Universal ultrasonic obstacle avoidance vehicle

Abstract

The utility model discloses a universal ultrasonic obstacle avoidance vehicle, which relates to the field of obstacle avoidance vehicles and comprises a vehicle body, an ultrasonic detection module, a circuit board, a power supply, a transformer, a Mcnamer wheel and a motor. The ultrasonic detection module, the circuit board, the power supply and the transformer are all mounted on the vehicle body, the four Mecanum wheels are divided into two groups and are symmetrically mounted on the left side and the right side of the vehicle body, and each Mecanum wheel is driven by an independent motor; all the motors are electrically connected to the transformer, and the ultrasonic detection module, the transformer and the power source are electrically connected to the circuit board. The universal ultrasonic obstacle avoidance vehicle has the advantages that the universal ultrasonic obstacle avoidance vehicle can flexibly move in a narrow space, and the defect that the requirement for a large space is high when a traditional vehicle steers is overcome.

Description

Technical Field

[0001] This utility model relates to the field of obstacle avoidance vehicles, and in particular to a universal ultrasonic obstacle avoidance vehicle. Background Technology

[0002] Currently, intelligent unmanned vehicles are widely used in the military field, capable of performing various tasks such as intelligence reconnaissance, close-range demolition, and platoon-level supply transport. Countries around the world are exploring the deployment of intelligent unmanned vehicles to reduce manpower, improve operational mobility, and minimize battlefield casualties.

[0003] Previously, unmanned vehicles typically avoided obstacles through remote human operation. When an unmanned vehicle encounters an obstacle while traveling at high speed, both human operation and electrical signal transmission require reaction time, which may lead to obstacle avoidance failure. In the event of signal delays or enemy electronic interference, it may also be unable to brake and avoid obstacles effectively, which can easily damage the equipment and lead to mission failure.

[0004] Patent document CN202976657U discloses a training automatic obstacle avoidance vehicle, including a chassis, an ultrasonic ranging module, a circuit unit, omnidirectional pulleys, a motor, and wheels. The wheels include a right wheel and a left wheel, which are respectively connected to the motor. The ultrasonic ranging module is used to detect the distance to obstacles in front. When the distance to the obstacle is less than a set distance, the circuit unit controls the rotation speed of the two motors to change the direction of the vehicle. Existing ultrasonic obstacle avoidance vehicles have a large turning radius, require a large space, and cannot move flexibly in narrow spaces; the vehicle is at risk of the drive wheel getting stuck and unable to operate normally on uneven ground, and has low load-bearing capacity; furthermore, the ultrasonic ranging module is fixed and cannot detect the range of obstacles, resulting in poor obstacle avoidance performance. Utility Model Content

[0005] The technical problem to be solved by this invention is how to enable ultrasonic obstacle avoidance vehicles to move flexibly in confined spaces.

[0006] This utility model solves the above-mentioned technical problems through the following technical means: a universal ultrasonic obstacle avoidance vehicle, including a vehicle body, an ultrasonic detection module, a circuit board, a power supply, a transformer, Mecanum wheels, and a motor; the ultrasonic detection module, circuit board, power supply, and transformer are all mounted on the vehicle body, and the four Mecanum wheels are symmetrically mounted on the left and right sides of the vehicle body in two groups, each Mecanum wheel being driven by an independent motor; each motor is electrically connected to the transformer, and the ultrasonic detection module, transformer, and power supply are all electrically connected to the circuit board.

[0007] This utility model of an omnidirectional ultrasonic obstacle avoidance vehicle features four Mecanum wheels, each driven by an independent motor. Unlike traditional vehicles that use a combination of driving and driven wheels, its greatest advantage is its ability to turn around its own geometric center. This allows for flexible movement in confined spaces, overcoming the drawback of traditional vehicles requiring large spaces for turning. When the vehicle needs to change direction, the four independent motors provide different speeds, enabling the vehicle to perform actions such as turning forward, backward, left, and right, lateral translation, stationary rotation, and 360-degree translation and rotation in any direction. Furthermore, it moves in the direction of external forces, reducing the risk of damage. The four independent motors provide more power and avoid the risk of the driving wheels becoming stuck and unable to operate properly on uneven terrain. This results in smoother operation on rough roads and uneven surfaces, and significantly increases the load-bearing capacity of the vehicle, making it suitable for group transport.

[0008] As an optimized technical solution, the ultrasonic detection module includes an ultrasonic sensor and a servo motor, the servo motor driving the ultrasonic sensor to rotate. The ultrasonic sensor can rotate to detect obstacles at a certain angle in front, realizing the detection range of obstacles and achieving good obstacle avoidance.

[0009] As an optimized technical solution, the ultrasonic detection module further includes a sensor mounting frame, a mounting plate, and a fixing plate. The ultrasonic sensor is fixedly connected to the sensor mounting frame, and the sensor mounting frame is height-adjustable on the mounting plate. The output shaft of the servo motor is connected to the mounting plate, and the servo motor is fixedly connected to the fixing plate. The fixing plate is adjustable left and right on the vehicle body. The installation height and left / right position of the ultrasonic sensor are both adjustable, allowing it to be adjusted to a suitable position before use in different environments.

[0010] As an optimized technical solution, the ultrasonic detection module also includes an adjustment groove and an adjustment screw. The bottom of the sensor mounting frame is provided with an adjustment groove extending in the height direction, and the adjustment screw passes through the mounting plate and is threaded into the adjustment groove.

[0011] As an optimized technical solution, the vehicle body is provided with strip-shaped mounting holes extending in the left and right directions, and screws pass through the strip-shaped mounting holes to fix the fixing plate to the vehicle body.

[0012] As an optimized technical solution, the ultrasonic detection module is installed on the top front side of the vehicle body, the circuit board and the power supply are both installed in the middle position of the top of the vehicle body, and the transformer is installed on the top rear side of the vehicle body. The central axes of the ultrasonic detection module, circuit board, power supply and transformer are all coincident with the central axis of the vehicle body.

[0013] As an optimized technical solution, the omnidirectional ultrasonic obstacle avoidance vehicle also includes a first bracket, which is fixedly connected to the top of the vehicle body. The circuit board is fixedly connected to the top of the first bracket, and the power supply is located below the circuit board and inside the first bracket.

[0014] As an optimized technical solution, the omnidirectional ultrasonic obstacle avoidance vehicle also includes a second bracket, and each motor is fixedly connected to the vehicle body through the second bracket.

[0015] The advantages of this utility model are:

[0016] 1. This utility model of a universal ultrasonic obstacle avoidance vehicle features four Mecanum wheels, each driven by an independent motor. Unlike traditional vehicles that use a combination of driving and driven wheels, its greatest advantage is that it can turn around its own geometric center, allowing for flexible movement in confined spaces and overcoming the drawback of traditional vehicles requiring large spaces for turning. When the vehicle needs to change direction, the four independent motors provide different speeds, enabling the vehicle to perform actions such as turning forward, backward, left, and right, lateral translation, stationary rotation, and 360-degree translation and rotation in any direction. Simultaneously, it can move in the direction of external forces, thus reducing damage. The four independent motors provide more power and avoid the risk of the driving wheels becoming unsupported and unable to operate normally on uneven terrain. It operates more smoothly on rough roads with varying surface undulations, and its load-bearing capacity is significantly increased when used as a transport vehicle for a work group.

[0017] 2. The ultrasonic sensor can rotate to detect obstacles at a certain angle in front, thus achieving a good obstacle avoidance effect.

[0018] 3. The installation height and left / right position of the ultrasonic sensor are adjustable. Before use, it can be adjusted to a suitable position for use in different environments. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of the universal ultrasonic obstacle avoidance vehicle according to an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the circuit board and the first bracket in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the Mecanum wheel, motor, and second bracket in an embodiment of this utility model.

[0022] Figure 4 This is a schematic diagram of the ultrasonic detection module in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below in conjunction with the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] like Figures 1 to 3 As shown in the figure, this utility model embodiment discloses an omnidirectional ultrasonic obstacle avoidance vehicle, including a vehicle body 1, an ultrasonic detection module 2, a circuit board 3, a power supply (not shown), a first bracket 4, a transformer 5, a Mecanum wheel 6, a motor 7, and a second bracket 8.

[0025] The ultrasonic detection module 2 is installed on the top front side of the vehicle body 1. The circuit board 3 and power supply are both installed in the middle of the top of the vehicle body 1. The transformer 5 is installed on the top rear side of the vehicle body 1. The central axes of the ultrasonic detection module 2, circuit board 3, power supply, and transformer 5 are all aligned with the central axis of the vehicle body 1. The first bracket 4 is fixedly connected to the top of the vehicle body 1. The circuit board 3 is fixedly connected to the top of the first bracket 4. The power supply is located below the circuit board 3 and inside the first bracket 4, which separates the circuit board 3 from the power supply. The circuit board 3 uses an STM32F103C8T6 microcontroller. This model of microcontroller is small in size and low in cost, with 64Kb of program memory, 16 usable GPIO ports, and LQFP (Low-proficiency Quad Flat) architecture. Packaged in a 48-pin package, it features a built-in 32-bit central processing unit, 20K×8 bytes of internal RAM, and operates on a 5V power supply. During design, the VCC pin is connected to 2V-3.6V, and the GND pin is grounded. The power supply uses a 12V battery. The four Mecanum wheels 6 are symmetrically mounted on the left and right sides of the vehicle body 1 in two groups. Each Mecanum wheel 6 is driven by an independent motor 7, and each motor 7 is fixedly connected to the vehicle body 1 through a second bracket 8. Each motor 7 is electrically connected to a transformer 5. The ultrasonic detection module 2, the transformer 5, and the power supply are all electrically connected to the circuit board 3.

[0026] The Mecanum wheel is an omnidirectional wheel in existing technology, consisting of a hub and rollers surrounding the hub. The angle between the roller axis and the hub axis is typically 45 degrees. This structure allows the Mecanum wheel to achieve omnidirectional movement, including forward, backward, lateral, diagonal, rotation, and combinations thereof. The kinematic analysis of the Mecanum wheel includes forward and inverse kinematic models, which calculate the chassis's motion state achieved through the speeds of the four wheels. The motion characteristics of the Mecanum wheel are based on the friction between the rollers and the ground. When the wheel rotates counterclockwise, the direction of the friction force on the rollers is opposite to its tendency to move, causing the Mecanum wheel to move forward and to the left. When the wheel rotates clockwise, the rollers tend to move backward and to the left relative to the ground, and the direction of the friction force is forward and to the right of the contact point, causing the Mecanum wheel to move forward and to the right. Based on this, by using different voltages to adjust the speeds of each motor 7, the overall steering motion is achieved. Mecanum wheels can meet the needs of omnidirectional movement such as transporting, docking, and overcoming obstacles of large objects in confined spaces. Compared with ordinary wheels, they have outstanding performance in load-bearing capacity. Mecanum wheels can be precisely positioned with high accuracy. The principle is that by rotating two Mecanum wheels on the same side of the vehicle in opposite directions, the forces along the front and rear cancel each other out, while the lateral forces are exactly in the same direction.

[0027] like Figure 4 As shown, the ultrasonic detection module 2 includes an ultrasonic sensor 21, a sensor mounting frame 22, an adjustment groove 23, a mounting plate 24, an adjustment screw 25, a fixing plate 26, and a servo motor 27. The ultrasonic sensor 21 is fixedly connected to the sensor mounting frame 22 by screws. The bottom of the sensor mounting frame 22 is provided with an adjustment groove 23 extending in the height direction. The adjustment screw 25 passes through the mounting plate 24 and is threaded into the adjustment groove 23. By adjusting the screw 25, the sensor mounting frame 22 can be mounted on the mounting plate 24 at an adjustable height, thereby adjusting the mounting height of the ultrasonic sensor 21. The angle is adjustable; the output shaft of the servo motor 27 is connected to the mounting plate 24, and the servo motor 27 can drive the mounting plate 24 to rotate, thereby driving the ultrasonic sensor 21 to rotate; the servo motor 27 is fixedly connected to the mounting plate 26, and the vehicle body 1 is provided with a strip-shaped mounting hole extending in the left and right direction. The screw passes through the strip-shaped mounting hole to fix the mounting plate 26 to the vehicle body 1. Since the left and right positions of the screw in the strip-shaped mounting hole are adjustable, the mounting plate 26 can be installed on the vehicle body 1 in an adjustable left and right position, thereby allowing the left and right mounting positions of the ultrasonic sensor 21 to be adjusted.

[0028] Ultrasonic sensor 21 emits ultrasonic waves forward within a rated time interval. When the ultrasonic waves collide with an obstacle, they are reflected. After receiving the reflected ultrasonic waves, ultrasonic sensor 21 determines whether there is an obstacle in front by a set algorithm and transmits the data to circuit board 3 through a data interface. Circuit board 3 analyzes the data through a computer algorithm to determine the distance and direction of the obstacle. Then, circuit board 3 controls the servo motor 27 mounted on ultrasonic sensor 21 to turn 90 degrees to the left and then 180 degrees to the right so that ultrasonic sensor 21 can detect whether there are other obstacles and the distance of the obstacles within a range of about 210 degrees in front. Then, it calculates and analyzes a suitable movement route and calculates the voltage required by each motor 7 at each time period in the movement route.

[0029] Working principle: The data measured by the ultrasonic sensor 21 is transmitted to the circuit board 3. After calculation and judgment, the circuit board 3 transmits the calculated voltage data to the transformer 5. The transformer 5 distributes the voltage of each motor 7 so that the speed of each motor 7 is different, thus completing the steering movement of the obstacle avoidance vehicle.

[0030] This utility model of a universal ultrasonic obstacle avoidance vehicle features four Mecanum wheels 6, each driven by an independent motor 7. Unlike traditional vehicles that use a combination of driving and driven wheels, its greatest advantage is its ability to turn around its own geometric center. This allows for flexible movement in confined spaces, overcoming the drawback of traditional vehicles requiring large spaces for turning. When the vehicle needs to change direction, the four independent motors provide different speeds, enabling the vehicle to perform actions such as turning forward, backward, left, and right, lateral translation, rotation in place, and 360-degree translation and rotation in any direction. Furthermore, it can move in the direction of external forces, thereby reducing obstacles. The vehicle features reduced damage; four independent motors 7 provide more power and avoid the risk of the drive wheel getting stuck and unable to operate properly on uneven ground. This results in smoother operation on rough roads with varying surface undulations. Furthermore, as a transport vehicle accompanying a work group, its load-bearing capacity is significantly increased. The vehicle incorporates fewer sensors, resulting in a lightweight structure. The ultrasonic sensor 21 can rotate to detect obstacles at a certain angle, achieving good obstacle avoidance. The installation height and left / right position of the ultrasonic sensor 21 are adjustable, allowing it to be adjusted to a suitable position for different environments before use.

[0031] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 this utility model.

Claims

1. A universal ultrasonic obstacle avoidance vehicle, characterized in that: The system includes a vehicle body, an ultrasonic detection module, a circuit board, a power supply, a transformer, Mecanum wheels, and a motor. The ultrasonic detection module, circuit board, power supply, and transformer are all mounted on the vehicle body. The four Mecanum wheels are symmetrically mounted in two groups on the left and right sides of the vehicle body, and each Mecanum wheel is driven by an independent motor. Each motor is electrically connected to the transformer, and the ultrasonic detection module, transformer, and power supply are all electrically connected to the circuit board. The ultrasonic detection module includes an ultrasonic sensor and a servo motor, which drives the ultrasonic sensor to rotate.

2. The omnidirectional ultrasonic obstacle avoidance vehicle according to claim 1, characterized in that: The ultrasonic detection module also includes a sensor mounting frame, a mounting plate, and a fixing plate. The ultrasonic sensor is fixedly connected to the sensor mounting frame. The sensor mounting frame is mounted on the mounting plate with adjustable height. The output shaft of the servo motor is connected to the mounting plate. The servo motor is fixedly connected to the fixing plate. The fixing plate is mounted on the vehicle body with adjustable left and right positions.

3. The omnidirectional ultrasonic obstacle avoidance vehicle according to claim 2, characterized in that: The ultrasonic detection module also includes an adjustment groove and an adjustment screw. The bottom of the sensor mounting frame is provided with an adjustment groove extending in the height direction, and the adjustment screw passes through the mounting plate and is threaded into the adjustment groove.

4. The omnidirectional ultrasonic obstacle avoidance vehicle according to claim 2, characterized in that: The vehicle body is provided with strip-shaped mounting holes extending in the left and right direction. Screws pass through the strip-shaped mounting holes to fix the fixing plate to the vehicle body.

5. The omnidirectional ultrasonic obstacle avoidance vehicle according to claim 1, characterized in that: The ultrasonic detection module is installed on the top front side of the vehicle body, the circuit board and the power supply are both installed in the middle of the top of the vehicle body, and the transformer is installed on the top rear side of the vehicle body. The central axis of the ultrasonic detection module, circuit board, power supply and transformer are all coincident with the central axis of the vehicle body.

6. The omnidirectional ultrasonic obstacle avoidance vehicle according to claim 1, characterized in that: The omnidirectional ultrasonic obstacle avoidance vehicle also includes a first bracket, which is fixedly connected to the top of the vehicle body. The circuit board is fixedly connected to the top of the first bracket, and the power supply is located below the circuit board and inside the first bracket.

7. The omnidirectional ultrasonic obstacle avoidance vehicle according to claim 1, characterized in that: The omnidirectional ultrasonic obstacle avoidance vehicle also includes a second bracket, through which each motor is fixedly connected to the vehicle body.

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