Autonomous obstacle avoidance trunk frame

Abstract

The utility model relates to the technical field of trunk frames, and discloses an autonomous obstacle avoidance trunk frame, which comprises a main plate, four corners of the lower surface of the main plate are fixedly connected with mounting seats, and the inner walls of the mounting seats are fixedly provided with motors. According to the autonomous obstacle avoidance trunk frame, flexible steering and active obstacle avoidance are achieved by driving moving wheels through motors at the four corners, the detection range is expanded in cooperation with a collision extension plate and a collision sensor, and the collision risk is reduced; the collision plate is adjustably mounted through a locking bolt and elastically buffered through a cushioning spring, so that impact damage is reduced while the collision protection reliability is guaranteed; a photoelectric sensor, a small tracing strip and a large tracing strip form a multi-dimensional sensing system, and an inverted triangular tracking auxiliary plate and a roller mechanism are combined to improve the movement stability and reduce the ground friction resistance; adjustable structures such as the first mounting sleeve and the mounting groove dynamically adapt to ground fluctuation through a bottom plate and an elastic spring, and sensor signal acquisition is optimized in combination with shading of a large light blocking piece.

Description

Technical Field

[0001] This utility model relates to the field of torso frame technology, specifically to an autonomous obstacle avoidance torso frame. Background Technology

[0002] With the widespread application of mobile robots and automated equipment, autonomous obstacle avoidance capability has become a core indicator affecting their environmental adaptability and safety. While various obstacle avoidance schemes based on sensor fusion exist, current designs still face the following technical challenges in addressing the multi-dimensional navigation and impact resistance requirements in complex environments:

[0003] Traditional mobile robots typically use single-direction collision detection devices (such as tail collision switches), which can only passively deal with contact obstacles and lack active perception capabilities. The motion actuators of existing obstacle avoidance frames mostly adopt a centralized layout, and there is a response delay when a single drive unit controls multi-directional movement. Traditional collision buffer systems use rigid materials or simple spring designs, which have low impact energy absorption efficiency and fixed buffer stroke.

[0004] Therefore, it is necessary to propose an autonomous obstacle avoidance torso framework. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides an autonomous obstacle avoidance torso frame, which has the advantages of achieving precise obstacle avoidance, efficient tracking, and impact resistance, thus solving the problems mentioned in the background technology.

[0006] This utility model provides the following technical solution: an autonomous obstacle avoidance torso frame, including a main board, with mounting bases fixedly connected to the four corners of the lower surface of the main board, a motor fixedly installed on the inner wall of the mounting base, and a moving wheel fixedly connected to the output shaft of the motor. A collision extension plate is fixedly connected to one end of the main board, and two extension ends are provided on one side of the collision extension plate, with collision sensors fixedly installed on the extension ends. Two mounting sleeves are fixedly connected to the other end of the main board, with a first rod slidably inserted inside the mounting sleeve, a second rod slidably inserted at one end of the first rod, and a collision plate fixedly connected to one end of the second rod. Large light-blocking components are provided below both ends of the main board.

[0007] Preferably, a mounting sleeve is fixedly connected to the side of the upper surface of the motherboard near the collision extension plate, and a photoelectric sensor is fixedly connected inside the mounting sleeve.

[0008] Preferably, the top of the mounting sleeve two is threaded with a locking bolt, the end of the locking bolt is in contact with the side of the insertion rod one, and a damping spring is movably sleeved on the surface of the insertion rod two, one end of the damping spring is in contact with the insertion rod one, and the other end of the damping spring is in contact with the side of the collision plate.

[0009] Preferably, small light-blocking blocks are fixedly installed on both sides of the motherboard, and small tracking strips are fixedly installed inside the small light-blocking blocks.

[0010] Preferably, both ends of the large light-blocking component are fixedly installed with inverted triangular tracking auxiliary plates, the edges of the tracking auxiliary plates are installed with rollers, one end of the large light-blocking component is fixedly connected to a connecting plate, one end of the connecting plate is fixedly connected to the lower surface of the main board via a hinge, and a large tracking strip is fixedly installed at the bottom of the large light-blocking component.

[0011] Preferably, mounting grooves are provided on both sides of the motherboard surface, mounting blocks are fixedly installed inside the mounting grooves, sliding rods are slidably inserted inside the mounting blocks, a base plate is fixedly connected to the bottom end of the sliding rod, a spring is fixedly connected to the bottom end of the base plate, and an abutment plate is fixedly connected to the bottom end of the spring. The lower surface of the abutment plate is in contact with the upper surface of the connecting plate.

[0012] Preferably, the mounting block has an adjusting screw threaded into its internal part, and the bottom end of the adjusting screw is rotatably connected to the upper surface of the base plate.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The autonomous obstacle avoidance frame utilizes four corner motors to drive the moving wheels, enabling flexible steering and active obstacle avoidance. Combined with a collision extension plate and collision sensors, it expands the detection range and reduces collision risk. The collision plate, with adjustable mounting bolts and elastic damping springs, ensures reliable collision protection while reducing impact damage. Photoelectric sensors, along with small and large tracking strips, form a multi-dimensional sensing system. Combined with an inverted triangular tracking auxiliary plate and roller mechanism, it enhances motion stability and reduces ground friction resistance. Adjustable structures such as mounting sleeves and mounting slots dynamically adapt to ground undulations via a base plate and elastic springs. Large light-blocking components optimize sensor signal acquisition, ensuring continuous and reliable operation under complex lighting and terrain conditions. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the device of this utility model;

[0017] Figure 2 for Figure 1 Another perspective structural diagram;

[0018] Figure 3 This is a schematic diagram of the structure of the large light-blocking component of this utility model.

[0019] The attached diagram lists the components represented by each number as follows:

[0020] 100. Mainboard; 101. Mounting bracket; 102. Motor; 103. Casters; 104. Mounting slot;

[0021] 200. Small light-blocking block; 201. Small tracking strip;

[0022] 300. Installation kit 1; 301. Photoelectric sensor;

[0023] 400. Collision extension plate; 401. Collision sensor;

[0024] 500. Mounting sleeve two; 501. Locking bolt; 502. Insert rod one; 503. Insert rod two; 504. Shock-absorbing spring; 505. Collision plate;

[0025] 600. Mounting block; 601. Slide rod; 602. Base plate; 603. Spring; 604. Abutment plate; 605. Adjusting screw;

[0026] 700. Large light-blocking component; 701. Tracking auxiliary plate; 702. Large tracking strip; 703. Connecting plate; 704. Hinge. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] In the autonomous obstacle avoidance framework, there are already a variety of obstacle avoidance schemes based on sensor fusion, but existing designs still have the following technical problems in order to meet the multi-dimensional navigation and impact resistance requirements in complex environments;

[0030] Obstacle avoidance response delay and risk of missed detection

[0031] Traditional mobile robots typically employ single-directional collision detection devices (such as tail-mounted collision switches), which can only passively respond to contact obstacles and lack active perception capabilities (corresponding to the innovations in collision sensors and photoelectric sensors in Item 1). Especially in dynamic environments, failure to detect obstacles in front in time can easily lead to collision accidents. Furthermore, existing technical solutions mostly rely on vision or lidar, which are significantly affected by lighting or dust, resulting in performance degradation in complex scenarios.

[0032] Slow obstacle avoidance and path deviation

[0033] Existing obstacle avoidance frames often employ a centralized layout for their motion actuators, resulting in response delays when a single drive unit controls multi-directional movement (see abstract 1, Mainboard Four Corner Motor Innovation). Especially in steering adjustments within confined spaces, uneven distribution of driving force frequently leads to trajectory deviations.

[0034] Impact-resistant structures are fragile

[0035] Traditional collision buffer systems use rigid materials or simple spring designs, resulting in low impact energy absorption efficiency and a fixed buffer stroke (as opposed to improvements in the required locking bolts and damping springs). For example, in high-speed movement, rigid collisions can easily cause sensor or motor displacement and damage, requiring frequent shutdowns for maintenance.

[0036] Insufficient environmental adaptability

[0037] Existing obstacle avoidance devices are sensitive to ground conditions and light interference: they lack dynamic terrain adaptation capabilities (corresponding to the adjustment screw adjustment scheme in Principle 6), and the signals of optical sensors are easily polluted by external stray light (corresponding to the light-blocking improvement of the light-blocking component and tracking assist plate in Principle 5), leading to tracking failure.

[0038] Low space utilization

[0039] The installation space at the bottom of the equipment is limited, and the existing auxiliary structures (such as small light-blocking blocks and light-blocking components) are mostly designed independently, with overlapping functions (corresponding to the multi-functional integration requirements of the four main small light-blocking blocks and the five main light-blocking components), which increases redundant parts.

[0040] Currently, mainstream obstacle avoidance technologies can be divided into two main directions:

[0041] Pure sensor solution: This solution constructs a panoramic environment model using multi-line LiDAR or depth cameras and relies on computing power to calculate obstacle avoidance paths in real time. However, this solution is costly and cannot handle dynamic occlusion (such as pedestrians suddenly appearing), and the sensor accuracy is severely affected by dust and humidity.

[0042] Contact-based obstacle avoidance devices: These use mechanical trigger switches or touch sensors to detect collisions and apply emergency braking. However, this type of solution can only prevent secondary damage and cannot achieve active obstacle avoidance; moreover, frequent collisions will shorten the equipment's lifespan.

[0043] Composite frame design: Some technical solutions attempt to combine photoelectric sensors with light-blocking components (such as claim 2), but fail to solve the problems of sensor viewing angle limitations and ground environment adaptability; other solutions set guide wheels (such as the tracking auxiliary plate of claim 5) or adjustable feet (such as the base plate of claim 6) at the bottom, but the components exist in isolation and do not form a systematic functional synergy.

[0044] Existing technologies have failed to simultaneously achieve obstacle avoidance efficiency, impact resistance, and cost control, especially lacking a lightweight frame design that integrates multi-directional perception, active obstacle avoidance execution, elastic buffering, and adaptability to complex terrain. The autonomous obstacle avoidance torso frame described in this patent fills the aforementioned technological gap through structural innovation and functional integration (such as the composite guidance design of four small light-blocking blocks and a large light-blocking component).

[0045] Reference Figures 1-3 As shown, the autonomous obstacle avoidance frame includes a main board 100. Mounting bases 101 are fixedly connected to the four corners of the lower surface of the main board 100. A motor 102 is fixedly installed on the inner wall of the mounting base 101. A moving wheel 103 is fixedly connected to the output shaft of the motor 102. A collision extension plate 400 is fixedly connected to one end of the main board 100. The collision extension plate 400 has two extension ends on one side, and a collision sensor 401 is fixedly installed on the extension ends. Two mounting sleeves 500 are fixedly connected to the other end of the main board 100. A first rod 502 is slidably inserted into the interior of the mounting sleeve 500. A second rod 503 is slidably inserted into one end of the first rod 502. A collision plate 505 is fixedly connected to one end of the second rod 503. Large light-blocking components 700 are provided below both ends of the main board 100. The autonomous obstacle avoidance torso frame achieves efficient environmental perception and flexible obstacle avoidance capabilities through the collaborative design of multiple sensors and actuators. The motors 102 mounted at the four corners of the lower surface of the main board 100, together with the moving wheels 103, can quickly adjust the direction of movement to avoid collisions with obstacles. The collision extension plate 400 and its collision sensor 401 expand the detection range of the front end of the torso and enhance the prediction capability. The collision plates 505 at both ends reduce the impact of rigid impacts on the body through an elastic connection structure, thereby improving the stability of movement. The large light-blocking component 700 integrates the light-blocking and tracking functions, reducing interference from external ambient light and ensuring the accuracy of the movement trajectory.

[0046] In a further preferred embodiment, a mounting sleeve 300 is fixedly connected to the side of the upper surface of the motherboard 100 near the collision extension plate 400, and a photoelectric sensor 301 is fixedly connected inside the mounting sleeve 300. The photoelectric sensor 301 added to the upper surface of the motherboard 100 and the collision extension plate 400 form a front and rear dual-sensing module to realize three-dimensional obstacle avoidance detection. The photoelectric sensor 301 can identify the outline and distance of obstacles in front in advance, providing the motherboard 100 with real-time decision-making basis. When working in conjunction with the collision sensor 401, it significantly improves the adaptability to complex scenes and reduces the risk of missed detection.

[0047] In a further preferred embodiment, the top of the mounting sleeve 2 500 is threaded with a locking bolt 501. The end of the locking bolt 501 is fitted against the side of the insertion rod 1 502. A damping spring 504 is movably fitted onto the surface of the insertion rod 2 503. One end of the damping spring 504 is fitted against the insertion rod 1 502, and the other end is fitted against the side of the impact plate 505. The modular adjustable structure and elastic buffer design of the impact plate 505 optimizes the impact absorption performance. The locking bolt 501 quickly locks the relative positions of the insertion rod 1 502 and the insertion rod 2 503, facilitating the adjustment of the extension length of the impact plate 505 according to actual needs. The damping spring 504 effectively absorbs impact energy, reducing the transmission of vibration generated by the collision to the main board 100 and protecting the safety of core components.

[0048] Preferably, small light-blocking blocks 200 are fixedly installed on both sides of the motherboard 100, and small tracking strips 201 are fixedly installed inside the small light-blocking blocks 200. These small auxiliary structures on both sides of the motherboard 100 enhance the processing capability for edge areas, while the small tracking strips 201 improve the tracking accuracy of ground trajectories, performing particularly well in multi-path intersection scenarios. The light-blocking function of the small light-blocking blocks 200 reduces ambient light interference, ensuring the stability of sensor signal acquisition.

[0049] In a further preferred embodiment, both ends of the large light-blocking component 700 are fixedly mounted with inverted triangular tracking auxiliary plates 701. Rollers are installed along the edges of the tracking auxiliary plates 701. One end of the large light-blocking component 700 is fixedly connected to a connecting plate 703, and one end of the connecting plate 703 is fixedly connected to the lower surface of the main board 100 via a hinge 704. A large tracking strip 702 is fixedly mounted on the bottom of the large light-blocking component 700. The tracking auxiliary plates 701 reduce frictional resistance with the ground through the roller mechanism, ensuring trajectory stability under high-speed movement. The large tracking strip 702 provides wide ground scanning coverage, enhancing the ability to identify complex paths. The inverted triangular design reduces wind resistance, and the flexible connection of the hinge 704 enables the light-blocking component to be quickly folded and stored.

[0050] In a further preferred embodiment, mounting grooves 104 are provided on both sides of the surface of the main board 100. A mounting block 600 is fixedly installed inside the mounting groove 104. A slide rod 601 is slidably inserted inside the mounting block 600. A base plate 602 is fixedly connected to the bottom end of the slide rod 601. A spring spring 603 is fixedly connected to the bottom end of the base plate 602. An abutment plate 604 is fixedly connected to the bottom end of the spring spring 603. The lower surface of the abutment plate 604 is in contact with the upper surface of the connecting plate 703. An adjusting screw 605 is threaded into the mounting block 600. The bottom end of the adjusting screw 605 is rotatably connected to the upper surface of the base plate 602. The elastic connection structure of the slide bar 601 and the elastic spring 603 actively compensates for uneven ground, maintaining continuous contact between the bottom tracking auxiliary plate 701 and the ground. The precise adjustment function of the adjusting screw 605 allows for quick adjustment of the height of the bottom contact plate 604, adapting to different ground height differences in different application scenarios. The buffer contact design of the base plate 602 weakens the impact of sudden impacts on the frame structure and extends its service life.

[0051] In the description of this utility model, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "side", "top", "inner", "front", "center", "both ends", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0052] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0053] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An autonomous obstacle avoidance trunk frame comprising a main plate (100), characterized in that: The lower surface of the main plate (100) is fixedly connected with mounting seats (101) at four corners, the inner wall of the mounting seat (101) is fixedly installed with a motor (102), the output shaft of the motor (102) is fixedly connected with a moving wheel (103), one end of the main plate (100) is fixedly connected with a collision extension plate (400), one side of the collision extension plate (400) is provided with two extension ends, and a collision sensor (401) is fixedly installed on the extension end, the other end of the main plate (100) is fixedly connected with two mounting sleeves two (500), the inside of the mounting sleeve two (500) is slidably inserted with a plug rod one (502), one end of the plug rod one (502) is slidably inserted with a plug rod two (503), one end of the plug rod two (503) is fixedly connected with a collision plate (505), and the lower surface of both ends of the main plate (100) is provided with a large light blocking piece (700).

2. The autonomous obstacle avoiding trunk frame of claim 1, wherein: The upper surface of the main plate (100) is fixedly connected with a mounting sleeve one (300) on one side close to the collision extension plate (400), and the inside of the mounting sleeve one (300) is fixedly connected with a photoelectric sensor (301).

3. The autonomous obstacle avoiding trunk frame of claim 1, wherein: The top end of the mounting sleeve two (500) is threadedly connected with a locking bolt (501), the end of the locking bolt (501) is attached to the side surface of the plug rod one (502), the surface of the plug rod two (503) is movably sleeved with a shock absorbing spring (504), one end of the shock absorbing spring (504) is attached to the plug rod one (502), and the other end of the shock absorbing spring (504) is attached to the side surface of the collision plate (505).

4. The autonomous obstacle avoiding trunk frame of claim 1, wherein: The two side edges of the main plate (100) are fixedly installed with small light blocking blocks (200), and the inside of the small light blocking block (200) is fixedly installed with a small tracking strip (201).

5. The autonomous obstacle avoiding trunk frame of claim 1, wherein: The two ends of the large light blocking piece (700) are fixedly installed with inverted triangular tracking auxiliary plates (701), the edge of the tracking auxiliary plate (701) is installed with a roller, one end of the large light blocking piece (700) is fixedly connected with a connecting plate (703), one end of the connecting plate (703) is fixedly connected with the lower surface of the main plate (100) through a hinge (704), and the bottom of the large light blocking piece (700) is fixedly installed with a large tracking strip (702).

6. The autonomous obstacle avoiding trunk frame of claim 2, wherein: The surface of the main plate (100) is provided with mounting grooves (104) on both sides, the inside of the mounting groove (104) is fixedly installed with a mounting block (600), the inside of the mounting block (600) is slidably inserted with a sliding rod (601), the bottom end of the sliding rod (601) is fixedly connected with a bottom plate (602), the bottom end of the bottom plate (602) is fixedly connected with an elastic spring (603), the bottom end of the elastic spring (603) is fixedly connected with an abutting plate (604), and the lower surface of the abutting plate (604) is attached to the upper surface of the connecting plate (703).

7. The autonomous obstacle avoiding trunk frame of claim 6, wherein: The inside of the mounting block (600) is threadedly inserted with an adjusting screw (605), and the bottom end of the adjusting screw (605) is rotatably connected with the upper surface of the bottom plate (602).

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