CN207575416U - Can obstacle detouring avoidance novel intelligent guide vehicle - Google Patents
Can obstacle detouring avoidance novel intelligent guide vehicle Download PDFInfo
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- CN207575416U CN207575416U CN201720555515.7U CN201720555515U CN207575416U CN 207575416 U CN207575416 U CN 207575416U CN 201720555515 U CN201720555515 U CN 201720555515U CN 207575416 U CN207575416 U CN 207575416U
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- supporting rod
- rod
- central shaft
- avoidance
- sensing
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Abstract
The utility model discloses can obstacle detouring avoidance novel intelligent guide vehicle.The guide vehicle includes turnable triangle wheel group, supporting rod, chassis and central shaft；Triangle wheel group and supporting rod are two, and telescopic component is connected between two supporting rods；Chassis is located at the lower end of supporting rod, the top of supporting rod is equipped with handle, triangle wheel group is connect by central shaft with chassis, control unit is equipped in chassis, driving unit is additionally provided with below at least one supporting rod, control unit can control driving unit to be moved, and driving unit can drive the rotation of central shaft, and central shaft can drive triangle wheel group to be rotated；Supporting rod is equipped with sensing stent, and sensing stent is equipped with sensing unit, and sensing unit is connected with control unit；Supporting rod is equipped with voice reminder, and voice reminder is connected with described control unit.The utility model, which has, enable blind person user to clear the jumps or avoiding barrier, the effect that safer assisting blind is walked.
Description
Technical field
The utility model is related to guide equipment technical field, more particularly to can obstacle detouring avoidance novel intelligent guide vehicle.
Background technology
Blind person is the disadvantaged group without visual perception power, and blind person's walking, can very in seething city
Inconvenience and danger.With the development of society, blind person but is to ensure that in vehicle to living on one's own life and cause is pursued more and more stronger
The activity of safety freely is assisted with regard to needing a special guide equipment in the urban life of water Malong, is led to realize
Blind function, the substance of work is exactly that training blind person relies on hearing, by auxiliary tool association independent ambulation.Blind person at present
By auxiliary tool mainly have blind man's stick and seeing-eye dog, blind man's stick detection range is small, sensitivity is not high, and master when encountering barrier
It gently to be slided along blind man's stick by blind person and touch object, then the road that can be walked is leant out with blind man's stick, it is excessively troublesome；Seeing-eye dog valency
Lattice are expensive, and training is difficult, unrealistic.Therefore, the problem of assisting blind is walked is urgently to be resolved hurrily.So design a and more work(
Energy, low cost, popular guide vehicle are necessary.
Utility model content
One side according to the present utility model, provide can obstacle detouring avoidance novel intelligent guide vehicle, including turnable
Triangle wheel group, supporting rod, chassis and central shaft.
Triangle wheel group and supporting rod are two, two triangle wheel groups and supporting rod be it is arranged symmetrically, two supporting rods it
Between be connected with telescopic component, telescopic component can stretch along between two supporting rods.
Chassis is located at the lower end of supporting rod, and the top of supporting rod is equipped with handle, and triangle wheel group is connected by central shaft and chassis
It connects, control unit is equipped in chassis, is additionally provided with driving unit below at least one supporting rod, control unit can control driving
Unit is moved, and driving unit can drive the rotation of central shaft, and central shaft can drive triangle wheel group to be rotated.
Supporting rod is equipped with sensing stent, and sensing stent is located at the front of car body, and sensing stent is equipped with sensing unit, passes
Sense unit is connected with control unit.
Supporting rod is equipped with voice reminder, and voice reminder is connected with described control unit.
Above-mentioned utility model can obstacle detouring avoidance novel intelligent guide vehicle, advantage is, sensing unit is used for feeling
Barrier is answered, control unit is used for analyzing sensing unit information and making control instruction being transmitted to voice reminder and driving unit,
When the sensing unit on sensing stent detects barrier, if there is barrier, vehicle voice reminder blind person ' front obstacle '.
Movement is transmitted to gear by motor operation if detecting that barrier can be crossed, gear transmits movement to center by engaging
Axis, the rotation of central shaft drive the rotation of turnable triangle wheel group, realize obstacle detouring；If detecting, barrier can not be crossed, and send out
Raw warning reminding blind person turning；And the retractable structure between supporting rod so that car body storage easy to carry is convenient, does not take up space；
When blind guide-car is needed by conveniently passing through compared with narrow road section；Blind guide-car can be made also to have the function of crutch, can adapt to different
Road conditions so that blind person user can clear the jumps or avoiding barrier, the walking of safer assisting blind.
In some embodiments, sensing unit is the one of ultrasonic sensor, infrared ray sensor and photosensitive sensor
It is a or multiple.Advantage is that infra-red sensing system detection barrier infra-red radiation makes optical detector temperature in sensor
Raising, is analyzed and is handled by control unit, controls the steering of guide vehicle, and control voice reminiscences, is carried out voice and is carried
Show；Ultrasonic sensor is the sensor developed using Ultrasonic characteristics.Ultrasonic wave is that a kind of vibration frequency is higher than sound wave
Mechanical wave, occur under the excitation of voltage what vibration generated by transducing chip, it has, and frequency is high, wavelength is short, diffraction phenomenon
It is small, particularly good directionality, ray can be become and the features such as direction propagation.Ultrasonic wave to the penetrating power of liquid, solid very
Greatly, especially in the opaque solid of sunlight, it can penetrate tens meters of depth.Infrared sensor is solved easily by ambient light
The problem of source is interfered, ultrasonic wave, which encounters impurity or interface, can generate significantly to reflect to form and be reflected into echo, encounter mobiles
Doppler effect can be generated.
In some embodiments, driving unit includes motor and gear, and motor is located in chassis, and gear is connected with motor
It connects, gear is socketed on central shaft, and gear is engaged with the central shaft, and motor movement drives gear movement, and gear movement drives
The movement of central shaft.Advantage is that, when control unit control motor is operated, motor operation transmits movement to gear
Group, gear set transmit movement to central shaft by engaging, and the rotation of central shaft drives the rotation of turnable triangle wheel group so as to reality
Existing blind guide-car's across obstacle and the function of climbing building.
In some embodiments, telescopic component includes sliding rail, first body of rod and second body of rod, first body of rod and the second bar
Together, sliding rail is arranged on two supporting rods cross-articulation body, and the both ends of first body of rod and second body of rod are equal at its center
It is located on sliding rail respectively.Advantage is, when holding handle draws close supporting rod, the both ends of first body of rod and second body of rod
It is moved along sliding rail, the top of final first body of rod and second body of rod is located at the top of the sliding rail on two supporting rods respectively, two
Supporting rod merges, and can be used as crutch, by narrow section；When by two supporting rods far from when,
The both ends of one body of rod and second body of rod are moved along sliding rail, and telescopic component carries out stretching out movement, forms the guide of normal operating condition
Vehicle.
In some embodiments, triangle wheel group includes A-frame and wheel, and wheel is three, A-frame two
A, two A-frames are symmetrical arranged, and connecting rod is respectively connected between three angles of A-frame, and wheel is located in connecting rod.
Advantage is that rotatable triangle wheel group can realize that cat ladder acts, and clear the jumps, A-frame provides branch for wheel
Support so that the more firm operation of wheel, and A-frame can be realized at level land, two wheels land simultaneously, relatively more flat
Steady moves ahead.
In some embodiments, can obstacle detouring avoidance novel intelligent guide vehicle, further include storing basket, storing basket is located at sense
It answers on stent, storing basket and sensing stent are retractable structure.Advantage is, when blind person has article to need to place,
Can stretch out stent and its above storing basket placement article, no article need place when can shrink, do not take up space.
In some embodiments, sensing unit is arranged on to be embedded on sensing stent, and advantage is that sensing is single
The embedded setting of member can prevent sensing unit is exposed to break outside.
Description of the drawings
Fig. 1 be one embodiment of the utility model can obstacle detouring avoidance novel intelligent guide vehicle structure diagram；
Fig. 2 be Fig. 1 shown in can obstacle detouring avoidance novel intelligent guide vehicle side structure schematic view；
Fig. 3 be Fig. 1 shown in can obstacle detouring avoidance novel intelligent guide vehicle present invention looks up structural representation.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
Fig. 1~Fig. 3 schematically show a kind of embodiment according to the present utility model can obstacle detouring avoidance it is novel
Intelligent guide vehicle.As shown in the figure, this can obstacle detouring avoidance novel intelligent guide vehicle include turnable triangle wheel group 1, supporting rod 2,
Chassis 3 and central shaft 4, triangle wheel group 1 and supporting rod 2 are two, two triangle wheel groups 1 and supporting rod 2 be it is arranged symmetrically, two
Telescopic component 5 is connected between a supporting rod 2, telescopic component 5 can stretch along between two supporting rods 2；Chassis 3 is located at
The lower end of supporting rod 2, the top of supporting rod 2 are equipped with handle 6, and triangle wheel group 1 is connect by central shaft 4 with chassis 3, in chassis 3
Equipped with control unit, wherein, the lower section of a supporting rod 2 is additionally provided with driving unit 9, and control unit can control driving unit 9
It is moved, driving unit 9 can drive the rotation of central shaft 4, and central shaft 4 can drive triangle wheel group 1 to be rotated.
Driving unit 9, cat ladder more convenient power-saving can be equipped with two 2 lower ends of supporting rod above.
Driving unit 9 includes motor 91 and gear 92, and motor 91 is located in chassis 3, and gear 92 is connected with motor 91, tooth
Wheel 92 is socketed on central shaft 4, and gear 92 is engaged with the central shaft 4, and the movement band moving gear 92 of motor 91 moves, and gear 92 is transported
The dynamic movement for driving central shaft 4.When control unit control motor 91 is operated, the operation of motor 91 transmits movement to gear 92
Group, 92 groups of gear transmit movement to central shaft 4 by engaging, the rotation of central shaft 4 drive the rotation of turnable triangle wheel group 1 from
And it realizes blind guide-car's across obstacle and climbs the function in building.
Telescopic component 5 includes sliding rail 51, first body of rod 52 and second body of rod 53, and first body of rod 52 and second body of rod 53 are at it
Together, sliding rail 51 is arranged on two supporting rods 2 cross-articulation at center, and the both ends of first body of rod 52 and second body of rod 53 are equal
It is located on sliding rail 51 respectively.As shown in Figure 1, when holding handle 6 and drawing close supporting rod, first body of rod 52 and second body of rod 53
Both ends are moved along sliding rail 51, and the top of final first body of rod, 52 and second body of rod 53 is located at the sliding rail on two supporting rods 2 respectively
51 top, two supporting rods 2 merge, and can be used as crutch, by narrow section；When by two branch
Strut 2 far from when, the both ends of first body of rod 52 and second body of rod 53 are moved along sliding rail 51, and telescopic component 5 carries out stretching out movement, shape
Into the guide vehicle of normal operating condition.
Supporting rod 2 is equipped with sensing stent 7, and sensing stent 7 is located at the front of car body, and it is single that sensing stent 7 is equipped with sensing
Member 8, sensing unit 8 is connected with control unit.
Sensing unit 8 is ultrasonic sensor, infrared ray sensor and photosensitive sensor.Infra-red sensing system detects obstacle
Object infra-red radiation increases optical detector temperature in sensor, is analyzed and is handled by control unit, controls guide vehicle
Steering, and control voice reminiscences carries out voice prompt；Ultrasonic sensor is the biography developed using Ultrasonic characteristics
Sensor.Ultrasonic wave is the mechanical wave that a kind of vibration frequency is higher than sound wave, and vibration production occurs under the excitation of voltage by transducing chip
Raw, it has, and frequency is high, wavelength is short, diffraction phenomenon is small, particularly good directionality, ray can be become and the spies such as direction propagation
Point.Ultrasonic wave is very big to the penetrating power of liquid, solid, and especially in the opaque solid of sunlight, it can penetrate tens meters
Depth.Solve the problems, such as that infrared sensor is easily interfered by external light source, ultrasonic wave encounters impurity or interface can generate it is aobvious
Work, which reflects to form, is reflected into echo, and Doppler effect can be generated by encountering mobiles.Supporting rod 2 is equipped with voice reminder, language
Sound reminiscences is connected with control unit.
Sensing unit 8 is arranged on to be embedded on sensing stent 7, can set rectangular opening on sensing stent 7, will be ultrasonic
Wave sensor, infrared ray sensor and photosensitive sensor etc. are mounted in rectangular opening, can prevent its from exposed breaking outside.
Sense stent 7 be equipped with the montant parallel with supporting rod 2, montant be located at forefront, that is, car body of stent most before
Side easily senses barrier in time.
Triangle wheel group 1 includes A-frame 11 and wheel 12, and wheel 12 is three, and A-frame 11 is two, two three
Angle support 11 is symmetrical arranged, and connecting rod 13 is respectively connected between three angles of A-frame 11, wheel 12 is located in connecting rod 13.
Rotatable triangle wheel group 1 can realize that cat ladder acts, and clear the jumps, and A-frame 11 provides support for wheel 12 so that
The relatively more firm operation of wheel 12, and A-frame 11 can be realized at level land, two wheels 12 land simultaneously, relatively more steady
Move ahead.
Can obstacle detouring avoidance novel intelligent guide vehicle, further include storing basket, storing basket is located on sensing stent 7, storing basket
It is retractable structure with sensing stent 7.When blind person has article to need to place, stent and its storing basket above can be stretched out
Article is disposed, no article is needed to shrink when placing, not taken up space.
Above-mentioned utility model can obstacle detouring avoidance novel intelligent guide vehicle, sensing unit 8 be used for sense barrier, control
Unit is used for analyzing 8 information of sensing unit and making control instruction being transmitted to voice reminder and driving unit 9, when sensing stent 7
On sensing unit 8 when detecting barrier, if there is barrier, vehicle voice reminder blind person ' front obstacle '.If it detects
Barrier, which can be crossed then to run by motor 91, transmits movement to gear 92, and gear 92 transmits movement to central shaft by engaging
4, the rotation of central shaft 4 drives the rotation of turnable triangle wheel group 1, realizes obstacle detouring；If detecting, barrier can not be crossed, and send out
Raw warning reminding blind person turning, realizes avoidance；And the retractable structure between supporting rod 2 causes car body storage side easy to carry
Just, it does not take up space；When blind guide-car is needed by conveniently passing through compared with narrow road section；Blind guide-car can be made also to have the function of crutch, energy
Enough adapt to different road conditions so that blind person user can clear the jumps or avoiding barrier, safer auxiliary
Blind person walks.
Above-described is only some embodiments of the utility model.For those of ordinary skill in the art,
Under the premise of not departing from the utility model and creating design, various modifications and improvements can be made, these belong to this practicality
Novel protection domain.
Claims (7)
1. can obstacle detouring avoidance novel intelligent guide vehicle, which is characterized in that including turnable triangle wheel group (1), supporting rod (2),
Chassis (3) and central shaft (4),
The triangle wheel group (1) and supporting rod (2) are two, and described two triangle wheel groups (1) and supporting rod (2) is symmetrically set
It puts, telescopic component (5) is connected between described two supporting rods (2), the telescopic component (5) can be along two supporting rods (2)
Between stretch；
For the chassis (3) positioned at the lower end of the supporting rod (2), the top of the supporting rod (2) is equipped with handle (6), and described three
Horn ring group (1) is connect by central shaft (4) with chassis (3), and control unit, at least one branch are equipped in the chassis (3)
Driving unit (9) is additionally provided with below strut (2), the driving unit (9) and described control unit can control the driving
Unit (9) is moved, and the driving unit (9) can drive the rotation of central shaft (4), and the central shaft (4) can drive
The triangle wheel group (1) is rotated；
The supporting rod (2) is equipped with sensing stent (7), and the sensing stent (7) is positioned at the front of car body, the sensing stent
(7) sensing unit (8) is equipped with, the sensing unit (8) is connected with described control unit；
The supporting rod (2) is equipped with voice reminder, and the voice reminder is connected with described control unit.
2. it is according to claim 1 can obstacle detouring avoidance novel intelligent guide vehicle, which is characterized in that the sensing unit
(8) one or more for ultrasonic sensor, infrared ray sensor and photosensitive sensor.
3. it is according to claim 1 can obstacle detouring avoidance novel intelligent guide vehicle, which is characterized in that the driving unit
(9) including motor (91) and gear (92), the motor (91) is in the chassis (3), the gear (92) and motor
(91) it is connected, the gear (92) is socketed on the central shaft (4), and gear (92) is engaged with the central shaft (4), described
Motor (91) movement band moving gear (92) moves, and gear (92) movement drives the movement of central shaft (4).
4. it is according to claim 1 can obstacle detouring avoidance novel intelligent guide vehicle, which is characterized in that the telescopic component
(5) including sliding rail (51), first body of rod (52) and second body of rod (53), first body of rod (52) and second body of rod (53) are at it
Together, the sliding rail (51) is arranged on two supporting rods (2) cross-articulation at center, first body of rod (52) and
The both ends of second body of rod (53) are respectively located on sliding rail (51).
5. it is according to claim 1 can obstacle detouring avoidance novel intelligent guide vehicle, which is characterized in that the triangle wheel group
(1) including A-frame (11) and wheel (12), the wheel (12) is three, and the A-frame (11) is two, two
A-frame (11) is symmetrical arranged, and connecting rod (13), the wheel are respectively connected between three angles of the A-frame (11)
(12) in connecting rod (13).
6. it is according to claim 1 can obstacle detouring avoidance novel intelligent guide vehicle, which is characterized in that further include storing basket,
The storing basket is located on the sensing stent (7), and the storing basket and sensing stent (7) are retractable structure.
7. it is according to claim 1 can obstacle detouring avoidance novel intelligent guide vehicle, which is characterized in that the sensing unit
(8) it is arranged on sensing stent (7) to be embedded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720555515.7U CN207575416U (en) | 2017-05-18 | 2017-05-18 | Can obstacle detouring avoidance novel intelligent guide vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720555515.7U CN207575416U (en) | 2017-05-18 | 2017-05-18 | Can obstacle detouring avoidance novel intelligent guide vehicle |
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| Publication Number | Publication Date |
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| CN207575416U true CN207575416U (en) | 2018-07-06 |
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ID=62717256
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720555515.7U Expired - Fee Related CN207575416U (en) | 2017-05-18 | 2017-05-18 | Can obstacle detouring avoidance novel intelligent guide vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109371894A (en) * | 2018-12-03 | 2019-02-22 | 东北大学 | A kind of milling type road surface deicing equipment with barrier avoiding function |
| CN110420411A (en) * | 2019-08-21 | 2019-11-08 | 青岛大学 | A kind of deep well rescue machine people adapting to a variety of postures |
| CN110471410A (en) * | 2019-07-17 | 2019-11-19 | 武汉理工大学 | Intelligent vehicle voice assisting navigation and safety prompting system and method based on ROS |
| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
| CN113116235A (en) * | 2021-04-20 | 2021-07-16 | 广州科语机器人有限公司 | Driving wheel set and self-moving robot |
-
2017
- 2017-05-18 CN CN201720555515.7U patent/CN207575416U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109371894A (en) * | 2018-12-03 | 2019-02-22 | 东北大学 | A kind of milling type road surface deicing equipment with barrier avoiding function |
| CN110471410A (en) * | 2019-07-17 | 2019-11-19 | 武汉理工大学 | Intelligent vehicle voice assisting navigation and safety prompting system and method based on ROS |
| CN110420411A (en) * | 2019-08-21 | 2019-11-08 | 青岛大学 | A kind of deep well rescue machine people adapting to a variety of postures |
| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
| CN112535616B (en) * | 2020-11-25 | 2022-10-14 | 哈尔滨工业大学 | Stair-climbing type walking-assisting robot |
| CN113116235A (en) * | 2021-04-20 | 2021-07-16 | 广州科语机器人有限公司 | Driving wheel set and self-moving robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180706 Termination date: 20190518 |