Unmanned vehicle with automatic obstacle avoidance function

Abstract

The invention discloses an unmanned vehicle with an automatic obstacle avoidance function in the technical field of unmanned driving, and the unmanned vehicle comprises an unmanned vehicle body and a collection end arranged on the unmanned vehicle body, the two sides of the unmanned vehicle body are provided with mounting frames and driving parts used for driving the mounting frames to ascend and descend, the mounting frames are provided with rollers, and the rollers are connected with the collection end. The unmanned vehicle body is used for steering when the acquisition end detects a roadblock, and meanwhile, the driving piece located on the same side of the steering direction of the unmanned vehicle body drives the mounting frame to descend, so that the rollers are in contact with the ground to support the unmanned vehicle body; when the unmanned vehicle body turns when encountering an obstacle, the driving piece drives the mounting frame to descend, the rolling wheels make contact with the ground to support the unmanned vehicle body, the unmanned vehicle body is prevented from rolling over, and the running safety of the unmanned vehicle body is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, in particular to an unmanned driving vehicle with an automatic obstacle avoidance function. Background Art

[0002] At present, the automatic obstacle avoidance technology of unmanned vehicles mainly uses a variety of sensors such as laser radar, cameras, and ultrasonic sensors to perceive the surrounding environment. Laser radar can emit laser beams and receive reflected signals to measure the distance and angle of objects, build a high-precision three-dimensional environmental map, and identify obstacles such as pedestrians, vehicles, and buildings; cameras identify obstacles by analyzing images around the vehicle and provide rich visual information; unmanned vehicles have been widely used, such as for delivering express delivery; when an unmanned vehicle detects an obstacle in the direction of travel, it generally avoids the obstacle by turning. When the unmanned vehicle turns a large amount or suddenly (the sudden turn is due to the sudden appearance of an obstacle in the direction of travel), due to the lack of protective measures on the unmanned vehicle, the unmanned vehicle will roll over, affecting the safety of the unmanned vehicle. Summary of the invention

[0003] The purpose of the present invention is to provide an unmanned vehicle with an automatic obstacle avoidance function to solve the problem raised in the above background technology that when the unmanned vehicle turns with a large amplitude or suddenly, the unmanned vehicle may roll over due to the lack of protective measures on the unmanned vehicle.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned vehicle with an automatic obstacle avoidance function, comprising: an unmanned vehicle body and a collection end arranged on the unmanned vehicle body, both sides of the unmanned vehicle body are provided with a mounting frame and a driving member for driving the mounting frame to rise and fall, the mounting frame is provided with rollers, the unmanned vehicle body is used to turn when the collection end detects a roadblock, and at the same time, the driving member located on the same side of the turning direction of the unmanned vehicle body drives the mounting frame to descend, so that the rollers contact the ground to support the unmanned vehicle body.

[0005] Preferably, both sides of the unmanned vehicle body are hinged with support arms, the mounting frames on both sides are respectively arranged on the support arms on both sides, the driving member is a cylinder, and the moving end of the cylinder is connected to the support arm through a flexible connecting member.

[0006] Preferably, the support arm is a telescopic support arm.

[0007] Preferably, two counterweights are slidably provided at the bottom of the unmanned vehicle body, and a flexible pulling member is provided between the support arm and the counterweights, so that when one side of the support arm moves downward with the mounting frame, a counterweight away from the support arm is driven to move away.

[0008] Preferably, a magnetic block located on the moving path of the counterweight block is provided at the bottom of the unmanned vehicle body, and a magnetic member for repelling the magnetic block is provided on the counterweight block.

[0009] Preferably, a groove is provided on the front side of the unmanned vehicle body, a kit is provided in the groove, a support rod and an elastic member connected to the support rod are slidably provided in the kit, and a guard plate is provided on the outer end of the support rod.

[0010] Preferably, the unmanned vehicle body comprises a vehicle body, four mounting blocks and four wheels, the bottom of the vehicle body is provided with four mounting grooves, the mounting blocks are rotatably arranged in the mounting grooves through a rotating shaft, and the wheels are arranged on the mounting blocks;

[0011] Among them, the vehicle body is rotatably provided with a guide wheel and a gear on the same axis, the vehicle body is slidably provided with a rack meshing with the gear, the rack is connected to the support rod, the rotating shaft is provided with a driven wheel, and the driven wheel and the guide wheel are driven by a conveyor belt.

[0012] Preferably, a rolling ball is provided on the guard plate.

[0013] Compared with the prior art, the beneficial effect of the present invention is that when the unmanned vehicle body encounters an obstacle and turns, the driving member drives the mounting frame to descend, so that the roller contacts the ground to support the unmanned vehicle body, prevents the unmanned vehicle body from rolling over, and increases the safety of the unmanned vehicle body operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the driverless vehicle of the present invention;

[0015] Figure 2 It is a schematic diagram of the connection structure between the driving member and the supporting arm of the present invention;

[0016] Figure 3 This is a schematic diagram of the connection structure between the unmanned vehicle body and the counterweight block of the present invention;

[0017] Figure 4 This is a schematic diagram of the connection structure between the counterweight block and the flexible pulling member of the present invention;

[0018] Figure 5 This is a schematic diagram of the connection structure between the vehicle body and the mounting block of the present invention;

[0019] Figure 6 For the present invention Figure 5 A schematic diagram of the structure enlargement in the middle;

[0020] Figure 7 It is a schematic diagram of the connection structure between the mounting block and the guide wheel of the present invention.

[0021] In the figure: 1. Unmanned vehicle body; 101. Vehicle body; 102. Mounting groove; 103. Mounting block; 104. Wheel; 105. Driving device; 106. Driven wheel; 2. Collection end; 3. Mounting frame; 4. Roller; 5. Driving member; 6. Guard plate; 7. Rolling ball; 8. Support arm; 9. Flexible connecting member; 10. Counterweight block; 11. Magnetic block; 12. Kit; 13. Support rod; 14. Slot; 15. Elastic member; 16. Rack; 17. Guide wheel; 18. Gear; 19. Conveyor belt; 20. Flexible pulling member. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Example 1

[0024] See also Figure 1 , an unmanned vehicle with automatic obstacle avoidance function, comprising: an unmanned vehicle body 1, a collection terminal 2 is installed on the top wall of the unmanned vehicle body 1, the collection terminal 2 refers to a camera, a radar and other equipment, the camera and radar and other collection equipment are used to collect the conditions of the unmanned vehicle body 1 on the road, and the processing equipment on the unmanned vehicle body 1 analyzes the road condition information, plans the predetermined target according to the perceived road, traffic signal, vehicle position and obstacle information, controls the steering and speed of the vehicle, so as to realize the human-like driving of the unmanned vehicle according to its own intention and environment, the technology belongs to the prior art and will not be described in detail here.

[0025] See also Figure 1 and Figure 2 , support components are installed on the left and right sides of the unmanned vehicle body 1 (the left and right sides refer to the left and right sides of the forward direction of the unmanned vehicle body 1), wherein the support component includes a driving member 5 (cylinder), a support arm 8, a mounting frame 3 and a roller 4, the support arm 8 is hinged on the side wall of the unmanned vehicle body 1, the driving member 5 is installed on the side wall of the unmanned vehicle body 1, and the moving end of the driving member 5 is connected to the support arm 8 through a flexible connecting member 9 (the flexible connecting member 9 can be made of rubber), the mounting frame 3 is hinged on the end of the support arm 8 away from the unmanned vehicle body 1 (so that the mounting frame 3 can rotate on the support arm 8 to change the angle), and a spring is arranged between the two (the spring provides a supporting force to the mounting frame 3 so that the mounting frame 3 will not move easily), there are a plurality of rollers 4, and a plurality of rollers 4 are installed on the mounting frame 3.

[0026] It should be noted that a guide hole is provided in the connection area between the mounting frame 3 and the roller 4, a guide rod is installed on the roller 4, the guide rod is slidably inserted in the inner cavity of the guide hole, and a spring is installed between the guide rod and the guide hole; the guide rod moves in the inner cavity of the guide hole through the expansion and contraction of the spring, so that the height of the roller 4 can be adaptively adjusted to adapt to uneven ground.

[0027] It should also be noted that when the unmanned vehicle body 1 is traveling on the road, the collection end 2 will collect the road conditions in real time, and feed back the information to the control end of the unmanned vehicle body 1 for analysis to obtain the road conditions; when it is detected that there is a roadblock in front of the unmanned vehicle body 1, the unmanned vehicle body 1 automatically evades it to the left or right; in the process of the unmanned vehicle body 1 turning to avoid the roadblock, the unmanned vehicle body 1 will also control a driving member 5 to work (the driving member 5 is on the same side as the direction in which the unmanned vehicle body 1 turns, such as, when the unmanned vehicle body 1 turns to the left, the driving member 5 on the left will work), which is used to push the mounting frame 3 and the roller 4 on the left side to move downward, and make the roller 4 contact the ground, so as to support the unmanned vehicle body 1 and prevent it from rolling over during the turning process; and when the unmanned vehicle body 1 is turning normally, the support arm 8, the mounting frame 3 and the roller 4 will also work to support the unmanned vehicle body 1.

[0028] Please note that Figure 2 The arm 8 is a telescopic arm, specifically comprising two sections, which are connected by an electric telescopic rod; when the arm 8 is not in use, the electric telescopic rod contracts, bringing the two sections of the telescopic arm closer together, thereby reducing the length of the arm 8.

[0029] In this embodiment, as a further optimized solution, please refer to Figure 3 and Figure 4 , two counterweights 10 (the counterweights 10 can be made of metal) are provided at the bottom of the unmanned vehicle body 1 for sliding movement. The two counterweights 10 move toward or away from the support arm 8. Flexible pulling members 20 are installed on the support arms 8 on the left and right sides. The flexible pulling members 20 pass through the unmanned vehicle body 1 and are connected to the counterweights 10, and the flexible pulling member 20 on the left is connected to the counterweight 10 on the right, and the flexible pulling member 20 on the right is connected to the counterweight 10 on the left; in the process of the right support arm 8 moving downward with the right mounting frame 3, a flexible pulling member 20 will be pulled to move the counterweight 10 on the left to the left, so that the unmanned vehicle body 1 increases the gravity on its left side during the right turn, further reducing the probability of the unmanned vehicle body 1 rolling over; similarly, the left support arm 8 moves, and the right counterweight 10 moves to the right; and a reset spring is installed between the counterweight 10 and the unmanned vehicle body 1, and the reset spring is used to reset the counterweight 10 when the support arm 8 moves up and resets.

[0030] In this embodiment, as a further optimized solution, please refer to Figure 3 and Figure 4 Two magnetic blocks 11 are provided at the bottom of the unmanned vehicle body 1, and the two magnetic blocks 11 are respectively located on the moving paths of the two counterweight blocks 10. A magnetic piece is provided on the counterweight block 10 (the magnetic piece is made of the same material as the magnetic piece 11), and the top of the magnetic piece has the same magnetic pole as the bottom of the magnetic piece 11, and the two will generate a repulsive force when they are close to each other; when the support arm 8 moves and pulls the connecting rope to move the counterweight block 10, the counterweight block 10 will be moved directly under the magnetic block 11, so that the magnetic block 11 generates a repulsive force on the counterweight block 10, thereby increasing the pulling force provided by the moved counterweight block 10 to the unmanned vehicle body 1, thereby increasing the stability of the unmanned vehicle body 1 when turning and avoiding obstacles.

[0031] Example 2

[0032] As a further optimized solution of Example 1, please refer to Figure 1 , Figure 3 and Figure 5 A slot 14 is provided on the front side of the unmanned vehicle body 1, a set 12 is provided in the inner cavity of the slot 14, a support rod 13 is slidably provided in the set 12, an elastic member 15 (spring) is provided between the set 12 and the support rod 13, and a guard plate 6 is provided on the end of the support rod 13 away from the unmanned vehicle body 1; when the unmanned vehicle body 1 collides with an object on the road ahead, the guard plate 6 will first contact the colliding object, so that the support rod 13 moves toward the inside of the set 12 and compresses the elastic member 15, which can play a buffering effect and reduce the collision force on the unmanned vehicle body 1.

[0033] In this embodiment, as a further optimized solution, please refer to Figure 3 , Figure 5 , Figure 6 and Figure 7The unmanned vehicle body 1 includes a vehicle body 101, four mounting blocks 103 and four wheels 104. Four mounting grooves 102 are provided at the bottom of the vehicle body 101. The mounting blocks 103 are rotatably arranged in the mounting grooves 102 through a rotating shaft. The wheels 104 are arranged on the mounting blocks 103 (each mounting block 103 is equipped with a driving device 105, such as a motor, for driving the wheels 104 to rotate respectively, so that the four wheels 104 are driven independently); a rotating rod is rotatably provided on the vehicle body 101, and a guide wheel 17 and a gear 18 are fixedly sleeved on the outer wall of the rotating rod. A rack 1 is slidably provided on the vehicle body 101. 6, the moving direction of the rack 16 is the same as that of the support rod 13 (a rotating rod, a guide wheel 17, a gear 18 and a rack 16 are installed at each mounting block 103), the rack 16 and the gear 18, the two racks 16 on the same side are connected by a connecting rod (the same side refers to the left or right side of the forward direction of the unmanned vehicle body 1), and a driven wheel 106 is fixedly sleeved on the outer wall of the rotating shaft, and the driven wheel 106 and the guide wheel 17 are driven by a conveyor belt 19; and the kit 12 and the support rod 13 both have two, and the ends of the two support rods 13 away from the guard plate 6 are respectively connected to the racks 16 on both sides.

[0034] It should be noted that when the unmanned vehicle body 1 collides with an object on the road ahead, the guard plate 6 will move with the support rod 13 after contacting the collision object, so as to drive the rack 16 to slide. Since the rack 16 and the gear 18 are meshed, the rack 16 will rotate with the gear 18 when it moves, and the guide wheel 17 will rotate synchronously; through the transmission of the conveyor belt 19, the driven wheel will rotate with the mounting block 103 and the wheel 104, and change the moving direction of the wheel 104, so that the unmanned vehicle body 1 can move to the left or right and separate from the collision object, thereby preventing the unmanned vehicle body 1 from always pressing against the collision object.

[0035] In this embodiment, as a further optimized solution, please refer to Figure 1 and Figure 5 , a plurality of rolling balls 7 are arranged on the guard plate 6; when the wheel 104 changes direction, the rolling guide of the rolling balls 7 can better separate the guard plate 6 from the collision object, making it easier for the unmanned vehicle body 1 to separate from the collision object.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned vehicle with automatic obstacle avoidance function, comprising: An unmanned vehicle body (1) and a collection end (2) disposed on the unmanned vehicle body (1), characterized in that: a mounting frame (3) and a driving member (5) for driving the mounting frame (3) to rise and fall are disposed on both sides of the unmanned vehicle body (1); a roller (4) is disposed on the mounting frame (3); the unmanned vehicle body (1) is used to turn when the collection end (2) detects a roadblock, and at the same time, the driving member (5) located on the same side of the turning direction of the unmanned vehicle body (1) drives the mounting frame (3) to descend, so that the roller (4) contacts the ground to support the unmanned vehicle body (1).

2. The driverless vehicle with automatic obstacle avoidance function according to claim 1, characterized in that: Both sides of the unmanned vehicle body (1) are hinged with support arms (8), and the mounting frames (3) on both sides are respectively arranged on the support arms (8) on both sides. The driving member (5) is a cylinder, and the movable end of the cylinder is connected to the support arm (8) through a flexible connecting member (9).

3. The driverless vehicle with automatic obstacle avoidance function according to claim 2, characterized in that: The support arm (8) is a telescopic support arm.

4. The driverless vehicle with automatic obstacle avoidance function according to claim 2, characterized in that: Two counterweights (10) are slidably disposed at the bottom of the unmanned vehicle body (1), and a flexible pulling member (20) is disposed between the support arm (8) and the counterweights (10) so that when one side support arm (8) moves downward with the mounting frame (3), a counterweight (10) away from the support arm (8) is driven to move away.

5. The driverless vehicle with automatic obstacle avoidance function according to claim 4, characterized in that: The bottom of the unmanned vehicle body (1) is provided with a magnetic block (11) located on the moving path of the counterweight block (10), and the counterweight block (10) is provided with a magnetic piece for repelling the magnetic block (11).

6. The driverless vehicle with automatic obstacle avoidance function according to claim 1, characterized in that: The front side of the unmanned vehicle body (1) is provided with a slot (14), a set (12) is provided in the slot (14), a support rod (13) and an elastic member (15) connected to the support rod (13) are slidably provided in the set (12), and a guard plate (6) is provided on the outer end of the support rod (13).

7. The driverless vehicle with automatic obstacle avoidance function according to claim 6, characterized in that: The unmanned vehicle body (1) comprises a vehicle body (101), four mounting blocks (103) and four wheels (104); the bottom of the vehicle body (101) is provided with four mounting grooves (102); the mounting blocks (103) are rotatably arranged in the mounting grooves (102) via a rotating shaft; and the wheels (104) are arranged on the mounting blocks (103); The vehicle body (101) is rotatably provided with a guide wheel (17) and a gear (18) on the same axis, the vehicle body (101) is slidably provided with a rack (16) meshing with the gear (18), the rack (16) is connected to the support rod (13), the rotating shaft is provided with a driven wheel, and the driven wheel and the guide wheel (17) are driven by a conveyor belt (19).

8. The driverless vehicle with automatic obstacle avoidance function according to claim 6, characterized in that: A rolling ball (7) is provided on the guard plate (6).

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