An unmanned vehicle with automatic obstacle avoidance function

Abstract

The application discloses the technical field of unmanned driving and relates to an unmanned vehicle with an automatic obstacle avoidance function, which comprises an unmanned vehicle body and a collecting end arranged on the unmanned vehicle body. Both sides of the unmanned vehicle body are provided with mounting racks and driving elements for driving the mounting racks to ascend and descend. Rollers are arranged on the mounting racks. When the collecting end detects a roadblock, the unmanned vehicle body is turned, and the driving element on the same side of the turning direction of the unmanned vehicle body drives the mounting rack to descend, so that the roller is in contact with the ground to support the unmanned vehicle body. When the unmanned vehicle body encounters an obstacle and turns, the driving element drives the mounting rack to descend, the roller is in contact with the ground to support the unmanned vehicle body, the unmanned vehicle body is prevented from rolling over, and the safety of the unmanned vehicle body in operation is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned driving, in particular to an unmanned vehicle with automatic obstacle avoidance function. BACKGROUND

[0002] At present, the automatic obstacle avoidance technology of unmanned vehicles is mainly realized through various sensors such as laser radar, camera and ultrasonic sensor to perceive the surrounding environment. Laser radar can emit laser beams and receive the reflected signals to measure the distance and angle of objects, construct a high-precision three-dimensional environment map, and identify obstacles such as pedestrians, vehicles and buildings; the camera identifies obstacles by analyzing the images around the vehicle and provides rich visual information; unmanned vehicles have been widely used, such as for delivering express delivery; when the unmanned vehicle detects an obstacle in the forward direction, it generally avoids the obstacle by turning; when the unmanned vehicle turns with a large amplitude or suddenly turns (sudden turning is due to the sudden appearance of an obstacle in the forward direction), the unmanned vehicle will roll over due to the lack of protective measures on the unmanned vehicle, which affects the safety of the unmanned vehicle operation. SUMMARY

[0003] The purpose of the present application is to provide an unmanned vehicle with automatic obstacle avoidance function to solve the problem of rolling over of the unmanned vehicle due to the lack of protective measures on the unmanned vehicle when the unmanned vehicle turns with a large amplitude or suddenly turns as mentioned in the background.

[0004] To achieve the above purpose, the present application provides the following technical scheme: an unmanned vehicle with automatic obstacle avoidance function, comprising: an unmanned vehicle body and a collection end provided on the unmanned vehicle body, both sides of the unmanned vehicle body are provided with a mounting bracket and a driving member for driving the mounting bracket to rise and fall, a roller is provided on the mounting bracket, the unmanned vehicle body is used to turn when the collection end detects a roadblock, and the driving member on the same side of the turning direction of the unmanned vehicle body drives the mounting bracket to descend, so that the roller contacts the ground to support the unmanned vehicle body.

[0005] As a preferred, both sides of the unmanned vehicle body are hinged with a supporting arm, the mounting bracket is provided on the supporting arm on both sides, the driving member is a gas cylinder, and the moving end of the gas cylinder is connected with the supporting arm through a flexible connecting piece.

[0006] As a preferred, the supporting arm is a telescopic supporting arm.

[0007] As a preferred, the bottom of the unmanned vehicle body is provided with two counterweights which slide, and a flexible pulling piece is provided between the supporting arm and the counterweight to drive the counterweight away from the supporting arm when the supporting arm with the mounting bracket moves downward.

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

[0009] Preferably, the front side of the autonomous vehicle body is provided with a slot, a kit is provided in the slot, a support rod and an elastic element connected to the support rod are slidably provided in the kit, and a protective plate is provided on the outer end of the support rod.

[0010] Preferably, the unmanned vehicle body includes a vehicle body, four mounting blocks and four wheels. The bottom of the vehicle body is provided with four mounting slots. The mounting blocks are rotatably mounted in the mounting slots via a rotating shaft, and the wheels are mounted on the mounting blocks.

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

[0012] Preferably, the guard plate is provided with rolling balls.

[0013] Compared with the prior art, the beneficial effects of the present invention are: when the unmanned vehicle encounters an obstacle and turns, the drive component drives the mounting frame to descend, so that the rollers contact the ground to support the unmanned vehicle, preventing the unmanned vehicle from overturning and increasing the safety of the unmanned vehicle operation. Attached Figure Description

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

[0015] Figure 2 This is a schematic diagram of the connection structure between the drive component and the support 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 and the flexible pulling component 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 Enlarged schematic diagram of the structure at point A in the middle;

[0020] Figure 7 This 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, acquisition end; 3, mounting frame; 4, roller; 5, driving piece; 6, guard plate; 7, rolling ball; 8, support arm; 9, flexible connecting piece; 10, counterweight; 11, magnetic block; 12, sleeve; 13, support rod; 14, slot; 15, elastic piece; 16, rack; 17, guide wheel; 18, gear; 19, conveyor belt; 20, flexible pulling piece. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0023] Embodiment 1

[0024] Please refer to Figure 1 An unmanned vehicle with automatic obstacle avoidance function comprises an unmanned vehicle body 1, and an acquisition end 2 is installed on the top wall of the unmanned vehicle body 1. The acquisition end 2 refers to a camera, a radar and the like. The camera and the radar and the like are used to collect the conditions on the road on which the unmanned vehicle body 1 travels. The conditions are analyzed by a processing device on the unmanned vehicle body 1 to obtain road condition information. According to the perceived road, traffic signal, vehicle position and obstacle information, a predetermined target is planned, and the steering and speed of the vehicle are controlled, so as to realize the human-like driving of the unmanned vehicle according to the intention of the vehicle itself and the environment. This technology belongs to the prior art, and will not be described in detail.

[0025] Please refer to Figure 1 And Figure 2 The left and right sides of the unmanned vehicle body 1 are both provided with a support assembly (the left and right sides refer to the left and right sides of the forward direction of the unmanned vehicle body 1). The support assembly comprises a driving piece 5 (a pneumatic cylinder), a support arm 8, a mounting frame 3 and a roller 4. The support arm 8 is hinged to the side wall of the unmanned vehicle body 1. The driving piece 5 is installed on the side wall of the unmanned vehicle body 1, and the moving end of the driving piece 5 is connected to the support arm 8 through a flexible connecting piece 9 (the flexible connecting piece 9 can be made of rubber). The mounting frame 3 is hinged to the end of the support arm 8 away from the unmanned vehicle body 1 (so that the mounting frame 3 can change the angle by rotating the support arm 8). A spring is arranged between the mounting frame 3 and the support arm 8 (the spring provides a support force for the mounting frame 3, so that the mounting frame 3 is not easily moved). The roller 4 has a plurality of rollers 4, and the plurality of rollers 4 are all installed on the mounting frame 3.

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

[0027] It should be further noted that the unmanned vehicle body 1 drives on the road, the collecting end 2 collects the road conditions in real time and feeds 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 the front side where the unmanned vehicle body 1 drives, the unmanned vehicle body 1 automatically evades left or right; in the process of turning to avoid the roadblock, the unmanned vehicle body 1 also controls a driving part 5 to work (the driving part 5 is on the same side as the turning direction of the unmanned vehicle body 1, for example, when the unmanned vehicle body 1 turns left, the driving part 5 on the left side works), 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 to support the unmanned vehicle body 1 and avoid it from rolling over in the process of turning; and when the unmanned vehicle body 1 normally turns and bends, the supporting arm 8, the mounting frame 3 and the roller 4 also work to support the unmanned vehicle body 1.

[0028] It should be noted that please refer to Figure 2 , the supporting arm 8 is a telescopic supporting arm and specifically includes two sections which are connected through an electric telescopic rod; when the supporting arm 8 is not used, the electric telescopic rod is contracted to make the two sections of the telescopic supporting arm close to each other and reduce the length of the supporting arm 8.

[0029] In this embodiment, as a further optimized scheme, please refer to Figure 3 and Figure 4 , two counterweights 10 (the counterweights 10 can be made of metal) are slidingly arranged at the bottom of the unmanned vehicle body 1, the counterweights 10 move towards or away from the supporting arm 8, flexible pulling parts 20 are arranged on the left and right supporting arms 8, the left and right counterweights 10 are connected through the unmanned vehicle body 1 and the flexible pulling parts 20, the left flexible pulling part 20 is connected with the right counterweight 10, and the right flexible pulling part 20 is connected with the left counterweight 10; in the process that the right supporting arm 8 moves downward with the right mounting frame 3, one flexible pulling part 20 is pulled to make the left counterweight 10 move leftward, so that the left gravity of the unmanned vehicle body 1 is increased in the process of right turning, and the probability of rolling over of the unmanned vehicle body 1 is further reduced; similarly, the left supporting arm 8 moves, and the right counterweight 10 moves rightward; and a reset spring is arranged between the counterweight 10 and the unmanned vehicle body 1, which is used to reset the counterweight 10 when the supporting arm 8 moves upward.

[0030] In this embodiment, as a further optimized scheme, please refer toFigure 3 And Figure 4 The bottom of the unmanned vehicle body 1 is provided with two magnetic blocks 11, which are respectively located on the moving path of the two counterweight blocks 10. The counterweight blocks 10 are provided with magnetic pieces (the same material as the magnetic blocks 11). The top of the magnetic piece is the same as the bottom of the magnetic block 11. When they are close to each other, repulsive force is generated. When the support arm 8 moves and pulls the connecting rope, the counterweight block 10 will be moved directly below the magnetic block 11, so that the magnetic block 11 generates repulsive force on the counterweight block 10, so that the pulling force provided by the counterweight block 10 on the unmanned vehicle body 1 after moving is increased, and the stability of the unmanned vehicle body 1 when turning to avoid obstacles is increased.

[0031] Embodiment 2

[0032] As a further optimized solution of embodiment 1, please refer to Figure 1 、 Figure 3 And Figure 5 The front side of the unmanned vehicle body 1 is provided with a slot 14. The inner cavity of the slot 14 is provided with a sleeve 12. The sleeve 12 is slidably provided with a support rod 13. The sleeve 12 and the support rod 13 are provided with an elastic piece 15 (spring). The end of the support rod 13 away from the unmanned vehicle body 1 is provided with a guard plate 6. When the unmanned vehicle body 1 collides with an object on the forward path, the guard plate 6 will first contact the colliding object, so that the support rod 13 moves towards the inside of the sleeve 12, and the elastic piece 15 is compressed, 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 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 through rotating shafts, the wheels 104 are arranged on the mounting blocks 103 (each mounting block 103 is provided with a driving device 105, such as a motor, for driving the wheels 104 to rotate respectively, so that the four wheels 104 are independently driven); a rotating rod is rotatably arranged on the vehicle body 101, a guide wheel 17 and a gear 18 are fixedly arranged on the outer wall of the rotating rod, a rack 16 is slidably arranged on the vehicle body 101, the moving direction of the rack 16 is the same as the moving direction of the supporting rod 13 (each mounting block 103 is provided with a rotating rod, a guide wheel 17, a gear 18 and a rack 16), the rack 16 and the gear 18 are connected through connecting rods between two racks 16 on the same side (the same side refers to the left side or the right side of the forward direction of the unmanned vehicle body 1), a driven wheel 106 is fixedly arranged on the outer wall of the rotating shaft, the driven wheel 106 and the guide wheel 17 are driven through a conveying belt 19; and the supporting rod 13 and the bracket 6 both have two, the ends of the two supporting rods 13 away from the bracket 6 are respectively connected with the racks 16 on the two sides.

[0034] It should be noted that when the unmanned vehicle body 1 collides with an object on the forward path, the bracket 6 will move with the supporting rod 13 after contacting the colliding object, so as to drive the rack 16 to slide, and since the rack 16 and the gear 18 are engaged, the rack 16 will drive the gear 18 to rotate when the rack 16 moves, and the guide wheel 17 will synchronously rotate; through the transmission of the conveying belt 19, the driven wheel drives the mounting block 103 and the wheel 104 to rotate, changes the moving direction of the wheel 104, so that the unmanned vehicle body 1 can move left or right, and separate from the colliding object, thereby avoiding the unmanned vehicle body 1 from always resisting the colliding object.

[0035] In this embodiment, as a further optimized scheme, please refer to Figure 1 and Figure 5 A plurality of rolling balls 7 are arranged on the bracket 6; when the wheels 104 change direction, the rolling balls 7 will guide the rolling, so that the bracket 6 and the colliding object can be better separated, and the unmanned vehicle body 1 and the colliding object can be separated.

[0036] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An unmanned vehicle with automatic obstacle avoidance function, comprising: The unmanned vehicle body (1) and the collection end (2) arranged on the unmanned vehicle body (1), characterized in that: the two sides of the unmanned vehicle body (1) are provided with mounting frames (3) and driving elements (5) for driving the mounting frames (3) to rise and fall, the mounting frames (3) are provided with rollers (4), and the unmanned vehicle body (1) is used for turning when the collection end (2) detects a roadblock, and simultaneously driving the driving element (5) on the same side of the turning direction of the unmanned vehicle body (1) to drive the mounting frame (3) to descend, so that the roller (4) contacts the ground to support the unmanned vehicle body (1); The front side of the unmanned vehicle body (1) is provided with a slot (14), the slot (14) is provided with a sleeve assembly (12), the sleeve assembly (12) is provided with a supporting rod (13) and an elastic element (15) connected with the supporting rod (13) and slidingly, and the outer side end of the supporting rod (13) is provided with a guard plate (6). 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 rotationally arranged in the mounting grooves (102) through rotating shafts, and the wheels (104) are arranged on the mounting blocks (103). Wherein, the vehicle body (101) is rotationally provided with a guide wheel (17) and a gear (18) on the same axis, the vehicle body (101) is slidingly provided with a rack (16) engaged with the gear (18), the rack (16) is connected with the supporting rod (13), the rotating shaft is provided with a driven wheel, and the driven wheel and the guide wheel (17) are driven through a conveying belt (19). When the unmanned vehicle body (1) collides with an object on the front road, the guard plate (6) contacts the collision object and moves with the supporting rod (13) to drive the rack (16) to slide. Since the rack (16) and the gear (18) are engaged, the rack (16) moves with the gear (18) rotating, and the guide wheel (17) rotates synchronously. Through the transmission of the conveying belt (19), the driven wheel drives the mounting block (103) and the wheel (104) to rotate, changes the moving direction of the wheel (104), and enables the unmanned vehicle body (1) to move left or right and separate from the collision object.

2. The unmanned vehicle with automatic obstacle avoidance function according to claim 1, characterized in that: The two sides of the unmanned vehicle body (1) are hingedly provided with supporting arms (8), the mounting frames (3) on the two sides are arranged on the two supporting arms (8) respectively, and the driving element (5) is a gas cylinder.

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

4. The unmanned vehicle with automatic obstacle avoidance function according to claim 2, characterized in that: The bottom of the unmanned vehicle body (1) is slidingly provided with two counterweight blocks (10), and flexible pulling elements (20) are arranged between the supporting arms (8) and the counterweight blocks (10) to drive the counterweight block (10) away from the supporting arm (8) to move away when the supporting arm (8) on one side moves downward with the mounting frame (3).

5. The self-driving 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) on the moving path of a counterweight (10), and the counterweight (10) is provided with a magnetic piece for repelling the magnetic block (11). 6.The unmanned vehicle with automatic obstacle avoidance function of claim 1, wherein: The guard plate (6) is provided with a rolling ball (7).

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