CN206573716U - Obstacle detecting device and omnidirectional's car - Google Patents

Abstract

A kind of obstacle detecting device and omnidirectional's car, belong to Vehicle Engineering, obstacle detecting device is used for omnidirectional's car, it includes shell, vision ultrasonic wave sensing module and vision sonication module, the vision ultrasonic wave sensing module includes vision sensor and ultrasonic sensor, the vision sensor and ultrasonic sensor may be contained within shell, the vision sensor is used for the picture signal for gathering obstacle, the ultrasonic sensor is used for the ultrasonic signal for gathering obstacle, the vision sonication module is used to receive described image signal and the ultrasonic signal and be handled, so as to the positional information of acquired disturbance.Omnidirectional's car includes above-mentioned obstacle detecting device.This obstacle detecting device can be whether there is with the various types of obstacles of effective detection so as to be accurately detected obstacle.This omnidirectional car can effectively avoiding obstacles exactly, so as to avoid that itself and external environment condition are caused to damage, it is ensured that the stability and security of operation.

Description

Obstacle detecting device and omnidirectional's car

Technical field

The utility model is related to Vehicle Engineering, in particular to a kind of obstacle detecting device and omnidirectional's car.

Background technology

With the development of industrial automation, omnidirectional mobile vehicle (AGV cars) is popularized further in intelligent storage industry application, to complete Higher requirement is it is also proposed to the stability of locomotive, reliability.Meanwhile, omnidirectional mobile vehicle is also applicable in movie and television play, comprehensive During skill etc. is shot.

In order to prevent vehicle operationally, barrier, other vehicles or staff etc. are bumped against, it is necessary to detect robot In moving process, surrounding whether there is barrier.In the prior art, obstacle quality testing is often carried out using single detection means Survey, for example by camera gather in front of image, or pass through ultrasonic sensor gather ultrasound data carry out barrier Detection.

But, texture is especially sparse, texture multiplicity high and pure color surface, the fast-changing scene of illumination and fortune Dynamic speed exceedes when range, and camera work can be affected；And ultrasonic wave can not detect thin railing, grid and enclose The small objects such as column.In such cases, detection of obstacles is carried out using single detection means, it is impossible to accurately detect surrounding With the presence or absence of barrier, the situation of detection failure often occurs.

Utility model content

The purpose of this utility model is to provide a kind of obstacle detecting device, and it can effectively detect that obstacle is exactly It is no to exist.

Another object of the present utility model is to provide a kind of omnidirectional's car, its can effectively avoiding obstacles exactly, So as to avoid causing itself and external environment condition damaging, it is ensured that the stability and security of operation.

What embodiment of the present utility model was realized in：

A kind of obstacle detecting device, for omnidirectional's car, it includes shell, vision ultrasonic wave sensing module and vision ultrasound Ripple processing module, the vision ultrasonic wave sensing module includes vision sensor and ultrasonic sensor, the vision sensor Shell is may be contained within ultrasonic sensor, the vision sensor is used for the picture signal for gathering obstacle, and the ultrasonic wave is passed Sensor is used for the ultrasonic signal for gathering obstacle, and the vision sonication module is used to receive described image signal and described Ultrasonic signal is simultaneously handled, so that the positional information of acquired disturbance.

Further, in the utility model preferred embodiment, the shell shell wall is provided with vision-based detection hole and super Sonic detection hole, the vision sensor and the ultrasonic sensor are mounted on the enclosure, the visual sensing The induction part correspondence vision-based detection hole of device, the induction part correspondence ultrasonic detection holes of the ultrasonic sensor.

Further, in the utility model preferred embodiment, the shell is provided with mounting bracket, and the installation is set up It is equipped with mounting hole.

A kind of omnidirectional's car, it includes car body and above-mentioned obstacle detecting device, and the obstacle detecting device is installed on institute State car body.

Further, in the utility model preferred embodiment, the shell has four and is respectively arranged at the car Front end, rear end, left side and the right side of body.

Further, in the utility model preferred embodiment, the car body include axle arm, the first supporting plate, Four Mecanum wheels and dynamical system, the axle arm have two and interval setting, the both sides point of first supporting plate Two axle arms are not fixedly connected on, and four Mecanum wheels are respectively arranged in the two ends of two axle arms, The dynamical system is used to provide power to four Mecanum wheels.

Further, in the utility model preferred embodiment, omnidirectional's car also includes the second supporting plate, described second Fagging is located at below the first supporting plate and two ends are connected to two axle arms.

Further, in the utility model preferred embodiment, the car body also includes damping device, the damping Device includes shock-absorbing arm and elastic telescopic part, and the shock-absorbing arm is rotationally connected with the axle arm, the two of the elastic telescopic part End is rotationally connected with the axle arm and the shock-absorbing arm respectively, and the Mecanum wheel is rotationally connected with the shock-absorbing arm.

Further, in the utility model preferred embodiment, the elastic telescopic part is damping spring.

Further, in the utility model preferred embodiment, the dynamical system includes four motors, described in four Motor is fixedly installed in the two ends of two axle arms respectively, the output shafts of four motors respectively with four Mikes Na Mu wheel drive connections.

The beneficial effect of the utility model embodiment is：

This obstacle detecting device includes shell, vision ultrasonic wave sensing module and vision sonication module, vision Ultrasonic wave sensing module includes vision sensor and ultrasonic sensor, and vision sensor and ultrasonic sensor may be contained within outer Shell, vision sensor is used for the picture signal for gathering obstacle, and ultrasonic sensor is used for the ultrasonic signal for gathering obstacle, vision Sonication module is used to receive picture signal and ultrasonic signal and be handled, so that the positional information of acquired disturbance, , can be with the various types of obstacles of effective detection, so as to detect exactly by the combination of vision sensor and ultrasonic sensor It whether there is to obstacle, effectively compensate for the defect of prior art.

This omnidirectional car includes car body and above-mentioned obstacle detecting device, and obstacle detecting device is installed on car body, obstacle Detection means can be accurately detected obstacle and whether there is, so that omnidirectional's car can effectively avoid obstacle exactly Thing, so as to avoid that itself and external environment condition are caused to damage, it is ensured that the stability and security of operation, effectively compensate for existing skill The defect of art.

Brief description of the drawings

In order to illustrate more clearly of the technical scheme of the utility model embodiment, it will use below required in embodiment Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also To obtain other related accompanying drawings according to these accompanying drawings.

The structural representation at the first visual angle of omnidirectional's car that Fig. 1 provides for the utility model embodiment；

The structural representation at the second visual angle of omnidirectional's car that Fig. 2 provides for the utility model embodiment；

The structural representation at the 3rd visual angle of omnidirectional's car that Fig. 3 provides for the utility model embodiment；

The structural representation at the 4th visual angle of omnidirectional's car that Fig. 4 provides for the utility model embodiment；

Damping device and the connection signal at the first visual angle of the first axle arm that Fig. 5 provides for the utility model embodiment Figure；

Damping device and the structural representation at the second visual angle of the first axle arm that Fig. 6 provides for the utility model embodiment Figure；

Fig. 7 removes the structural representation after the first supporting plate and dynamical system for omnidirectional's car that the utility model embodiment is provided Figure；

The structural representation for the vision ultrasonic wave sensing module that Fig. 8 provides for the utility model embodiment.

Icon：100- omnidirectionals car；110- vehicle frames；The supporting plates of 120- first；122- protrusive boards；The supporting plates of 130- second； The axle arms of 140- first；142- support plates；144- lattice framings；The mounting grooves of 146- first；148- contiguous blocks；The vehicle bridge of 150- second Arm；The mounting grooves of 156- second；160- damping devices；162- shock-absorbing arms；164- elastic telescopic parts；166- arm plates；168- Connection strap；170- motors；172- wheel shafts；174- shaft couplings；180- Mecanum wheels；190- obstacle detecting devices； 191- vision ultrasonic wave sensing modules；192- shells；193- mounting brackets；194- vision sensors；196- supersonic sensings Device；198- vision sonication modules；199- support frames.

Embodiment

It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer Accompanying drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that retouched The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Generally here described in accompanying drawing and The component of the utility model embodiment shown can be arranged and designed with a variety of configurations.

Therefore, the detailed description of embodiment of the present utility model below to providing in the accompanying drawings is not intended to limit requirement The scope of the present utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based in the utility model Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all Belong to the scope of the utility model protection.

It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.

, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or It is the orientation or position relationship usually put when the utility model product is used, is for only for ease of description the utility model and letter Change description, rather than indicate or imply signified device or element must have specific orientation, with specific azimuth configuration and Operation, therefore it is not intended that to limitation of the present utility model.In addition, term " first ", " second ", " the 3rd " etc. are only used for area Divide description, and it is not intended that indicating or implying relative importance.

In addition, the term such as term " level ", " vertical " is not offered as requiring part abswolute level or pendency, but can be slightly Low dip.It is not that the expression structure must be complete as " level " only refers to its direction with respect to more level for " vertical " Full level, but can be slightly tilted.

In description of the present utility model, in addition it is also necessary to which explanation, unless otherwise clearly defined and limited, term " are set Put ", " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, Or be integrally connected；Can be mechanical connection or electrical connection；Can be joined directly together, intermediary can also be passed through It is indirectly connected to, can is the connection of two element internals.For the ordinary skill in the art, it can be managed with concrete condition Solve concrete meaning of the above-mentioned term in the utility model.

Fig. 1-4 are refer to, a kind of omnidirectional's car 100 is present embodiments provided, it includes vehicle frame 110, damping device 160, four Individual Mecanum wheel 180, dynamical system, control system and obstacle detecting device 190.

Wherein, reference picture 5-6, vehicle frame 110 includes the first axle arm 140, the second axle arm 150, the first supporting plate 120 And second supporting plate 130.First axle arm 140 and the parallel interval of the second axle arm 150 are set, the first axle arm 140 and the Two axle arms 150 include two support plates 142 and Duo Gen lattice framings 144, and two support plates 142 are made and set thereon using epoxy plate Multiple fabrication holes are put, to ensure to mitigate deadweight while its intensity as far as possible.The many equal parallel intervals of lattice framing 144 are arranged at two Between individual support plate 142, and two surfaces relative with two support plates 142 are connected respectively at the two ends of every lattice framing 144.This structure Both weight of itself can be mitigated as far as possible while the first axle arm 140 and the second 150 load-bearing property of axle arm is ensured And raw material, to reduce manufacturing cost.

Certainly, it is necessary to which explanation, in other embodiments, constitutes the branch of the first axle arm 140 and the second axle arm 150 Plate 142 can also be true with specific reference to actual conditions using other light weights, intensity height, the material of easy processing, such as carbon fiber plate etc. It is fixed.

The middle part of two support plates 142 of first axle arm 140 is provided with two rectangular first grooves, and two first recessed Groove mutually corresponds to form the first mounting groove 146.Meanwhile, the middle part of two support plates 142 of the second axle arm 150 is provided with two Individual rectangular second groove, two the second grooves mutually correspond to form the second mounting groove 156.

Between the middle part of two support plates 142 of first axle arm 140 and between two support plates 142 of the second axle arm 150 Contiguous block 148 is provided with, two contiguous blocks 148 are located at below the first mounting groove 146 and mounting groove respectively.Two connections are set The purpose of block 148 is the structural strength of on the one hand the first axle arm 140 of enhancing and the second axle arm 150, on the other hand can be with During vehicle is born due to lateral translation, is produced from the inside of omnidirectional's car 100 by the same side Mecanum wheel 180 hits simultaneously Raw power, so as to avoid causing the shock-absorbing arm 162 of corresponding side damage.

It is high, easy processing using the light weights such as epoxy plate, carbon fiber plate, intensity referring again to Fig. 5-6, the first supporting plates 120 Material is made.The generally rectangular and length direction of first supporting plate 120 and the first axle arm 140 or the second axle arm 150 Length direction is identical.First supporting plate 120 is provided with multiple preformed holes, so as to carry various kinds of equipment, such as small-sized stacking Mechanical arm, shelf fixed mechanism, head etc..

The relative both sides of first supporting plate 120 are respectively fixedly connected with the first axle arm 140 and the second axle arm 150.For Improve in the mounting stability of the first supporting plate 120, the present embodiment, the first supporting plate 120 first axle arm 140 of correspondence and the The both sides of two axle arms 150 are respectively arranged with protrusive board 122, and two protrusive boards 122 are respectively fixedly connected with the first mounting groove 146 and The bottom of two mounting grooves 156.First mounting groove 146 and the second mounting groove 156 can play spacing work to two protrusive boards 122 respectively With so as to effectively improve the stability and reliability of the first supporting plate 120.

Second supporting plate 130 is also made of the light weights such as epoxy plate, carbon fiber plate, intensity height, the material of easy processing.Second Supporting plate 130 is generally rectangular and length direction of length direction and the first axle arm 140 or the second axle arm 150 hangs down Directly.Both sides on the length direction of second supporting plate 130 are bolted to connection in the first axle arm 140 and the second vehicle bridge respectively The middle part of arm 150.Second supporting plate 130 is located at the lower section of the first supporting plate 120.The purpose for setting the second supporting plate 130 is The bonding strength of the first axle arm 140 and the second axle arm 150 is improved, the weights such as the load bearing equipment of the first supporting plate 120 are aided in, delayed Weight is to the pressure produced by the first supporting plate 120 in the case of solution is born a heavy burden.

Shock absorbing apparatus is provided with four and is respectively arranged at the two ends of the first vehicle bridge frame and the second vehicle bridge frame, each shock-absorbing dress Putting includes shock-absorbing arm 162 and two elastic telescopic parts 164.Shock-absorbing arm 162 can use various structures and form, the present embodiment In, four shock-absorbing arms 162 include two arm plates 166 and Duo Gen connection straps 168, and two arm plates 166 are fine using epoxy plate, carbon The light weights such as plate, intensity are high, the material of easy processing is made.Two parallel intervals of arm plate 166 are set, and many connection straps 168 are set Between two arm plates 166 and the two ends of every connection strap 168 are connected to two relative surfaces of arm plate 166.So set Put the structure of shock-absorbing arm 162 purpose be ensure the structural strength of shock-absorbing arm 162 in the case of mitigate its weight as far as possible, with Reduce its manufacturing cost.

Four shock-absorbing arms 162 are connected to the two of the first axle arm 140 and the second axle arm 150 by axis of rotation respectively End, the length direction of the rotating shaft of four shock-absorbing arms 162 is respectively perpendicular to the length of the first axle arm 140 or the second axle arm 150 Spend direction.

Elastic telescopic part 164 can be used in various structures and form, the present embodiment, and elastic telescopic part 164, which is used, to be subtracted Shake spring.Damping spring is simple in construction, working stability, with excellent damping, buffering effect.Two of each damping device 160 One end of elastic telescopic part 164 is rotationally connected with two arm plates 166 of corresponding shock-absorbing arm 162 respectively, and the other end is rotated respectively It is connected to two ends of support plate 142 of corresponding axle arm.

Four Mecanum wheels 180 are rigidly connected respectively four wheel shafts 172, and four wheel shafts 172 are rotationally connected with respectively The outer webs plate 166 of four shock-absorbing arms 162.

The purpose of four damping devices 160 is set to be to be delivered to vehicle frame from largely slowing down Mecanum wheel 180 110 vibrations, so as to effectively slow down vibrations of the whole omnidirectional's car 100 when uneven road surface is travelled, it is ensured that omnidirectional's car 100 is moved Stationarity and horizontality during dynamic, and then allow omnidirectional's car 100 exactly according to specified route running.

Damping device 160 has four kinds of working conditions, specific as follows：

First, after weight is positioned over the first supporting plate 120, due to Action of Gravity Field, the first supporting plate 120 is pushed, simultaneously First axle arm 140, the second axle arm 150 and the second supporting plate 130 are pushed, damping spring stretching；Weight is supported from first After plate 120 is removed, because Action of Gravity Field disappears, lifted in the first supporting plate 120, while the first axle arm 140, the second axle arm 150 and second lift in supporting plate 130, damping spring restPoses

Second, when the single-wheel of side Mecanum wheel 180 is gone up a slope, the relative initial position of Mecanum wheel 180 is raised, band Move corresponding shock-absorbing arm 162 at relatively raised, to ensure that the first supporting plate 120 fixing equipment positions are relatively constant, that is, ensure the One axle arm 140 or the position of the second axle arm 150 are relatively constant, then damping spring compresses；After the completion of vehicle driving up, accordingly Mecanum wheel 180 recover to initial position, drive shock-absorbing arm 162 to recover, while damping spring restPoses.

3rd, when same two Mecanum wheels 180 in one end go up a slope (herein by taking front end as an example), the Mike of front end two receives The equal lifting of nurse wheel 180, drives front end shock-absorbing arm 162 at relatively raised, is moved after the at relatively raised center of gravity of the first supporting plate 120, rear end is kept away Shake the relative reduction of arm 162 so that front end damping spring compresses, and rear end damping spring is stretched；The front end after the completion of vehicle driving up Mecanum wheel 180 recovers to initial position, drives shock-absorbing arm 162 to recover, and the center of gravity of the first supporting plate 120 is recovered, rear end shock-absorbing Arm 162 recovers so that front end shock-proof spring is relative to be stretched to original state, and rear end shock-proof spring is compressed to initial shape relatively State.

4th, when three-wheel need to go up a slope during current line, with three liftings of Mecanum wheel 180, drive shock-absorbing arm 162 At relatively raised, upper backup pad relative CG is constant, and axle arm is at relatively raised, and another axle 172 of Mecanum wheel 180 is held Plate is little with respect to amplitude of variation so that the shock-proof spring is stretched, and other three-wheel shock-proof springs compress；After the completion of vehicle driving up Vehicle restPoses.

Dynamical system includes four motors 170, and the casing of four motors 170 is fixedly installed in four shock-absorbing arms respectively 162 inner webs plate 166, the output shaft of four motors 170 is connected by four shaft couplings 174 with four wheel shafts 172 respectively Connect, so as to be connected respectively with four Mecanum wheels 180, wheel shaft 172 can bear omnidirectional's car 100 in normal driving process Middle Mecanum wheel 180 is due to the power produced by unilateral impact events, it is to avoid damage is caused to shaft coupling 174.So set dynamic The purpose of Force system be cause four Mecanum wheels 180 between power can be independent of each other with separate, accordingly even when Some Mecanum wheel 180 runs out of steam, and its excess-three can also run well.

Control system is prior art, movement velocity, direction for controlling omnidirectional's car 100 etc..

Reference picture 7, the obstacle detecting device 190 includes shell 192, vision ultrasonic wave sensing module 191 and vision Sonication module 198.

Wherein, reference picture 8, the shell wall of shell 192 is provided with vision-based detection hole, ultrasonic detection holes, the mounting bracket of two L-shaped 193, position of the mounting bracket 193 away from shell 192 is provided with multiple mounting holes, and mounting bracket 193 is installed by mounting hole and bolt In the first supporting plate 120.

The vision ultrasonic wave sensing module 191 includes vision sensor 194 and ultrasonic sensor 196, the vision Sensor 194 and ultrasonic sensor 196 may be contained within inside shell 192, the induction part correspondence institute of the vision sensor 194 State vision-based detection hole, the correspondence of ultrasonic sensor 196 ultrasonic detection holes.The vision sensor 194 can lead to The picture signal that camera gathers obstacle is crossed, the ultrasonic sensor 196 can be by launching the super of ultrasonic acquisition obstacle Acoustic signals.

Vision ultrasonic wave sensing module 191 has two kinds of working conditions：

First, texture is especially sparse, texture multiplicity high and pure color surface, the fast-changing scene of illumination and fortune Dynamic speed exceedes in the visual sensing module use environment limited situations such as range, i.e., only the module of ultrasonic sensor 196 works When, by the module of ultrasonic sensor 196 gather ultrasound data, vision sonication module 198 to ultrasound data at Reason.

Second, in the tiny obstacle situation such as thin railing, grid fence, the module use environment of ultrasonic sensor 196 by In limit situation, i.e., when only visual sensing module can effectively work, view data, vision ultrasound are gathered by visual sensing module Ripple processing module 198 is to image real time transfer.

Referring again to Fig. 7, vision sonication module 198 is installed on the upper of the second supporting plate 130 by support frame 199 Surface.The vision sonication module 198 is used to receive above-mentioned picture signal and ultrasonic signal and be handled, so that The positional information of acquired disturbance, and positional information is sent to control system, so that control system control omnidirectional car 100 enters professional etiquette Keep away.

Obstacle target distance is carried out three-level classification by obstacle detecting device 190：Safe distance, warning distance, it is dangerous away from From.In the case of safe distance, omnidirectional's car 100 will be according to path planning normally travel；Under warning distance, omnidirectional's car 100 will Reduced Speed Now, carries out shifting to an earlier date avoidance action, it is to avoid deceleration suddenly produces inertia and produces influence to workbench work；Danger away from From under, omnidirectional's car 100 brakes and translates or evaded backward to obstacle opposite side at once, during evading, subtracts as far as possible The influence that inertia produced by small is caused to workbench work.

In order to realize in comprehensive obstacle detection, the present embodiment, vision ultrasonic wave sensing module 191 and shell 192 are provided with four, and four vision ultrasonic wave sensing modules 191 are respectively arranged in four shells 192, four shells 192 are respectively arranged at front end, rear end, left side and the right side of the first supporting plate 120.

Certainly, it is necessary to which explanation, in other embodiments, aforementioned four vision ultrasonic wave sensing module 191 can also It is arranged on other positions, such as the first axle arm 140 and the second axle arm 150.

To sum up, this omnidirectional car 100 is provided with four damping devices 160, with excellent damping performance, even in out-of-flatness Road surface on, it is also possible that each Mecanum wheel 180 can effectively land, so as to ensure the stationarity and water of moving process Levelling, then can effectively compensate for the defect of prior art exactly according to specified route running.

Finally, it is emphasized that, the damping device 160 in above-described embodiment, can also in addition to for omnidirectional's car 100 Vehicle for other specific uses.

Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.

Claims (10)

1. a kind of obstacle detecting device, for omnidirectional's car, it is characterised in that including shell, vision ultrasonic wave sensing module and Vision sonication module, the vision ultrasonic wave sensing module includes vision sensor and ultrasonic sensor, described to regard Feel that sensor and ultrasonic sensor may be contained within shell, the vision sensor is used for the picture signal for gathering obstacle, described Ultrasonic sensor is used for the ultrasonic signal for gathering obstacle, and the vision sonication module is used to receive described image letter Number and the ultrasonic signal and handled so that the positional information of acquired disturbance.

2. obstacle detecting device according to claim 1, it is characterised in that the shell shell wall is provided with vision-based detection hole And ultrasonic detection holes, the vision sensor and the ultrasonic sensor are mounted on the enclosure, the vision The induction part correspondence vision-based detection hole of sensor, the induction part correspondence ultrasound examination of the ultrasonic sensor Hole.

3. obstacle detecting device according to claim 1, it is characterised in that the shell is provided with mounting bracket, the peace Shelve and be provided with mounting hole.

4. a kind of omnidirectional's car, it is characterised in that including the obstacle detection dress described in car body and claim 1-3 any one Put, the obstacle detecting device is installed on the car body.

5. omnidirectional's car according to claim 4, it is characterised in that the shell has four and is respectively arranged at the car sheet Front end, rear end, left side and the right side of body.

6. omnidirectional's car according to claim 4, it is characterised in that the car body includes axle arm, the first supporting plate, four Individual Mecanum wheel and dynamical system, the axle arm have two and interval setting, the both sides difference of first supporting plate Two axle arms are fixedly connected on, four Mecanum wheels are respectively arranged in the two ends of two axle arms, institute Stating dynamical system is used to provide power to four Mecanum wheels.

7. omnidirectional's car according to claim 6, it is characterised in that omnidirectional's car also includes the second supporting plate, described second Fagging is located at below the first supporting plate and two ends are connected to two axle arms.

8. omnidirectional's car according to claim 6, it is characterised in that the car body also includes damping device, the damping Device includes shock-absorbing arm and elastic telescopic part, and the shock-absorbing arm is rotationally connected with the axle arm, the two of the elastic telescopic part End is rotationally connected with the axle arm and the shock-absorbing arm respectively, and the Mecanum wheel is rotationally connected with the shock-absorbing arm.

9. omnidirectional's car according to claim 8, it is characterised in that the elastic telescopic part is damping spring.

10. omnidirectional's car according to claim 6-9 any one, it is characterised in that the dynamical system includes four electricity Machine, four motors are fixedly installed in the two ends of two axle arms respectively, the output shafts of four motors respectively with Four Mecanum wheel drive connections.