CN109908595A - It is a kind of to recognize the self-stopping artificial animal walking tour bus of barrier - Google Patents
It is a kind of to recognize the self-stopping artificial animal walking tour bus of barrier Download PDFInfo
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- CN109908595A CN109908595A CN201811600005.2A CN201811600005A CN109908595A CN 109908595 A CN109908595 A CN 109908595A CN 201811600005 A CN201811600005 A CN 201811600005A CN 109908595 A CN109908595 A CN 109908595A
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- tour bus
- control system
- walking
- artificial animal
- animal
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Abstract
Barrier self-stopping artificial animal walking tour bus can be recognized the present invention provides a kind of, the signal output end for stating distance sensor system and/or infrared human body heat releasing electric transducer is connected to the signal input part of CPU master control system；First signal output end of CPU master control system is connected to electric machine control system, second signal output end is connected to brake control module, third signal output end is connected to speech prompting system；The distance between barrier and/or pedestrian on distance sensor system and/or infrared human body heat releasing electric transducer detection artificial animal walking tour bus car body and direction of travel, and it is sent to CPU master control system；CPU master control system will test value and be compared with given threshold, and when detected value is less than threshold value, motor is powered off to electric machine control system, sends brake signal to brake control module with Simulation of Brake animal walking tour bus car body by triggering voice module progress voice prompting, transmission power-off signal.
Description
Technical field
The present invention relates to a kind of running gear more particularly to a kind of devices walked with artificial animal.
Background technique
With the development of the city, life square, sales field, scenic spot and the field theme park that surrounding city is built are increasingly
It is more, scale area be it is increasing, tourist, which has strolled, generally requires long time；Therefore there is sightseeing inside many scenic spots now
Vehicle, these tour bus, mostly uses greatly tourist train.This tourist train traveling texture is single, can not attract passenger especially
Virgin passenger repeats to take, and only tool is simple takes function, does not have body-building function.
In addition, these vehicles in scenic spot of traveling due in scenic spot visitor it is numerous, it is existing so be easy to happen car accident
Tour bus be mostly using driver operation and brake, once driver's reaction is easy to that accident occurs not in time.
Summary of the invention
The main technical problem to be solved by the present invention is to provide a kind of artificial animal running gear, there is actively brake system
System, can actively brake when vehicle encounters pedestrian or barrier.
In order to solve the above technical problems, to recognize the self-stopping emulation of barrier dynamic the present invention provides a kind of
Object walking tour bus, comprising: artificial animal walking tour bus car body, electric machine control system, brake control module, CPU master control system
System, distance sensor system and/or infrared human body heat releasing electric transducer, speech prompting system；
The signal output end of the distance sensor system and/or infrared human body heat releasing electric transducer is connected to CPU master control
The signal input part of system；It is defeated that first signal output end of the CPU master control system is connected to electric machine control system, second signal
Outlet is connected to brake control module, third signal output end is connected to speech prompting system；
The distance sensor system and/or infrared human body heat releasing electric transducer detection artificial animal walking tour bus car body
With the distance between barrier and/or pedestrian on direction of travel, and it is sent to CPU master control system；The CPU master control system will be examined
Measured value is compared with given threshold, and when detected value is less than threshold value, triggering voice module carries out voice prompting, sends power-off letter
Number to electric machine control system by motor power-off, send brake signal and brake artificial animal walking to brake control module and see
Light vehicle car body.
In a preferred embodiment:, can be in lateral, longitudinal, oblique, regular when animal model is two or more
Or irregular alignment；
The compartment can be the compartment for being only capable of enough translations, or with the posture row of artificial animal as tour bus headstock
It walks
In a preferred embodiment: the artificial animal walking tour bus car body includes but is not limited to body-building recreational device of riding
And tour bus；The tour bus includes individual tour bus headstock or the train that is formed by tour bus headstock and vehicle combination.
In a preferred embodiment: the distance sensor system and/or the setting of infrared human body heat releasing electric transducer are imitative
The front end and end of true animal walking tour bus car body.
In a preferred embodiment: the electric machine control system include speed accelerator module, motor positive and inverse switching open
Close module, motor positive and inverse control module and motor power-off control module.
In a preferred embodiment: the CPU master control system transmission brake signal is braked described to brake control module
Artificial animal is walked after tour bus car body, and CPU master control system sends motor reversal signal to motor positive and inverse control module to control
Motor reversal processed, and CPU master control system stops sending the brake signal so that and artificial animal walking tour bus car body passes through
The movement of speed accelerator module opposite direction.
In a preferred embodiment: described to ride body-building recreational device or tour bus headstock includes: horizontal running mechanism and extremely
Few artificial animal moving parts；
The horizontal running mechanism includes chassis, walking mechanism, transmission mechanism, and the walking mechanism is mounted on chassis,
Horizontal running mechanism is towed or pushes lower drive chassis to move along earth's surface parallel direction；
The artificial animal moving parts include stand, movement mechanism, at least one animal model；
When the horizontal running mechanism is moved along earth's surface parallel direction, the animal model simulation animal posture is gone
It walks；One animal model walking or multiple animal models are either synchronously or asynchronously walked.
In a preferred embodiment: the walking mechanism is installed on chassis to drive the chassis to walk；The stand peace
On chassis, the movement mechanism is mounted in stand and is connected with the transmission mechanism, and movement mechanism is supported in stand
Imitate the movement of animal walking form under the transmission of lower and transmission mechanism；The animal model is mounted on the movement mechanism
To form the zoomorphism that can be moved；
The animal model includes animals shaped, cartoon shape, mechanical shape.
In a preferred embodiment: the walking mechanism includes front-wheel mechanism and rear-wheel mechanism, and the front-wheel mechanism is shield
Wheel, the rear-wheel mechanism by the first rear-wheel, the second rear-wheel, rotation axis, rear bridge seat, driving wheel group at；First rear-wheel and
Second rear-wheel is separately mounted to the left and right side of rotation axis, and the rear-wheel mechanism is connect with chassis by rear bridge seat and is mounted on
On chassis.
In a preferred embodiment: the walking mechanism further includes the brake gear controlled by brake control module, described
Brake gear is installed on the rotating shaft or is mounted on the first rear-wheel and the second rear-wheel.
In a preferred embodiment: the movement mechanism includes swinging crossbearer and skimulated motion mechanism；The skimulated motion
Mechanism is by crank, driven pivoted arm, driving shaft and driven shaft composition；The driving shaft, driven shaft are separately mounted to the stand
Front and rear portions, and can be rotated, and driving shaft is also connected with the transmission mechanism；One end of the crank and the driving shaft phase
Connection, the other end of the crank are connected to the front for swinging crossbearer；The driven pivoted arm is connected to driven shaft and swings crossbearer
Rear portion between；
The swing crossbearer includes crossbearer body, saddle support and pedal support；The front of the crossbearer body, which is equipped with, to be used to
The bearing of the crank pin seat being connected with the crank, the rear portion of the crossbearer body be equipped be used to be connected with the driven pivoted arm from
Dynamic bearing seat；The saddle support is fixed on the rear portion of the crossbearer body；The pedal support is connected to the crossbearer body two
The bottom of side.
Compared to the prior art, technical solution of the present invention has the advantages that
It is provided by the invention it is a kind of can recognize barrier self-stopping artificial animal walking tour bus, pass through distance and pass
Sensor system/or infrared human body heat releasing electric transducer detection car body in the movement direction with the distance between pedestrian or barrier,
CPU is compared the judgement making brake or not braking by detected value and threshold value.Whole process is not necessarily to artificial intervention, can be with
As a kind of auxiliary brake means and brake driver and deposit, increase the safety of tour bus, effectively prevent because of driver
The reasons such as absent minded cause the accident braked not in time.
Detailed description of the invention
Fig. 1 is the schematic diagram of artificial animal walking tour bus car body in the preferred embodiment of the present invention；
Fig. 2 is the schematic diagram of transmission mechanism in the preferred embodiment of the present invention；
Fig. 3 is the schematic diagram of movement mechanism in the preferred embodiment of the present invention；
Fig. 4 is the schematic diagram of the crossbearer of movement mechanism in the preferred embodiment of the present invention；
Fig. 5 is the schematic diagram of stand in the preferred embodiment of the present invention；
Fig. 6 is the schematic diagram on chassis in the preferred embodiment of the present invention；
Fig. 7 is the schematic diagram of rear-wheel mechanism in the preferred embodiment of the present invention；
Fig. 8 is the schematic diagram of front-wheel in the preferred embodiment of the present invention；
Fig. 9 is that CPU master control system and electric machine control system, electric machine control system, distance pass in the preferred embodiment of the present invention
The connection schematic diagram of sensor system and/or infrared human body heat releasing electric transducer, speech prompting system；
Figure 10 is the module map of electric machine control system in the preferred embodiment of the present invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, technical scheme is described further.
It is a kind of to recognize the self-stopping artificial animal walking tour bus of barrier, comprising: artificial animal walking is gone sightseeing
Vehicle car body, electric machine control system, electric machine control system, CPU master control system, distance sensor system and/or infrared human body heat releasing
Electric transducer, speech prompting system；
The walking tour bus car body of artificial animal described in the present embodiment includes individual tour bus headstock or by tour bus
The train that headstock and vehicle combination are formed.At least one animal model ridden for rider is provided on the tour bus car body
6.It, can be in lateral, longitudinal, oblique, regular or irregular alignment when animal model 6 is two or more.The vehicle
Compartment can be the compartment for being only capable of enough translations, or be walked as tour bus headstock with the posture of artificial animal.
With reference to Fig. 1-8, it is described ride body-building recreational device or tour bus headstock include: include: horizontal running mechanism and at least
One artificial animal moving parts；
The horizontal running mechanism includes walking mechanism 2, chassis 1, driving mechanism 3, transmission mechanism 7, the driving mechanism
3, walking mechanism, which is mounted on chassis 1, drives chassis 1 to move along earth's surface parallel direction；
The artificial animal moving parts include stand 5, movement mechanism 4, at least one animal model 6；
When the horizontal running mechanism is moved along earth's surface parallel direction, the animal model 6 is simulated animal posture and is carried out
Walking；At least one described animal model 6 is either synchronously or asynchronously walked.
When the artificial animal moving parts are at least two, artificial animal walking component is successively first by traction connector
Tail is connected, and wherein at least one horizontal running mechanism is driven the driving of mechanism 3.As shown in figure 1, first artificial animal movement
Component is driven the driving of mechanism 3.
When animal model 6 be two or more when, the animal model 6 on chassis 1 in it is lateral, longitudinal, oblique,
Rule or irregular alignment.
The driving mechanism 3 is mounted at chassis 1 and is connected with the walking mechanism 2；The stand 5 is mounted on chassis
On 1, the movement mechanism 4 is mounted in stand and is connected with the driving mechanism 3, movement mechanism 4 stand 5 support under and
Driving mechanism 3 carries out imitating the movement of animal movement form under driving；The animal model 6 is mounted on the movement mechanism 4
To form the zoomorphism that can be moved；
The artificial animal walking component further includes transmission mechanism 8, and the transmission mechanism 8 is mounted at the chassis 1, institute
It states driving mechanism 3 and is connected respectively with the walking mechanism 2, movement mechanism 4 by the transmission mechanism 8.
Further, drive connection of the invention is as shown in figure 3, the transmission mechanism 7 includes the first of single-stage speed change
Second transmission mechanism 72 of transmission mechanism 71 and multi-change speed.The first transmission that the driving mechanism 3 passes through the single-stage speed change
Mechanism 71 is connected with the walking mechanism 2, and first transmission mechanism 71 includes the first driving wheel 71a and the first driven wheel
71b, the output of the driving mechanism 3 are connected with the first driving wheel 71a, and the first driving wheel 71a passes through chain for power transmission
To the first driven wheel 71b, the first driven wheel 71b is connected with the rear-wheel on chassis 1, to drive machine of riding to move forward or back；It is described
Second transmission mechanism 72 includes the second driving wheel 72a, from the second driven wheel 72b, speed reducer 72c and drive pulley 72d, as schemed institute
Show, the output of the driving mechanism 3 is connected with the second driving wheel 72a, and the second driving wheel 72a is conducted by chain to from second
Driven wheel 72b, and be connected with the input of speed reducer 72c, the output of speed reducer 72c is exported by drive pulley 72d conduction, and
It is connected with the driving shaft of movement mechanism 4, to drive the driving shaft to rotate.
Further, movement mechanism 4 uses crank-motion mechanism in the present embodiment, can also be with as simple replacement
Using track movement mechanism and cam moving mechanism, specifically the movement mechanism 4 includes swinging crossbearer 41 and skimulated motion
Mechanism 42；The skimulated motion mechanism 42 by two crank 42a, two driven pivoted arm 42b, a driving shaft 42c and one from
Moving axis 42d composition；The front of the stand 5 is equipped with active bearings seat 51, and driving shaft 42c is installed on the active bearings seat, stand 5
Rear portion be equipped with driven bearing block 52, driven shaft 42d is installed on the driven bearing block 52；Driving shaft 42c and the driving mechanism 3
It is connected；Each one end of two crank 42a is connected with the both ends of the driving shaft 42c respectively, two crank 42a
Each other end be connected to swing crossbearer 41 front；Two driven pivoted arm 42b are connected to driven shaft 42d's
Between both ends and the rear portion for swinging crossbearer 41；Crank 42a being rotated by driving shaft 42c, to drive the swing
The front of crossbearer 41 is rotated around the driving shaft 42c, and the driven pivoted arm 42b does front and back under the drive for swinging crossbearer 41
Pendulum motion.
Further, the swing crossbearer 41 includes crossbearer body 41a, saddle support 41b and foot-operated mounting rack 41c；
The front of the crossbearer body 41a is equipped with the driving shaft 42c for being used to be connected with the crank 42a, the rear portion of the crossbearer body 41a
Equipped with the driven shaft 42d for being used to be connected with the driven pivoted arm 42b；The saddle support 41b is fixed on the crossbearer body
The rear portion of 41a；The foot-operated mounting rack 41c is fixed on the bottom of the crossbearer body 41a.The foot-operated mounting rack 41c is divided into
The two sides of crossbearer body, are connected separately with Vehicular left pedal and right steps；The Vehicular left pedal is equipped with brake gear, brake dress
It is set to disk type brake, brake 21e is mounted on rear wheel axis 21c, and brake pedal is mounted on Vehicular left pedal.Trample brake
Pedal achievees the effect that braking by brake 21e effect；The right steps are equipped with accelerator device, the accelerator device with
Controller connection, changes the output power of driving mechanism 3 by controller, realizes the adjusting of complete machine speed.Different emulation
Brake gear between animal walking component can be independent of one another, can also be connected together.
Further, the animal model 6 includes fixed frame and animal model shell；The fixed frame is fixed by trunk
Frame and head supporting structure are constituted, and the trunk fixed frame is fixed on the top of the crossbearer body 41a, and the head supporting structure is fixed
On the top of the front side of the trunk fixed frame；The steering mechanism 7 is mounted at the head supporting structure.It is moved in the present embodiment
The shape of object model 6 is the horse of emulation, may be set to be animal or the mechanical animals of cartoon pattern, belongs to the present embodiment
Simple replacement.
Artificial animal walking tour bus car body is arranged in the distance sensor system/infrared human body heat releasing electric transducer
Front end and end.
The distance sensor system with reference to described in Fig. 9, Figure 10/infrared human body heat releasing electric transducer signal output end is connected to
The signal input part of CPU master control system；First signal output end of the CPU master control system is connected to electric machine control system,
Binary signal output end is connected to brake control module, third signal output end is connected to speech prompting system；
The electric machine control system includes speed accelerator module, motor positive and inverse switching switch module, motor positive and inverse
Control module and motor power-off control module.
The distance sensor system when artificial animal walking tour bus car body is walked forward, positioned at car body front end
And/or barrier and/or row on infrared human body heat releasing electric transducer detection artificial animal walking tour bus car body and direction of travel
The distance between people, and it is sent to CPU master control system；The CPU master control system will test value and be compared with given threshold, when
Triggering voice module carries out voice prompting when detected value is less than threshold value, transmission power-off signal breaks motor to electric machine control system
Electricity, transmission brake signal brake the artificial animal walking tour bus car body to brake control module.
The CPU master control system sends brake signal and brakes the artificial animal walking tour bus to brake control module
After car body, CPU master control system sends motor reversal signal and controls motor reversal, and CPU to motor positive and inverse control module
Master control system stops sending the brake signal so that artificial animal walking tour bus car body passes through speed accelerator module negative side
To movement, safety is further increased.
The distance sensor system when artificial animal walking tour bus car body is walked forward, positioned at car body end
And/or barrier and/or row on infrared human body heat releasing electric transducer detection artificial animal walking tour bus car body and direction of travel
The distance between people, and it is sent to CPU master control system；Subsequent step is identical as when walking forward, repeats no more.
In the present embodiment, the CPU master control system uses the single-chip microcontroller of PIL1625 model.
The above is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and those skilled in the art can
To readily appreciate that variation disclosed in this invention or technical scope.Alternative solution is intended to cover within the scope of the invention.Cause
This, protection scope of the present invention should be determined by the scope of the claims.
Claims (10)
1. a kind of can recognize the self-stopping artificial animal walking tour bus of barrier, characterized by comprising: artificial animal
Walking tour bus car body, electric machine control system, brake control module, CPU master control system, distance sensor system and/or human body
Pyroelectric infrared sensor, speech prompting system；
The signal output end of the distance sensor system and/or infrared human body heat releasing electric transducer is connected to CPU master control system
Signal input part；First signal output end of the CPU master control system is connected to electric machine control system, second signal output end
It is connected to brake control module, third signal output end is connected to speech prompting system；
The distance sensor system and/or infrared human body heat releasing electric transducer detection artificial animal walking tour bus car body and row
The distance between barrier and/or pedestrian on direction are walked, and is sent to CPU master control system；The CPU master control system will test value
Be compared with given threshold, when detected value be less than threshold value when triggering voice module carry out voice prompting, send power-off signal to
Electric machine control system powers off motor, transmission brake signal brakes the artificial animal walking tour bus to brake control module
Car body；
Artificial animal walking tour bus car body includes individual tour bus headstock or by tour bus headstock and vehicle combination
The train of formation；At least one is provided on the tour bus headstock for the animal model of rider saddle horse.
2. it is according to claim 1 it is a kind of can recognize barrier self-stopping artificial animal walking tour bus, it is special
Sign is:, can be in lateral, longitudinal, oblique, regular or irregular alignment when animal model is two or more；
The compartment can be the compartment for being only capable of enough translations, or be walked as tour bus headstock with the posture of artificial animal.
3. it is according to claim 1 or 2 it is a kind of can recognize barrier self-stopping artificial animal walking tour bus,
Be characterized in that: the distance sensor system and/or the setting of infrared human body heat releasing electric transducer are in artificial animal walking tour bus
The front end and end of car body.
4. it is according to claim 3 it is a kind of can recognize barrier self-stopping artificial animal walking tour bus, it is special
Sign is: the electric machine control system includes speed accelerator module, motor positive and inverse switching switch module, motor positive and inverse control
Molding block and motor power-off control module.
5. it is according to claim 4 it is a kind of can recognize barrier self-stopping artificial animal walking tour bus, it is special
Sign is: the CPU master control system sends brake signal and brakes the artificial animal walking tour bus to brake control module
After car body, CPU master control system sends motor reversal signal and controls motor reversal, and CPU to motor positive and inverse control module
Master control system stops sending the brake signal so that artificial animal walking tour bus car body passes through speed accelerator module negative side
To movement.
6. it is according to claim 5 it is a kind of can recognize barrier self-stopping artificial animal walking tour bus, it is special
Sign is: described to ride body-building recreational device or tour bus headstock includes: horizontal running mechanism and the movement of at least one artificial animal
Component；
The horizontal running mechanism includes chassis, walking mechanism, transmission mechanism, and the walking mechanism is mounted on chassis, horizontal
Walking mechanism is towed or pushes lower drive chassis to move along earth's surface parallel direction；
The artificial animal moving parts include stand, movement mechanism, at least one described animal model；
When the horizontal running mechanism is moved along earth's surface parallel direction, the animal model simulation animal posture is walked；
One animal model walking or multiple animal models are either synchronously or asynchronously walked.
7. it is according to claim 6 it is a kind of can recognize barrier self-stopping artificial animal walking tour bus, it is special
Sign is: the walking mechanism is installed on chassis to drive the chassis to walk；The stand is mounted on chassis, the movement
Mechanism is mounted in stand and is connected with the transmission mechanism, movement mechanism stand support under and transmission mechanism transmission under into
Row imitates the movement of animal walking form；The animal model is mounted on the movement mechanism to form the animal that can be moved
Form；
The animal model includes animals shaped, cartoon shape, mechanical shape.
8. it is according to claim 7 it is a kind of can recognize barrier self-stopping artificial animal walking tour bus, it is special
Sign is: the walking mechanism includes front-wheel mechanism and rear-wheel mechanism, and the front-wheel mechanism is shield wheel, and the rear-wheel mechanism is by the
One rear-wheel, the second rear-wheel, rotation axis, rear bridge seat, driving wheel group at；First rear-wheel and the second rear-wheel are separately mounted to turn
The left and right side of moving axis, the rear-wheel mechanism are connect with chassis by rear bridge seat and are mounted on chassis.
9. it is according to claim 8 it is a kind of can recognize barrier self-stopping artificial animal walking tour bus, it is special
Sign is: the walking mechanism further includes the brake gear controlled by brake control module, and the brake gear is mounted on rotation
On axis or it is mounted on the first rear-wheel and the second rear-wheel.
10. it is according to claim 9 it is a kind of can recognize barrier self-stopping artificial animal walking tour bus, it is special
Sign is: the movement mechanism includes swinging crossbearer and skimulated motion mechanism；The skimulated motion mechanism is by crank, from turn
Arm, driving shaft and driven shaft composition；The driving shaft, driven shaft are separately mounted to the front and rear portions of the stand, and can be rotated,
And driving shaft is also connected with the transmission mechanism；One end of the crank is connected with the driving shaft, the crank it is another
One end is connected to the front for swinging crossbearer；The driven pivoted arm is connected between driven shaft and the rear portion for swinging crossbearer；
The swing crossbearer includes crossbearer body, saddle support and pedal support；The front of the crossbearer body, which is equipped with, to be used to and institute
The bearing of the crank pin seat that crank is connected is stated, the rear portion of the crossbearer body is equipped with the driven shaft for being used to be connected with the driven pivoted arm
Hold seat；The saddle support is fixed on the rear portion of the crossbearer body；The pedal support is connected to crossbearer body two sides
Bottom.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811600005.2A CN109908595A (en) | 2018-12-26 | 2018-12-26 | It is a kind of to recognize the self-stopping artificial animal walking tour bus of barrier |
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| CN201811600005.2A CN109908595A (en) | 2018-12-26 | 2018-12-26 | It is a kind of to recognize the self-stopping artificial animal walking tour bus of barrier |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115258014A (en) * | 2021-04-30 | 2022-11-01 | 朱嘉斌 | Multi-driving-position simulation animal riding device |
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Application publication date: 20190621 |