CN214376019U

CN214376019U - Intelligent obstacle avoidance vehicle

Info

Publication number: CN214376019U
Application number: CN202120173437.0U
Authority: CN
Inventors: 赵建伟; 房建华; 刘成祥; 王琨; 韩涛; 迟志康; 马啸飞
Original assignee: China University of Mining and Technology Beijing CUMTB
Current assignee: China University of Mining and Technology Beijing CUMTB
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2021-10-08
Anticipated expiration: 2031-01-21

Abstract

The utility model discloses an intelligent obstacle avoidance vehicle, the intelligent obstacle avoidance vehicle comprises a vehicle body, a driving component, a detection component and a control component, the vehicle body comprises a first frame and a second frame, the first frame is arranged above the second frame, a containing cavity is arranged between the first frame and the second frame, the driving component comprises a driving piece and a wheel, the driving piece is connected with the wheel and the second frame, and the driving piece is used for driving the wheel to rotate relative to the second frame; the detection assembly is used for detecting whether an obstacle exists nearby the vehicle body, at least part of the detection assembly is arranged in the accommodating cavity, the control assembly is connected with the driving piece and the detection assembly, and the control assembly is used for receiving signals of the detection assembly and controlling the driving piece to drive the wheels to rotate when the detection assembly detects the obstacle, so that the obstacle is avoided. The utility model discloses an obstacle car is kept away to intelligence simple structure, space utilization are high.

Description

Intelligent obstacle avoidance vehicle

Technical Field

The utility model relates to a running gear's technical field specifically, relates to an obstacle car is kept away to intelligence.

Background

With the continuous development of electronic information technology and artificial intelligence, people have put into practical use various robots with sensing, decision-making, action and interaction capabilities. The intelligent obstacle avoidance vehicle can be understood as a special case of a robot, and can be regarded as a mobile robot capable of completing specific tasks through programming means.

The obstacle avoidance motion of the intelligent obstacle avoidance vehicle is always an important research subject, and the method for realizing obstacle avoidance of the intelligent obstacle avoidance vehicle mainly comprises ultrasonic obstacle avoidance, visual obstacle avoidance, an infrared sensor, laser obstacle avoidance or a microwave radar and the like. However, in the related art, the structure of the intelligent obstacle avoidance vehicle is complex and the space utilization rate is low, other additional parts are not required to be additionally arranged on the vehicle body of the intelligent obstacle avoidance vehicle, and in addition, the compactness between the vehicle body and the wheels of the intelligent obstacle avoidance vehicle is not easy to adjust.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent.

Therefore, the embodiment of the utility model provides an obstacle car is kept away to intelligence, this obstacle car is kept away to intelligence's simple structure, space utilization height.

According to the utility model discloses an obstacle car is kept away to intelligence includes: the vehicle body comprises a first vehicle frame and a second vehicle frame, the first vehicle frame is arranged above the second vehicle frame, and an accommodating cavity is formed between the first vehicle frame and the second vehicle frame; a drive assembly including a drive member and a wheel, the drive member coupled to the wheel and the second frame, the drive member configured to drive the wheel to rotate relative to the second frame; the detection assembly is used for detecting whether an obstacle exists nearby the vehicle body, and at least part of the detection assembly is arranged in the accommodating cavity; the control assembly is connected with the driving piece and the detection assembly and used for receiving the signal of the detection assembly and controlling the driving piece to drive the wheels to rotate when the detection assembly detects an obstacle so as to avoid the obstacle.

According to the utility model discloses barrier car is kept away to intelligence is through being divided into first frame and second frame with the automobile body, and has between first frame and the second frame and hold the chamber to be convenient for at first frame, second frame or hold other additional spare parts of intracavity installation, and then improved the space utilization that barrier car was kept away to intelligence. Additionally, the utility model discloses barrier car is kept away to intelligence can be according to the rotation of detecting element's signal control wheel to realize that barrier car is kept away to intelligence keeps away the barrier function, and the simple structure of barrier car is kept away to intelligence, and the cost is lower.

In some embodiments, the detection component is an infrared sensor and/or an ultrasonic sensor.

In some embodiments, the infrared sensor and the ultrasonic sensor are both multiple, the infrared sensor and the ultrasonic sensor are both arranged at intervals along the circumferential direction of the accommodating cavity, and at least part of the infrared sensor and at least part of the ultrasonic sensor are located at the front end of the vehicle body.

In some embodiments, the number of the driving assemblies is plural, the plurality of the driving assemblies are arranged at the lower end of the second frame in an array, the driving assembly further comprises a bracket, the driving member is connected with the second frame through the bracket, and the bracket is adjustable along the axial direction of the wheel.

In some embodiments, the bracket has an adjusting section, the adjusting section is provided with a plurality of adjusting holes, the adjusting holes are used for being connected with the second frame, and the plurality of adjusting holes are arranged at intervals along the axial direction of the wheel.

In some embodiments, the intelligent obstacle avoidance vehicle further comprises a power supply assembly, the power supply assembly is connected with the driving member, the detection assembly and the control assembly, and the power supply assembly is used for supplying power to the driving member, the detection assembly and the control assembly.

In some embodiments, the power supply assembly includes a battery, a boost module, and a buck module, the battery is coupled to the boost module and the buck module, the drive member includes a driver and a motor, the driver is coupled to the boost module and the motor, and the buck module is coupled to the control assembly.

In some embodiments, the control assembly comprises a switch, the switch is arranged at the upper end of the first frame, and the switch is connected with the power supply assembly to control the on-off of the circuit.

In some embodiments, the power supply assembly further comprises an electricity meter disposed at an upper end of the first frame, the electricity meter being connected to the battery for displaying an amount of electricity of the battery.

In some embodiments, the first frame has a plurality of mounting holes formed therethrough, and the mounting holes are used for mounting other components on the first frame.

Drawings

Fig. 1 is the schematic view of the intelligent obstacle avoidance vehicle of the embodiment of the present invention.

Fig. 2 is the utility model discloses barrier car is kept away to intelligence top view.

Fig. 3 is a front view of the intelligent obstacle avoidance vehicle of the embodiment of the present invention.

Fig. 4 is a bottom view of the intelligent obstacle avoidance vehicle of the embodiment of the present invention.

Fig. 5 is a schematic diagram of the driving assembly of the intelligent obstacle avoidance vehicle according to the embodiment of the present invention.

Reference numerals:

1. a vehicle body; 11. a first frame; 111. mounting holes; 12. a second frame; 13. an accommodating chamber;

2. a drive assembly; 21. a drive member; 211. a driver; 212. a motor; 22. a wheel; 23. a support; 231. an adjustment section; 2311. an adjustment hole; 232. a fixed section;

3. a detection component; 31. an infrared sensor; 32. an ultrasonic sensor;

4. a control component; 41. a switch; 42. a circuit board;

5. a power supply assembly; 51. a battery; 52. a boost module; 53. a voltage reduction module; 54. and (4) an electricity meter.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

The following describes an intelligent obstacle avoidance vehicle according to an embodiment of the present invention with reference to the drawings.

As shown in fig. 1 to 5, the intelligent obstacle avoidance vehicle according to the embodiment of the present invention includes a vehicle body 1, a driving assembly 2, a detecting assembly 3 and a control assembly 4.

As shown in fig. 1 to 4, the vehicle body 1 includes a first frame 11 and a second frame 12, the first frame 11 is disposed above the second frame 12, and a receiving chamber 13 is provided between the first frame 11 and the second frame 12. The drive assembly 2 comprises a drive member 21 and a wheel 22, the drive member 21 being connected to the wheel 22 and the second frame 12, the drive member 21 being adapted to drive the wheel 22 in rotation relative to the second frame 12. The detection component 3 is used for detecting whether an obstacle exists near the vehicle body 1, and at least part of the detection component 3 is arranged in the accommodating cavity 13. The control assembly 4 is connected with the driving member 21 and the detecting assembly 3, and the control assembly 4 is used for receiving the signal of the detecting assembly 3 and controlling the driving member 21 to drive the wheel 22 to rotate when the detecting assembly 3 detects an obstacle so as to avoid the obstacle.

According to the utility model discloses barrier car is kept away to intelligence is through being divided into first frame 11 and second frame 12 with automobile body 1, and has between first frame 11 and the second frame 12 and hold chamber 13 to be convenient for install other additional spare parts in first frame 11, second frame 12 or hold chamber 13, and then improved the space utilization of barrier car is kept away to intelligence. Additionally, the utility model discloses barrier car is kept away to intelligence can be according to the rotation of the signal control wheel 22 of determine module 3 to realize that barrier car is kept away to intelligence keeps away the barrier function, and barrier car is kept away to intelligence's simple structure, and the cost is lower.

Alternatively, as shown in fig. 1, the detection component 3 is an infrared sensor 31, or an ultrasonic sensor 32, or a combination of the infrared sensor 31 and the ultrasonic sensor 32. Preferably, the detection component 3 is a combination of the infrared sensor 31 and the ultrasonic sensor 32, because the control component 4 can perform redundant control on the infrared sensor 31 and the ultrasonic sensor 32, so as to reduce the detection error of the ultrasonic sensor 32, and avoid the detection failure of the intelligent obstacle avoidance vehicle, thereby improving the stability of the obstacle avoidance function of the intelligent obstacle avoidance vehicle.

Further, as shown in fig. 1, the infrared sensors 31 and the ultrasonic sensors 32 are both a plurality of, the infrared sensors 31 and the ultrasonic sensors 32 are all arranged along the circumferential direction of the accommodating cavity 13 at intervals, and the plurality of infrared sensors 31 and the plurality of ultrasonic sensors 32 respectively correspond to each other one by one, and the plurality of infrared sensors 31 and the plurality of ultrasonic sensors 32 are respectively arranged at the front end, the left end, the right end and the rear end of the vehicle body 1. It is to be understood that the infrared sensor 31 and the ultrasonic sensor 32 are for the purpose of detecting an obstacle near the vehicle body 1, and therefore the arrangement and the number of the infrared sensor 31 and the ultrasonic sensor 32 are not limited.

In some embodiments, as shown in fig. 1 and 4, the driving assembly 2 is plural, and a plurality of driving assemblies 2 are arrayed at the lower end of the second frame 12. For example, four drive units 2 are provided, and four drive units 2 are arranged in an array at the lower end of the second frame 12.

Specifically, as shown in fig. 4 and 5, the driving assembly 2 further includes a bracket 23, the driving member 21 is connected to the second frame 12 through the bracket 23, and the bracket 23 is adjustable in the axial direction of the wheel 22. It will be appreciated that the carriage 23 is movable in the left-right direction of the second frame 12 to adjust the distance between the oppositely disposed drive assemblies 2 and thus the degree of compactness between the wheels 22 and the vehicle body 1, so as to adapt the intelligent obstacle avoidance vehicle to different working environments.

Optionally, as shown in fig. 4 and 5, support 23 has regulation section 231, is equipped with regulation hole 2311 on the regulation section 231, and regulation hole 2311 is used for linking to each other with the hole site of second frame 12, and regulation hole 2311 is a plurality of, and a plurality of regulation holes 2311 are arranged along the axial of wheel 22 at an interval and are set up, the utility model discloses an obstacle avoidance vehicle of intelligence can be through the hole site of the regulation hole 2311 that corresponds different positions with second frame 12 to make drive assembly 2 remove about for automobile body 1, with the compactness between regulation wheel 22 and the automobile body 1.

In some embodiments, as shown in fig. 4, the intelligent obstacle avoidance vehicle further includes a power supply assembly 5, the power supply assembly 5 is connected to the driving member 21, the detection assembly 3 and the control assembly 4, and the power supply assembly 5 is configured to supply power to the driving member 21, the detection assembly 3 and the control assembly 4.

Specifically, as shown in fig. 4, the power supply assembly 5 includes a battery 51, a voltage boosting module 52 and a voltage reducing module 53, the battery 51 is connected to the voltage boosting module 52 and the voltage reducing module 53, the driving member 21 includes a driver 211 and a motor 212, the driver 211 is connected to the voltage boosting module 52 and the motor 212, and the voltage reducing module 53 is connected to the control assembly 4. It is understood that the voltage of the battery 51 is boosted by the boost module 52 and then transmitted to the driver 211, and the voltage of the battery 51 is reduced by the buck module 53 and then transmitted to the control assembly 4.

Specifically, as shown in fig. 2, the control assembly 4 includes a switch 41, the switch 41 is disposed at the upper end of the first frame 11, and the switch 41 is connected to the power supply assembly 5 for controlling the on/off of the circuit.

Further, as shown in fig. 2, the power supply assembly 5 further includes a fuel gauge 54, the fuel gauge 54 is disposed at the upper end of the first frame 11, and the fuel gauge 54 is connected to the battery 51 for displaying the amount of power of the battery 51.

In some embodiments, as shown in fig. 1 and fig. 2, a plurality of mounting holes 111 are formed through the first frame 11, and the mounting holes 111 are used for mounting other components on the first frame 11, it is understood that the other components may be additional components of the intelligent obstacle avoidance vehicle, such as a lamp or a mechanical arm.

An intelligent obstacle avoidance vehicle according to some specific examples of the utility model is described below with reference to the drawings.

As shown in fig. 1 to 5, the utility model discloses barrier car is kept away to intelligence includes automobile body 1, drive assembly 2, detection component 3, control assembly 4 and power supply unit 5.

As shown in fig. 1 to 4, the vehicle body 1 includes a first frame 11 and a second frame 12, the driving assembly 2 includes a driver 211, a motor 212, a wheel 22, and a bracket 23, the detecting assembly 3 includes an infrared sensor 31 and an ultrasonic sensor 32, the control assembly 4 includes a switch 41 and a circuit board 42, and the power supply assembly 5 includes a battery 51, a voltage boosting module 52, a voltage dropping module 53, and an electricity meter 54.

As shown in fig. 1 to 4, the first frame 11 is disposed above the second frame 12, and a receiving cavity 13 is formed between the first frame 11 and the second frame 12. Infrared sensor 31 and ultrasonic sensor 32 are a plurality of, and infrared sensor 31 and ultrasonic sensor 32 are all arranged along the circumference interval that holds chamber 13, and a plurality of infrared sensor 31 and a plurality of ultrasonic sensor 32 one-to-one respectively, and a plurality of infrared sensor 31 and a plurality of ultrasonic sensor 32 arrange respectively in front end, left end, right-hand member and the rear end of automobile body 1.

As shown in fig. 1 and 4, the number of the driving units 2 is four, and four driving units 2 are arranged in an array at the lower end of the second frame 12. The frame includes an adjusting section 231 and a fixing section 232, the adjusting section 231 and the fixing section 232 are connected to form an L-shaped structure, the adjusting section 231 is connected to the lower end of the second frame 12, the fixing section 232 is connected to the motor 212, and the motor 212 is connected to the wheel 22.

As shown in fig. 4 and 5, be equipped with regulation hole 2311 on the regulation section 231, regulation hole 2311 is used for linking to each other with the hole site of second frame 12, and regulation hole 2311 is a plurality of, and a plurality of regulation holes 2311 are arranged along left right direction interval and are set up, the utility model discloses an obstacle avoidance car of intelligence can be through the hole site of the regulation hole 2311 that corresponds different positions and second frame 12 to make drive assembly 2 remove about for automobile body 1, in order to adjust the degree of compactness between wheel 22 and the automobile body 1.

As shown in fig. 1 to 4, the battery 51 is connected to the voltage boosting module 52 and the voltage dropping module 53, the voltage boosting module 52 is connected to the driver 211, and the driver 211 is connected to the motor 212. The voltage-decreasing module 53 is connected to the circuit board 42, and the circuit board 42 is connected to the infrared sensor 31 and the ultrasonic sensor 32. The switch 41 is disposed at the upper end of the first frame 11, and the switch 41 is connected to the circuit of the power supply assembly 5 for controlling the on/off of the circuit. An electricity meter 54 is provided at the upper end of the first frame 11, and the electricity meter 54 is connected to the battery 51 for displaying the amount of electricity of the battery 51.

As shown in fig. 1 and fig. 2, a plurality of mounting holes 111 are formed through the first frame 11, and the mounting holes 111 are used for mounting other components on the first frame 11, it is understood that the other components may be additional components of the intelligent obstacle avoidance vehicle, such as a lamp or a robot arm.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. The utility model provides an obstacle car is kept away to intelligence which characterized in that includes:

the vehicle body comprises a first vehicle frame and a second vehicle frame, the first vehicle frame is arranged above the second vehicle frame, and an accommodating cavity is formed between the first vehicle frame and the second vehicle frame;

a drive assembly including a drive member and a wheel, the drive member coupled to the wheel and the second frame, the drive member configured to drive the wheel to rotate relative to the second frame;

the detection assembly is used for detecting whether an obstacle exists nearby the vehicle body, and at least part of the detection assembly is arranged in the accommodating cavity;

the control assembly is connected with the driving piece and the detection assembly and used for receiving the signal of the detection assembly and controlling the driving piece to drive the wheels to rotate when the detection assembly detects an obstacle so as to avoid the obstacle.

2. The intelligent obstacle avoidance vehicle of claim 1, wherein the detection component is an infrared sensor and/or an ultrasonic sensor.

3. The intelligent obstacle avoidance vehicle of claim 2, wherein the number of the infrared sensors and the number of the ultrasonic sensors are plural, the infrared sensors and the ultrasonic sensors are arranged at intervals along the circumferential direction of the accommodating cavity, and at least a part of the infrared sensors and at least a part of the ultrasonic sensors are located at the front end of the vehicle body.

4. The intelligent obstacle avoidance vehicle of claim 1, wherein the number of the driving assemblies is plural, a plurality of the driving assemblies are arranged at the lower end of the second frame in an array,

the driving assembly further comprises a support, the driving piece is connected with the second carriage through the support, and the support is adjustable in the axial direction of the wheel.

5. The intelligent obstacle avoidance vehicle of claim 4, wherein the support has an adjusting section, the adjusting section is provided with a plurality of adjusting holes, the adjusting holes are used for being connected with the second frame, and the plurality of adjusting holes are arranged at intervals along the axial direction of the wheel.

6. The intelligent obstacle avoidance vehicle of claim 1, further comprising a power supply assembly, wherein the power supply assembly is connected with the driving member, the detection assembly and the control assembly, and the power supply assembly is used for supplying power to the driving member, the detection assembly and the control assembly.

7. The intelligent obstacle avoidance vehicle of claim 6, wherein the power supply assembly comprises a battery, a boost module and a buck module, the battery is connected with the boost module and the buck module, the driving member comprises a driver and a motor, the driver is connected with the boost module and the motor, and the buck module is connected with the control assembly.

8. The intelligent obstacle avoidance vehicle of claim 6, wherein the control assembly comprises a switch, the switch is arranged at the upper end of the first frame, and the switch is connected with the power supply assembly to control the on-off of the circuit.

9. The intelligent obstacle avoidance vehicle of claim 7, wherein the power supply assembly further comprises an electricity meter, the electricity meter is arranged at the upper end of the first frame, and the electricity meter is connected with the battery to display the electric quantity of the battery.

10. The intelligent obstacle avoidance vehicle of any one of claims 1 to 9, wherein a plurality of mounting holes are perforated in the first frame.