Intelligent automatic obstacle avoidance walking device

Abstract

The utility model discloses an intelligent automatic obstacle avoidance walking device, include: car body, the inside of car body is equipped with equipment installation storehouse, the top of equipment installation storehouse is equipped with the article platform that places, drive assembly, including driving wheel, the axle fixed connection pivot of driving wheel, the rear end inner wall fixed mounting bearing seat of equipment installation storehouse, pivot and bearing seat are connected through bearing rotation, the input of pivot is connected direct -drive motor, the bottom end inner wall of car body is connected through bearing rotation car axle support, the inner wall rotation connecting universal wheel of car axle support, relate automatic obstacle avoidance walking device technical field, through adopting the obstacle avoidance structure of multiple sensor and multiple camera cooperation, combine accurate drive control and reliable brake design, the adaptability of device to complex environment is improved greatly, effectively reduces the obstacle avoidance blind area, reduces the collision risk, guarantees the safety and stability of operation process.

Description

Technical Field

[0001] This utility model relates to the technical field of automatic obstacle avoidance walking devices, specifically an intelligent automatic obstacle avoidance walking device. Background Technology

[0002] With the development of automation technology, mobile devices are increasingly widely used in warehousing and logistics, service robots, industrial inspection and other fields. Traditional mobile devices rely on a single sensor for obstacle avoidance and detection, which has poor adaptability to complex environments and is prone to missed or false detections, leading to collision risks. Steering adjustment in the drive components is mostly controlled by mechanical linkages, which lacks flexibility and has low steering accuracy, making it difficult to meet the needs of driving on complex paths. Utility Model Content

[0003] The purpose of this invention is to provide an intelligent automatic obstacle avoidance walking device to solve the problem mentioned in the background art that traditional walking devices rely on only a single sensor for obstacle avoidance detection, have poor adaptability to complex environments, and are prone to missed or false detections leading to collision risks.

[0004] To achieve the above objectives, this utility model provides the following technical solution: An intelligent automatic obstacle avoidance walking device includes: The vehicle body has an equipment installation compartment inside, and a storage platform is provided on the top of the equipment installation compartment; The drive assembly includes a drive wheel, the shaft of which is fixedly connected to a rotating shaft. A bearing housing is fixedly installed on the inner wall of the rear end of the equipment installation compartment. The rotating shaft and the bearing housing are rotatably connected via a bearing. The input end of the rotating shaft is connected to a direct drive motor. The inner wall of the bottom end of the vehicle body is rotatably connected to an axle frame via a bearing. The inner wall of the axle frame is rotatably connected to a caster wheel. The obstacle avoidance assembly includes an ultrasonic sensor, an infrared sensor, and a first camera installed on the outer walls of the front and rear sides of the vehicle body. A second camera is fixedly installed on the outer walls of both sides of the vehicle body, and a third camera is fixedly installed on the outer wall of the bottom of the vehicle body.

[0005] In a preferred embodiment of this utility model, the bottom of the storage platform is provided with a base plate, which is fixedly connected to the top of the equipment installation compartment. A brake disc is fixedly installed on the outer wall of the rotating shaft near the direct drive motor. A storage box is provided on the top of the storage platform.

[0006] In a preferred embodiment of this utility model, a locking cylinder is fixedly installed on the inner wall of the equipment installation chamber, and a brake pad is fixedly connected to the output end of the locking cylinder.

[0007] In a preferred embodiment of this utility model, the brake pads cooperate with the outer wall of the brake disc to lock the drive wheel, and a protective cover is provided on the top of the drive wheel.

[0008] In a preferred embodiment of this utility model, a stepper motor is fixedly installed on the inner wall of the equipment installation compartment. The output shaft of the stepper motor is connected to the top outer wall of the axle frame through bevel gear meshing, which is used to control the rotation of the caster wheels to adjust their direction.

[0009] In a preferred embodiment of this utility model, the obstacle avoidance component includes a lighting lamp, two sets of which are symmetrically arranged on the left and right sides. The lighting lamp is fixedly installed on the outer walls of the front and rear sides of the vehicle body. Two sets of infrared sensors are provided, and the two sets of infrared sensors are respectively located on the bottom sides of the ultrasonic sensor.

[0010] In a preferred embodiment of this utility model, a control component is included. The control component includes a lithium battery, which is fixedly installed on the inner wall of the equipment installation compartment. The lithium battery is electrically connected to a charging port, which is installed on the outer wall of the vehicle body.

[0011] In a preferred embodiment of this utility model, the lithium battery is electrically connected to the circuit board, and the top of the circuit board is electrically connected to the control chip, the storage chip and the wireless signal module. The wireless signal module is signal-connected to an external control terminal, and the control chip is electrically connected to the drive component and the obstacle avoidance component.

[0012] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

[0013] 1. The obstacle avoidance structure, which uses multiple sensors and cameras in coordination, combined with precise drive control and reliable braking design, greatly improves the device's adaptability to complex environments, effectively reduces blind spots, lowers the risk of collision, and ensures the safety and stability of the operation process. 2. The device integrates multiple functions such as storage, remote control, and data recording. It has a reasonable structural design, stable connection of each component, convenient operation, and strong expandability, and can be adapted to a variety of usage scenarios, thus improving its practicality and convenience. Attached Figure Description

[0014] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the main structure of an intelligent automatic obstacle avoidance walking device. Figure 2 A schematic diagram of the upward-looking structure in an intelligent automatic obstacle avoidance walking device; Figure 3 This is a top view schematic diagram of an intelligent automatic obstacle avoidance walking device. Figure 4 This is a schematic diagram of the internal structure of a vehicle body in an intelligent automatic obstacle avoidance walking device. Figure 5 This is a schematic diagram of the drive wheel structure in an intelligent automatic obstacle avoidance walking device. Figure 6 This is a schematic diagram of the omnidirectional wheel structure in an intelligent automatic obstacle avoidance walking device.

[0015] In the diagram: vehicle body 100, drive wheel 200, shaft 210, bearing seat 220, direct drive motor 230, brake disc 240, locking cylinder 250, brake pad 251, protective cover 260, axle bracket 270, caster wheel 271, stepper motor 280, lithium battery 300, circuit board 310, control chip 311, storage chip 312, wireless signal module 313, storage platform 400, base plate 410, storage box 420, ultrasonic sensor 500, infrared sensor 510, first camera 520, lighting lamp 530, second camera 540, third camera 550. Detailed Implementation

[0016] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0017] Example 1: As Figures 1-6 ,include: The vehicle body 100 has an equipment installation compartment inside, and a storage platform 400 is provided on the top of the equipment installation compartment; The drive assembly includes a drive wheel 200, a rotating shaft 210 fixedly connected to the shaft of the drive wheel 200, a bearing housing 220 fixedly installed on the rear inner wall of the equipment installation compartment, the rotating shaft 210 and the bearing housing 220 being rotatably connected via bearings, a direct drive motor 230 being connected to the input end of the rotating shaft 210, an axle frame 270 being rotatably connected to the bottom inner wall of the vehicle body 100 via bearings, and a universal wheel 271 being rotatably connected to the inner wall of the axle frame 270. The obstacle avoidance assembly includes an ultrasonic sensor 500, an infrared sensor 510, and a first camera 520 installed on the outer walls of the front and rear sides of the vehicle body 100. A second camera 540 is fixedly installed on the outer walls of both sides of the vehicle body 100, and a third camera 550 is fixedly installed on the outer wall of the bottom of the vehicle body 100.

[0018] The specific application scenario of this embodiment is as follows: The vehicle body 100 provides the installation base for the overall device, and its internal equipment installation compartment is used to carry various functional components. The top storage platform 400 is used to place items to be transported or carried. In the drive assembly, the direct drive motor 230 outputs torque after starting. The direct drive motor 230 is a 57BYG250H, which transmits torque to the drive wheel 200 through the rotating shaft 210. The bearing seat 220 provides stable support for the rotating shaft 210, reduces rotational friction, and ensures that the drive wheel 200 rotates smoothly to drive the device. The axle frame 270 at the bottom of the vehicle body 100 supports the universal wheels 271, which can flexibly turn according to the direction of travel, assisting the device in adjusting its movement. In the obstacle avoidance component, the ultrasonic sensor 500 detects the distance to obstacles in front of and behind the device in real time. The ultrasonic sensor 500 is HC-SR04. The infrared sensor 510 detects infrared signals from the surrounding environment to identify the outline of obstacles. The infrared sensor 510 is E18-D80NK. The first camera 520 collects image information of the environment in front and behind, the second camera 540 collects images of the environment on both sides, and the third camera 550 collects images of the environment at the bottom. The first camera 520, the second camera 540, and the third camera 550 are all OV5640. The multi-dimensional sensors and cameras work together to comprehensively acquire surrounding environmental data and provide a basis for obstacle avoidance decisions.

[0019] Example 2: Figures 2-6 The bottom of the storage platform 400 is provided with a base plate 410, which is fixedly connected to the top of the equipment installation compartment. A brake disc 240 is fixedly installed on the outer wall of the rotating shaft 210 near the direct drive motor 230. A storage box 420 is provided on the top of the storage platform 400. A locking cylinder 250 is fixedly installed on the inner wall of the equipment installation compartment. A brake pad 251 is fixedly connected to the output end of the locking cylinder 250. The brake pad 251 cooperates with the outer wall of the brake disc 240 to lock the drive wheel 200. A protective cover 260 is provided on the top of the drive wheel 200. A stepper motor 280 is fixedly installed on the inner wall of the equipment installation compartment. The output shaft of the stepper motor 280 is connected to the top outer wall of the axle frame 270 through bevel gear meshing, which is used to control the rotation of the universal wheel 271 to adjust the direction.

[0020] The specific application scenario of this embodiment is as follows: The base plate 410 at the bottom of the storage platform 400 enhances the structural strength of the storage platform 400, making the connection between the storage platform 400 and the top of the equipment installation compartment more stable and preventing shaking when items are placed. The brake disc 240 on the rotating shaft 210, together with the locking cylinder 250 and brake pad 251 inside the equipment installation compartment, constitute a braking mechanism. When braking is required, the locking cylinder 250 receives a control signal and pushes the brake pad 251, thus locking the cylinder 250. The CDJ2B1650 is used. The locking cylinder 250 is connected to the pneumatic control device. The brake pads 251 are tightly fitted with the brake disc 240, and the driving wheel 200 is quickly locked by friction, improving braking reliability. The protective cover 260 protects the driving wheel 200 and prevents foreign objects from being caught and affecting operation. After the stepper motor 280 is started, its output shaft meshes with the axle frame 270 through the bevel gear, driving the axle frame 270 to rotate, thereby controlling the universal wheel 271 to adjust the steering angle and achieve precise steering of the device. The stepper motor 280 is a 28BYJ48, which meets the needs of driving on complex paths. The storage box 420 on the top of the storage platform 400 can be used to classify and store small items, improving the storage capacity of the device.

[0021] Example 3: Figure 1 and Figure 2 The obstacle avoidance component includes a lighting lamp 530, with two sets of lighting lamps 530 arranged symmetrically on the left and right sides. The lighting lamps 530 are fixedly installed on the front and rear outer walls of the vehicle body 100. There are two sets of infrared sensors 510, which are located on the bottom sides of the ultrasonic sensor 500 respectively.

[0022] The specific application scenario of this embodiment is as follows: the two sets of lights 530 on the front and rear sides of the vehicle body 100 are activated in low light or dark environments to provide sufficient illumination, ensuring that the ultrasonic sensor 500, infrared sensor 510 and each camera can accurately collect environmental information, avoiding detection errors caused by insufficient light. The two sets of infrared sensors 510 are respectively arranged on both sides of the bottom of the ultrasonic sensor 500, which widens the coverage of infrared detection and forms a complementary detection with the ultrasonic sensor 500, further improving the detection accuracy of low obstacles or edge obstacles and reducing obstacle avoidance blind spots.

[0023] Example 4: Figure 1 and Figure 2The system includes a control component, which includes a lithium battery 300. The lithium battery 300 is fixedly installed on the inner wall of the equipment installation compartment and electrically connected to a charging port, which is installed on the outer wall of the vehicle body 100. The lithium battery 300 is electrically connected to a circuit board 310. The top of the circuit board 310 is electrically connected to a control chip 311, a storage chip 312, and a wireless signal module 313. The wireless signal module 313 is connected to an external control terminal. The control chip 311 is electrically connected to the drive component and the obstacle avoidance component. The control structure is based on the control chip 311 and constructs a complete signal processing and command execution system. The ultrasonic sensor 500, infrared sensor 510, first camera 520, second camera 540, third camera 550, and lighting 530 in the obstacle avoidance component are electrically connected to the control chip 311. Each sensor and camera converts the collected environmental signals into electrical signals and transmits them to the control chip 311. The control chip 311 filters, analyzes, and identifies the received signals to determine whether there are obstacles and their location, size, and other information. Combining this with the operating rules pre-stored in the storage chip 312, it generates corresponding driving control commands. The control chip 311 sends the commands to the direct drive motor 230, stepper motor 280, and locking cylinder 250 of the drive component, controlling the start, stop, and speed of the direct drive motor 230 to achieve acceleration and deceleration of the device; controlling the rotation angle of the stepper motor 280 to adjust the steering direction of the universal wheel 271; and controlling the locking cylinder 250 to achieve rapid braking when an emergency obstacle is detected. Meanwhile, the wireless signal module 313 interacts with the external control terminal in real time, receiving commands such as path planning and speed adjustment from the terminal, and also feeding back the device's operating status and environmental monitoring data to the terminal, enabling remote monitoring and control; the lithium battery 300 provides stable and continuous power to the entire control structure and all electrical components, ensuring the reliable operation of the control structure.

[0024] The specific application scenario of this embodiment is as follows: The control component provides power support and signal processing functions for the entire device. After the lithium battery 300 is replenished with power through the charging port, it supplies power to all electrical components such as the direct drive motor 230, stepper motor 280, various sensors, cameras, and lighting 530, ensuring continuous operation of the device. The circuit board 310 provides a mounting carrier for the control chip 311, storage chip 312, and wireless signal module 313. The control chip 311, as the core control unit, is an STM32F103. It receives environmental data collected by various sensors and cameras in the obstacle avoidance component, analyzes and processes it, and sends driving, steering, and braking commands to the drive component. At the same time, the wireless signal module 313 enables signal interaction between the control chip 311 and the external control terminal. It can receive remote control commands from the external terminal and also feed back the device's operating status data to the terminal. The wireless signal module 313 is an ESP8266. The storage chip 312 is used to store the device's operating parameters, environmental detection data, and other information for subsequent querying and analysis. The storage chip 312 is a W25Q64.

[0025] The working principle of this utility model is as follows: When used by those skilled in the art, the control component coordinates the collaborative work of various functional modules. The lithium battery 300 provides power to the device, and the control chip 311, as the core processing unit, receives environmental information collected from multiple dimensions by the obstacle avoidance component. The ultrasonic sensor 500 detects distance, the infrared sensor 510 identifies contours, and the images collected by each camera are used. In low-light environments, the lighting lamp 530 assists in improving detection accuracy. After analyzing and processing the environmental information, the control chip 311 sends instructions to the drive component: the direct drive motor 230 drives the drive wheel 200 through the rotating shaft 210, and the stepper motor 280... The omnidirectional wheel 271 is controlled by bevel gear transmission to steer, enabling the device to travel along the planned path. When an obstacle is detected, the control chip 311 adjusts the parameters of the drive components in a timely manner, or controls the locking cylinder 250 to push the brake pad 251 to clamp the brake disc 240 to achieve braking and complete automatic obstacle avoidance. The wireless signal module 313 enables remote interaction between the device and the external control terminal. The storage chip 312 records the operating data. The storage platform 400 and the storage box 420 provide stable load-bearing and storage functions. The overall structure achieves integrated functions of intelligent detection, precise control, stable driving and reliable obstacle avoidance through the close cooperation of various components.

[0026] Although embodiments of the present invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

Claims

1. An intelligent automatic obstacle avoidance walking device, characterized in that, include: The vehicle body (100) has an equipment installation compartment inside, and a storage platform (400) is provided on the top of the equipment installation compartment. The drive assembly includes a drive wheel (200), the shaft of which is fixedly connected to a rotating shaft (210). A bearing housing (220) is fixedly installed on the inner wall of the rear end of the equipment installation compartment. The rotating shaft (210) and the bearing housing (220) are rotatably connected by a bearing. The input end of the rotating shaft (210) is connected to a direct drive motor (230). The inner wall of the bottom end of the vehicle body (100) is rotatably connected to an axle frame (270) via a bearing. The inner wall of the axle frame (270) is rotatably connected to a universal wheel (271). The obstacle avoidance assembly includes an ultrasonic sensor (500), an infrared sensor (510), and a first camera (520) installed on the outer walls of the front and rear sides of the vehicle body (100). A second camera (540) is fixedly installed on the outer walls of both sides of the vehicle body (100), and a third camera (550) is fixedly installed on the outer wall of the bottom of the vehicle body (100).

2. The intelligent automatic obstacle avoidance walking device according to claim 1, characterized in that, The bottom of the storage platform (400) is provided with a base plate (410), which is fixedly connected to the top of the equipment installation compartment. The rotating shaft (210) is fixedly installed with a brake disc (240) on the outer wall of the side near the direct drive motor (230). The top of the storage platform (400) is provided with a storage box (420).

3. The intelligent automatic obstacle avoidance walking device according to claim 2, characterized in that, A locking cylinder (250) is fixedly installed on the inner wall of the equipment installation compartment, and a brake pad (251) is fixedly connected to the output end of the locking cylinder (250).

4. The intelligent automatic obstacle avoidance walking device according to claim 3, characterized in that, The brake pad (251) engages with the outer wall of the brake disc (240) to lock the drive wheel (200), and the top of the drive wheel (200) is provided with a protective cover (260).

5. The intelligent automatic obstacle avoidance walking device according to claim 4, characterized in that, A stepper motor (280) is fixedly installed on the inner wall of the equipment installation compartment. The output shaft of the stepper motor (280) is connected to the top outer wall of the axle frame (270) through bevel gear meshing, which is used to control the universal wheel (271) to rotate and adjust the direction.

6. The intelligent automatic obstacle avoidance walking device according to claim 1, characterized in that, The obstacle avoidance assembly includes a lighting lamp (530), two sets of the lighting lamp (530) are symmetrically arranged on the left and right sides, and the lighting lamp (530) is fixedly installed on the front and rear outer walls of the vehicle body (100). There are two sets of infrared sensors (510), and the two sets of infrared sensors (510) are respectively located on the bottom sides of the ultrasonic sensor (500).

7. The intelligent automatic obstacle avoidance walking device according to claim 1, characterized in that, The system includes a control component, which includes a lithium battery (300) fixedly mounted on the inner wall of the equipment installation compartment. The lithium battery (300) is electrically connected to a charging port mounted on the outer wall of the vehicle body (100).

8. The intelligent automatic obstacle avoidance walking device according to claim 7, characterized in that, The lithium battery (300) is electrically connected to the circuit board (310), the top of the circuit board (310) is electrically connected to the control chip (311), the storage chip (312) and the wireless signal module (313), the wireless signal module (313) is connected to the external control terminal, and the control chip (311) is electrically connected to the drive component and the obstacle avoidance component.

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