined state with the top facing inward and the bottom facing outward. The limit roller 303 is in contact with the short plate. When the control module 1 drives the extension unit 301 to extend outward through the drive module 2, the short plate leaves the obstruction of the limit roller 303. At this time, the extension unit 301 and the obstacle avoidance module 6 rotate downward around the drive module 2 under the influence of their own gravity, realizing the automatic deployment of the obstacle avoidance module 6 until the extension unit 301 rotates downward to a horizontal state, and the extension unit 301 just triggers the extension detection module 4. At this time, the limit roller 303 is in contact with the long plate, and the long plate is in an inclined state with the top facing outward and the bottom facing inward. The limit roller 303 plays a role in limiting the long plate to prevent the extension unit 301 from continuing to rotate downward and falling. When the control module 1 drives the extension unit 301 to retract inward through the drive module 2, the long plate is obstructed by the limit roller 303, causing the extension unit 301 and the obstacle avoidance module 6 to rotate upward around the drive module 2, realizing the automatic folding of the obstacle avoidance module 6 until the limit roller 303 slides over the long plate and is in contact with the short plate.

[0036] The stretching detection module 4 is a collision detection module. The stretching detection module 4 includes a stretching detection plate 401 and a stretching sensor 402. The stretching detection plate 401 is arranged at the bottom of the stretching unit 301, and the stretching sensor 402 is arranged at the bottom of the driving module 2. An obstacle avoidance indicator light 106 and a travel control valve 107 are also provided on the operation platform 101. The stretching sensor 402 is connected to the obstacle avoidance indicator light 106, and the travel control valve 107 is connected to the vehicle 7. When the stretching switch 104 is pressed, the driving module 2 drives the stretching unit 301 to stretch outwards, causing the stretching unit 301 and the obstacle avoidance module 6 to rotate downwards until the stretching detection plate 401 triggers the stretching sensor 402. The stretching sensor 402 detects the stretching signal and transmits it to the obstacle avoidance indicator light 106, causing the obstacle avoidance indicator light 106 to light up. After the operator receives the lighting signal of the obstacle avoidance indicator light 106, the operator toggles the travel control valve 107, and the vehicle 7 starts to move forward slowly. When the retraction switch 105 is pressed, the driving module 2 drives the stretching unit 301 to retract inwards, causing the stretching unit 301 and the obstacle avoidance module 6 to rotate upwards. The stretching detection plate 401 leaves the stretching sensor 402, and the stretching sensor 402 stops transmitting the stretching signal. The obstacle avoidance indicator light 106 goes out. After the operator receives the extinguishing signal of the obstacle avoidance indicator light 106, the operator rotates the automatic driving switch 103 in the reverse direction to turn off the automatic driving mode of the vehicle 7.

[0037] The obstacle avoidance module 6 includes an obstacle avoidance unit 601 and a reset unit 602. The obstacle avoidance unit 601 is hinged to the stretching unit 301, and the obstacle avoidance unit 601 rotates back and forth around the stretching unit 301. The obstacle avoidance unit 601 includes, but is not limited to, an obstacle avoidance rod. When the obstacle avoidance unit 601 touches an obstacle, it rotates backwards to avoid the obstacle and triggers the obstacle avoidance detection module 5. The reset unit 602 includes, but is not limited to, a reset spring. Both ends of the reset unit 602 are respectively connected to the obstacle avoidance unit 601 and the stretching unit 301. The reset unit 602 is used to automatically reset the obstacle avoidance unit 601 after passing over the obstacle.

[0038] Please combine with Figure 4, the obstacle avoidance detection module 5 is a collision detection module. The obstacle avoidance detection module 5 includes an obstacle avoidance detection board 501 and obstacle avoidance sensors 502. The obstacle avoidance detection board 501 is arranged on the obstacle avoidance module 6, and the obstacle avoidance sensors 502 are arranged on the extension unit 301. The obstacle avoidance sensors 502 are connected to the control unit 102. When the obstacle avoidance unit 601 touches an obstacle and rotates backward, it drives the obstacle avoidance detection board 501 to rotate backward. The obstacle avoidance detection board 501 triggers the obstacle avoidance sensors 502. The obstacle avoidance sensors 502 detect the obstacle avoidance signal and transmit it to the control unit 102. The control unit 102 controls the vehicle 7 to turn outward. When the obstacle avoidance unit 601 crosses the obstacle, the obstacle avoidance unit 601 returns to its original position driven by the reset unit 602. The obstacle avoidance sensors 502 stop transmitting the obstacle avoidance signal, and the vehicle 7 stops turning outward and continues to move forward slowly and continue to work.

[0039] An embodiment of the present application also provides a method for using an automatic obstacle avoidance walking control system. For the convenience of description, only the parts related to this embodiment are shown and are described in detail as follows:

[0040] Step (1): When starting to work, turn the automatic driving switch 103, and the vehicle 7 is converted to the automatic driving mode.

[0041] Specifically, when starting to work, the staff manually turns the automatic driving switch 103 forward to convert the vehicle 7 into the automatic driving mode.

[0042] Step (2): Press the extension switch 104. The extension switch 104 drives the extension unit 301 and the obstacle avoidance module 6 to extend outward through the drive module 2, so that the extension unit 301 and the obstacle avoidance module 6 rotate downward until the extension detection board 401 triggers the extension sensor 402, and the obstacle avoidance indicator light 106 lights up. Then, toggle the travel control valve 107, and the vehicle 7 moves forward; continue to press the extension switch 104 to adjust the extended position of the obstacle avoidance unit 601.

[0043] Specifically, the staff manually presses the extension switch 104. The extension switch 104 drives the extension unit 301 and the obstacle avoidance module 6 to extend outward through the drive module 2. The extension unit 301 and the obstacle avoidance module 6 leave the obstruction of the limit unit 302 and rotate downward under the influence of their own gravity until the extension unit 301 and the obstacle avoidance module 6 are in a horizontal state. At this time, the extension detection board 401 triggers the extension sensor 402. The extension sensor 402 detects the extension signal and transmits it to the obstacle avoidance indicator light 106, causing the obstacle avoidance indicator light 106 to light up. After the operator receives the lighting signal of the obstacle avoidance indicator light 106, the travel control valve 107 is toggled forward, and the vehicle 7 starts to move forward slowly; continue to manually press the extension switch 104 to adjust the extended position of the obstacle avoidance unit 601 according to the actual situation, and stop pressing the extension switch 104 after adjustment.

[0044] Step (3): The vehicle 7 moves forward slowly. When the obstacle avoidance unit 601 touches an obstacle, it rotates backward, the obstacle avoidance detection plate 501 touches the obstacle avoidance sensor 502, the obstacle avoidance sensor 502 detects an obstacle avoidance signal and transmits it to the control unit 102, and the control unit 102 controls the vehicle 7 to turn.

[0045] Specifically, during the movement of the vehicle 7, when the obstacle avoidance unit 601 touches an obstacle, it rotates backward, driving the obstacle avoidance detection plate 501 to rotate backward. At this time, the obstacle avoidance detection plate 501 triggers the obstacle avoidance sensor 502. The obstacle avoidance sensor 502 detects an obstacle avoidance signal and transmits it to the control unit 102. After receiving the obstacle avoidance signal, the control unit 102 automatically controls the vehicle 7 to turn outward until it passes over the obstacle.

[0046] Step (4): After passing over the obstacle, the obstacle avoidance unit 601 automatically resets under the action of the reset unit 602. At this time, the obstacle avoidance sensor 502 stops transmitting the obstacle avoidance signal, the vehicle 7 stops turning and continues to move forward slowly. Such repeated obstacle avoidance operations are carried out until the work is completed.

[0047] Specifically, when the obstacle avoidance unit 601 passes over the obstacle, the obstacle avoidance unit 601 automatically resets under the drive of the reset unit 602. At this time, the obstacle avoidance detection plate 501 leaves the obstacle avoidance sensor 502, the obstacle avoidance sensor 502 stops transmitting the obstacle avoidance signal, the vehicle 7 stops turning outward, and continues to move forward slowly. The operation is continued, and such repeated obstacle avoidance operations are carried out until the work is completed.

[0048] Step (5): After the work is completed, the walking control valve 107 is toggled in the reverse direction, the vehicle 7 stops moving forward, the retraction switch 105 is pressed, and the retraction switch 105 drives the extension unit 301 and the obstacle avoidance unit 601 to retract inward, causing the extension unit 301 and the obstacle avoidance module 6 to rotate upward, and the obstacle avoidance indicator light 106 goes out.

[0049] Specifically, after the work is completed, the operator manually toggles the walking control valve 107 in the reverse direction, the vehicle 7 stops moving forward, and then manually presses the retraction switch 105. The drive module 2 drives the extension unit 301 and the obstacle avoidance module 6 to retract inward, causing the extension unit 301 and the obstacle avoidance module 6 to be blocked by the limiting unit 302 and rotate upward. At this time, the extension detection plate 401 leaves the extension sensor 402, the extension sensor 402 stops transmitting the extension signal, and the obstacle avoidance indicator light 106 goes out.

[0050] Step (6): Rotate the automatic driving switch 103 in the reverse direction to turn off the automatic driving mode.

[0051] Specifically, after the operator receives the signal that the obstacle avoidance indicator light 106 goes out, the operator manually rotates the automatic driving switch 103 in the reverse direction to turn off the automatic driving mode of the vehicle 7.

[0052] The present invention provides an automatic obstacle avoidance walking control system. By setting the limit unit 302 to cooperate with the drive module 2, the extension unit 301 and the obstacle avoidance module 6 can rotate up and down around the drive module 2, realizing the automatic deployment and folding of the extension unit 301 and the obstacle avoidance module 6. By setting the extension detection module 4 to cooperate with the obstacle avoidance indicator light 106, an operator can control the movement and stop of the vehicle 7 without leaving the vehicle 7. By setting the obstacle avoidance detection module 5 to cooperate with the control unit 102, the automatic obstacle avoidance of the obstacle avoidance module 6 and the automatic precise steering of the vehicle 7 are realized. By setting the extension detection module 4 and the obstacle avoidance detection module 5 as collision detection modules, the obstacle avoidance action is timely and rapid, the obstacle avoidance result is accurate, the obstacle avoidance effect is good, and the obstacle avoidance efficiency is high. The structure of the present invention is simple, the operation is convenient, the automatic obstacle avoidance is realized efficiently and precisely, the degree of automation is high, the dependence is strong, it can be matched with a variety of machines to realize automatic obstacle avoidance operation, greatly improving the operation efficiency, reducing the manufacturing and maintenance costs, increasing the service life of the machine, and can be widely applied to the technical field of automatic obstacle avoidance walking.

[0053] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0054] The above-described embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An automatic obstacle avoidance walking control system for the automatic obstacle avoidance walking of a vehicle, characterized in that, It includes a control module, a driving module, an extension module, an obstacle avoidance module, an extension detection module and an obstacle avoidance detection module. The control module is arranged on the vehicle. The driving module is arranged on one side of the front end of the vehicle. The extension module is arranged at the outer end of the driving module. The obstacle avoidance module is hinged on the extension module. The extension detection module and the obstacle avoidance detection module are arranged around the driving module and the extension module. The vehicle, the driving module, the extension detection module and the obstacle avoidance detection module are respectively connected to the control module; The extension module includes an extension unit which is hinged to the driving module and rotates up and down around the driving module. The extension module includes a limiting unit which includes a limiting roller and a limiting plate. The limiting roller is rotatably connected to one side of the driving module. The limiting plate is arranged on the extension unit. The limiting roller and the limiting plate are used in cooperation to control the up and down rotation of the extension unit around the driving module. The extension unit is used to trigger the extension detection module; The limiting plate is arranged as a V-shaped plate. The limiting plate includes a short plate and a long plate. The included angle between the short plate and the long plate is an obtuse angle. Before operation, the short plate at the upper end of the limiting plate is close to the vertical state, and the long plate at the lower end of the limiting plate is in an inclined state with the top facing inwards and the bottom facing outwards. The limiting roller is in contact with the short plate. When the control module drives the extension unit to extend outwards through the driving module, the short plate leaves the obstruction of the limiting roller. At this time, the extension unit and the obstacle avoidance module rotate downwards around the driving module under the influence of their own gravity, realizing the automatic unfolding of the obstacle avoidance module until the extension unit triggers the extension detection module. At this time, the limiting roller is in contact with the long plate, and the long plate is in an inclined state with the top facing outwards and the bottom facing inwards. The extension detection module transmits an extension signal to the control module, and the control module controls the vehicle to move forward. When the control module drives the extension unit to retract inwards through the driving module, the long plate is obstructed by the limiting roller, causing the extension unit and the obstacle avoidance module to rotate upwards around the driving module, realizing the automatic folding of the obstacle avoidance module until the limiting roller slides over the long plate and is in contact with the short plate; The control module includes a control unit; The obstacle avoidance module includes an obstacle avoidance unit which is hinged to the extension unit and rotates back and forth around the extension unit. The obstacle avoidance unit is used to avoid obstacles and trigger the obstacle avoidance detection module; The obstacle avoidance detection module includes an obstacle avoidance detection plate and an obstacle avoidance sensor. The obstacle avoidance detection plate is arranged on the obstacle avoidance module. The obstacle avoidance sensor is arranged on the extension unit. The obstacle avoidance sensor is connected to the control unit. When the obstacle avoidance unit touches an obstacle and rotates backwards, the obstacle avoidance detection plate triggers the obstacle avoidance sensor. The obstacle avoidance sensor transmits an obstacle avoidance signal to the control unit, and the control unit controls the vehicle to turn.

2. The automatic obstacle avoidance walking control system according to claim 1, characterized in that The control module includes an operation platform, on which there are an auto-driving switch, an extension switch, and a retraction switch. The auto-driving switch is connected to the vehicle, and the extension switch and the retraction switch are respectively connected to the drive module.

3. An automatic obstacle avoidance walking control system according to claim 2, characterized in that, The extension detection module includes an extension detection board and an extension sensor. The extension detection board is disposed at the bottom of the extension unit, and the extension sensor is disposed at the bottom of the drive module. There are also an obstacle avoidance indicator light and a travel control valve on the operation platform. The extension sensor is connected to the obstacle avoidance indicator light, and the travel control valve is connected to the vehicle. The extension switch drives the extension unit to extend outward through the drive module, causing the extension unit to drive the obstacle avoidance module to rotate downward until the extension detection board triggers the extension sensor. The extension sensor transmits an extension signal to the obstacle avoidance indicator light, and the obstacle avoidance indicator light lights up. Then, operate the travel control valve to control the vehicle to move forward.

4. An automatic obstacle avoidance walking control system according to claim 3, characterized in that, The obstacle avoidance module includes a reset unit. Two ends of the reset unit are respectively connected to the obstacle avoidance unit and the extension unit. The reset unit is used for automatically resetting the obstacle avoidance unit after passing over an obstacle.

5. The usage method of an automatic obstacle avoidance walking control system according to claim 4, characterized in that, It includes the following steps: (1) When starting to work, turn the auto-driving switch, and the vehicle switches to the auto-driving mode. (2) Press the extension switch. The extension switch drives the extension unit and the obstacle avoidance module to extend outward through the drive module, causing the extension unit and the obstacle avoidance module to rotate downward until the extension detection board triggers the extension sensor, and the obstacle avoidance indicator light lights up. Then, toggle the travel control valve, and the vehicle moves forward; continue to press the extension switch to adjust the extended position of the obstacle avoidance unit. (3) The vehicle moves forward slowly. When the obstacle avoidance unit touches an obstacle, it rotates backward, the obstacle avoidance detection board triggers the obstacle avoidance sensor, the obstacle avoidance sensor detects an obstacle avoidance signal and transmits it to the control unit, and the control unit controls the vehicle to turn. (4) After passing over the obstacle, the obstacle avoidance unit automatically resets under the action of the reset unit. At this time, the obstacle avoidance sensor stops transmitting the obstacle avoidance signal, the vehicle stops turning and continues to move forward slowly. Repeat the obstacle avoidance operation like this until the work ends. (5) After the work ends, toggle the travel control valve in the reverse direction, the vehicle stops moving forward, press the retraction switch, and the retraction switch drives the extension unit and the obstacle avoidance unit to retract inward through the drive module, causing the extension unit and the obstacle avoidance module to rotate upward, and the extension sensor stops transmitting the extension signal, and the obstacle avoidance indicator light goes out. (6) Turn the auto-driving switch in the reverse direction to turn off the auto-driving mode.

Images