Intelligent obstacle avoidance vehicle

Abstract

The utility model relates to the technical field of walking equipment, in particular to an intelligent obstacle avoidance vehicle. The intelligent obstacle avoidance vehicle comprises a vehicle body, the vehicle body comprises a vehicle bottom plate and a middle plate erected on the vehicle bottom plate, supporting columns are fixedly installed at the four corners of the top end of the middle plate, a vehicle top plate is jointly and fixedly installed at the top ends of the four supporting columns, and anti-collision assemblies are fixedly installed on the periphery of the vehicle top plate; the number of the hydraulic cylinders is four, the four hydraulic cylinders are installed at the four corners of the bottom end of the vehicle bottom plate correspondingly, the telescopic ends of the four hydraulic cylinders are downwards and fixedly provided with driving pieces, and a hydraulic station for controlling the hydraulic cylinders is installed in the middle of the vehicle bottom plate; and the power supply module used for supplying electric energy to the obstacle avoidance vehicle is embedded in the bottom of the vehicle bottom plate, the power supply module is electrically connected with a central controller, the central controller is installed on the upper surface of the vehicle bottom plate, and the central controller is electrically connected with the driving part. The intelligent obstacle avoidance vehicle provided by the utility model has the advantages of simple structure and anti-collision protection.

Description

Technical Field

[0001] The utility model relates to the technical field of walking equipment, in particular to an intelligent obstacle-avoiding vehicle. Background Art

[0002] The running gear, also known as the "travel mechanism," is part of the chassis of a car or tractor. It generally includes the frame, front axle, rear axle, suspension system, and wheels. The part of the running gear that directly contacts the road surface is the wheel, which is called a wheeled running gear.

[0003] With the development of technology, one of the key points in the research of automated driving is how to automatically avoid obstacles. However, when using existing intelligent obstacle avoidance vehicles, the chassis height of the running mechanism is inconvenient to adjust, and the obstacle avoidance vehicles of existing technology lack effective safety protection and are easily damaged when in use.

[0004] Therefore, it is necessary to provide a new intelligent obstacle avoidance vehicle to solve the above-mentioned technical problems. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides an intelligent obstacle avoidance vehicle with simple structure and anti-collision protection.

[0006] The intelligent obstacle avoidance vehicle provided by the utility model comprises: a vehicle body, the vehicle body comprising a vehicle bottom plate, and an intermediate plate mounted on the vehicle bottom plate, the top four corners of the intermediate plate are fixedly mounted with support columns, the tops of the four support columns are commonly fixedly mounted with a roof plate, and the four sides of the roof plate are fixedly mounted with anti-collision components;

[0007] There are four groups of hydraulic cylinders, which are respectively installed at the four corners of the bottom end of the vehicle floor, and the telescopic ends of the four groups of hydraulic cylinders are fixedly installed with driving parts downward. A hydraulic station for controlling the hydraulic cylinders is installed in the middle of the vehicle floor;

[0008] A power supply module for supplying power to the obstacle avoidance vehicle is embedded in the bottom of the vehicle floor, and the power supply module is electrically connected to a central controller, which is mounted on the upper surface of the vehicle floor and is electrically connected to the driving component;

[0009] A first vision module, which is used for lane and road surface recognition and obstacle avoidance. The first vision module is arranged around the bottom end of the middle plate and is electrically connected to the central controller;

[0010] The second visual module is used for intelligent identification and is arranged on the upper surface of the middle plate.

[0011] Preferably, the driving member includes a mounting frame, which is fixedly connected to the telescopic end of the hydraulic cylinder, and a rotating motor is fixedly installed inside the mounting frame, an L-shaped frame is fixedly installed on the output end of the rotating motor, a transmission shaft is rotatably installed on the vertical plate of the L-shaped frame, a servo motor for driving the transmission shaft to rotate is installed on the horizontal plate of the L-shaped frame, a wheel is fixedly installed on one end of the transmission shaft, and the rotating motor and the servo motor are electrically connected to the central controller.

[0012] Preferably, the servo motor and the transmission shaft are connected via gear transmission.

[0013] Preferably, the first visual module includes infrared sensors and ultrasonic sensors arrayed around the top of the middle plate, and the infrared sensors and ultrasonic sensors are electrically connected to the central controller.

[0014] Preferably, the second vision module includes a laser radar installed in the middle of the upper surface of the middle plate, and a vision camera installed on the outer side walls of the four support columns, and the laser radar and the vision camera are electrically connected to the central controller.

[0015] Preferably, the anti-collision component includes a connecting plate, two of which are provided, and the two connecting plates are mounted on the outer side of the roof panel by screws, and connecting rods are slidably mounted on the two connecting plates, and a protective plate is commonly mounted on one end of the two connecting rods, and a return spring is fixedly sleeved on the two connecting rods between the protective plate and the connecting plate, and a rubber pad is pasted on the outer side wall of the protective plate.

[0016] Compared with related technologies, the intelligent obstacle avoidance vehicle provided by the present invention has the following beneficial effects:

[0017] 1. The utility model provides an intelligent obstacle avoidance vehicle. By installing hydraulic cylinders at the four corners of the vehicle floor, a driving member is installed at the telescopic end of the hydraulic cylinder. The driving member uses the cooperation of the mounting frame, rotating motor, L-shaped frame, transmission shaft, servo motor and wheels to automatically adjust the height of the vehicle floor, thereby achieving high passability.

[0018] 2. By setting up anti-collision components around the roof panel, the anti-collision components use the cooperation of connecting plates, connecting rods, protective plates, return springs and rubber pads to make the obstacle avoidance vehicle have good anti-collision performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic structural diagram of a preferred embodiment of the intelligent obstacle avoidance vehicle provided by the present utility model;

[0020] Figure 2 This is a structural schematic diagram of the intelligent obstacle avoidance vehicle provided by the utility model from another perspective;

[0021] Figure 3 A schematic diagram of the structure of the driving member provided by the utility model;

[0022] Figure 4 This is a schematic structural diagram of the anti-collision component provided by the utility model.

[0023] Numbers in the figure: 100, vehicle body; 101, vehicle bottom plate; 102, middle plate; 103, support column; 104, roof plate; 200, hydraulic cylinder; 300, drive part; 301, mounting frame; 302, rotating motor; 303, L-shaped frame; 304, drive shaft; 305, servo motor; 306, wheel; 400, hydraulic station; 500, power supply module; 600, central controller; 700, first vision module; 701, infrared sensor; 702, ultrasonic sensor; 800, second vision module; 801, laser radar; 802, visual camera; 900, anti-collision component; 901, connecting plate; 902, connecting rod; 903, protective plate; 904, return spring; 905, rubber pad. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is 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 invention and are not intended to limit the present invention.

[0025] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0026] See also Figures 1 to 4 The present invention provides an intelligent obstacle avoidance vehicle, which includes:

[0027] The vehicle body 100 includes a floor panel 101 and an intermediate panel 102 mounted on the floor panel 101. Support columns 103 are fixedly mounted at the top and bottom corners of the intermediate panel 102. A roof panel 104 is fixedly mounted at the tops of the four support columns 103. Anti-collision components 900 are fixedly mounted on all four sides of the roof panel 104.

[0028] There are four groups of hydraulic cylinders 200, which are respectively installed at the four corners of the bottom end of the vehicle floor 101. The telescopic ends of the four groups of hydraulic cylinders 200 are fixedly installed with driving parts 300 downward. A hydraulic station 400 for controlling the hydraulic cylinders 200 is installed in the middle of the vehicle floor 101;

[0029] The power supply module 500 is embedded in the bottom of the vehicle floor 101 and is electrically connected to the central controller 600. The central controller 600 is mounted on the upper surface of the vehicle floor 101 and is electrically connected to the driving component 300.

[0030] The first vision module 700, used for lane and road surface recognition and obstacle avoidance, is arranged around the bottom of the middle plate 102 and is electrically connected to the central controller 600. The first vision module 700 includes an infrared sensor 701 and an ultrasonic sensor 702 arrayed around the top of the middle plate 102. The infrared sensor 701 and the ultrasonic sensor 702 are electrically connected to the central controller 600;

[0031] The second visual module 800, the second visual module 800 for intelligent identification is arranged on the upper surface of the middle plate 102, the second visual module 800 includes a laser radar 801 installed in the middle of the upper surface of the middle plate 102, and a visual camera 802 installed on the outer walls of the four support columns 103. The laser radar 801 and the visual camera 802 are electrically connected to the central controller 600.

[0032] It should be noted that: when in use, the obstacle avoidance vehicle uses the first visual module 700 and the second visual module 800 to identify obstacles on the path, and uploads the identified data to the central controller 600. After receiving the data, the central controller 600 uses the set algorithm to avoid obstacles on the path, thereby planning a new route and walking. When walking, when encountering road obstacles and there is a risk of scratching, the central controller 600 controls the hydraulic station 400 to control the hydraulic cylinder 200 to extend, thereby driving the mounting frame 301 to extend, and then controls the steering through the rotating motor 302, and then controls the servo motor 305 to use gear transmission to drive the drive shaft 304 to rotate, so that the drive shaft 304 drives the wheel 306 to rotate for walking. During the walking process, the anti-collision component 900 is used to provide anti-collision protection.

[0033] It should also be noted that the power supply module 500 here includes a battery for energy storage and a battery controller for controlling charging and discharging, thereby realizing charging and energy storage as well as discharging and power supply of the battery. The first visual module 700 uses an infrared sensor 701 and an ultrasonic sensor 702 to realize ranging and identification of obstacles on the path. The second visual module 800 uses a laser radar 801 and a visual camera 802 to realize positioning and further roadblock identification, thereby transmitting the data information to the central controller 600. After reading, the central controller 600 recalculates the planned route to realize automatic obstacle avoidance walking.

[0034] Furthermore, the roof panel 104 is detachably connected to the support column 103 by screws, which facilitates the installation of roof panels 104 of different specifications for loading.

[0035] In the embodiments of the present invention, please refer to Figure 1 and Figure 3 The driving member 300 includes a mounting frame 301, which is fixedly connected to the telescopic end of the hydraulic cylinder 200, and a rotating motor 302 is fixedly installed inside the mounting frame 301. An L-shaped frame 303 is fixedly installed on the output end of the rotating motor 302. A transmission shaft 304 is rotatably mounted on the vertical plate of the L-shaped frame 303. A servo motor 305 for driving the transmission shaft 304 to rotate is mounted on the horizontal plate of the L-shaped frame 303. A wheel 306 is fixedly installed at one end of the transmission shaft 304. The rotating motor 302 and the servo motor 305 are electrically connected to the central controller 600.

[0036] The servo motor 305 and the transmission shaft 304 are connected via gear transmission.

[0037] In the embodiments of the present invention, please refer to Figure 1 and Figure 4 The anti-collision component 900 includes a connecting piece 901, and there are two connecting pieces 901. The two connecting pieces 901 are installed on the outside of the roof panel 104 by screws, and connecting rods 902 are slidably installed on the two connecting pieces 901. A protective plate 903 is commonly installed at one end of the two connecting rods 902, and a return spring 904 is fixedly sleeved on the two connecting rods 902 between the protective plate 903 and the connecting piece 901, and a rubber pad 905 is pasted on the outer wall of the protective plate 903.

[0038] It should be noted that when the obstacle avoidance vehicle is moving, the anti-collision component 900 is pushed by the return spring 904 to block the four sides of the roof panel 104, thereby using the protective plate 903 to provide anti-collision protection. The protective plate 903 is further affixed with a rubber pad 905 to avoid collisions, scratches and bumps during walking.

[0039] The working principle of the intelligent obstacle avoidance vehicle provided by the utility model is as follows:

[0040] During use, the obstacle avoidance vehicle uses the first vision module 700 and the second vision module 800 to identify obstacles on the path and upload the identified data to the central controller 600. After receiving the data, the central controller 600 uses the set algorithm to avoid obstacles on the path, thereby planning a new route and moving. When walking, when encountering road obstacles and there is a risk of scratching, the central controller 600 controls the hydraulic station 400 to control the hydraulic cylinder 200 to extend, thereby driving the mounting frame 301 to extend, and then controls the steering through the rotating motor 302, and then controls the servo motor 305 to use gear transmission to drive the transmission shaft 304 to rotate, so that the transmission shaft 304 drives the wheel 306 to rotate for walking. During the walking process, the protective plate 903 is pushed by the return spring 904 to block the four sides of the roof panel 104, thereby using the protective plate 903 to provide anti-collision protection. The protective plate 903 is further affixed with a rubber pad 905 to avoid walking collisions and scratches.

[0041] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0042] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An intelligent obstacle avoidance vehicle, characterized in that: include: A vehicle body (100), the vehicle body (100) comprising a vehicle bottom plate (101), and an intermediate plate (102) mounted on the vehicle bottom plate (101), support columns (103) being fixedly mounted at the top four corners of the intermediate plate (102), a vehicle roof plate (104) being fixedly mounted at the tops of the four support columns (103), and anti-collision components (900) being fixedly mounted on all four sides of the vehicle roof plate (104); The hydraulic cylinders (200) are provided in four groups. The four groups of hydraulic cylinders (200) are respectively installed at the four corners of the bottom end of the vehicle bottom plate (101), and the telescopic ends of the four groups of hydraulic cylinders (200) are fixedly installed with driving members (300) downwardly. A hydraulic station (400) for controlling the hydraulic cylinders (200) is installed in the middle of the vehicle bottom plate (101); A power supply module (500) for supplying electric energy to the obstacle avoidance vehicle, the power supply module (500) being embedded in the bottom of the vehicle floor (101), and the power supply module (500) being electrically connected to a central controller (600), the central controller (600) being mounted on the upper surface of the vehicle floor (101), and the central controller (600) being electrically connected to a driving component (300); A first visual module (700), which is used for lane and road surface recognition and obstacle avoidance. The first visual module (700) is arranged around the bottom end of the middle plate (102) and is electrically connected to the central controller (600); A second visual module (800), the second visual module (800) used for intelligent identification is arranged on the upper surface of the middle plate (102).

2. The intelligent obstacle avoidance vehicle according to claim 1, characterized in that: The driving member (300) comprises a mounting frame (301), wherein the mounting frame (301) is fixedly connected to the telescopic end of the hydraulic cylinder (200), and a rotating motor (302) is fixedly installed inside the mounting frame (301), an L-shaped frame (303) is fixedly installed at the output end of the rotating motor (302), a transmission shaft (304) is rotatably installed on the vertical plate of the L-shaped frame (303), a servo motor (305) for driving the transmission shaft (304) to rotate is installed on the horizontal plate of the L-shaped frame (303), a wheel (306) is fixedly installed at one end of the transmission shaft (304), and the rotating motor (302) and the servo motor (305) are electrically connected to the central controller (600).

3. The intelligent obstacle avoidance vehicle according to claim 2, characterized in that: The servo motor (305) and the transmission shaft (304) are connected via gear transmission.

4. The intelligent obstacle avoidance vehicle according to claim 1, characterized in that: The first visual module (700) includes an infrared sensor (701) and an ultrasonic sensor (702) arrayed around the top of the middle plate (102), and the infrared sensor (701) and the ultrasonic sensor (702) are electrically connected to the central controller (600).

5. The intelligent obstacle avoidance vehicle according to claim 1, characterized in that: The second visual module (800) includes a laser radar (801) installed in the middle of the upper surface of the middle plate (102), and a visual camera (802) installed on the outer walls of the four support columns (103), and the laser radar (801) and the visual camera (802) are electrically connected to the central controller (600).

6. The intelligent obstacle avoidance vehicle according to claim 1, characterized in that: The anti-collision component (900) comprises a connecting piece (901), wherein two connecting pieces (901) are provided, and the two connecting pieces (901) are mounted on the outer side of the roof panel (104) by means of screws, and connecting rods (902) are slidably mounted on the two connecting pieces (901), and a protective plate (903) is commonly mounted on one end of the two connecting rods (902), and a return spring (904) is fixedly sleeved on the two connecting rods (902) and located between the protective plate (903) and the connecting piece (901), and a rubber pad (905) is adhered to the outer side wall of the protective plate (903).

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