阅读说明：本技术 一种人工智能避障底盘 (Artificial intelligence keeps away barrier chassis ) 是由 张金伶 王彦波 于 2021-08-25 设计创作，主要内容包括：本发明涉及智能避障技术领域,尤其涉及一种人工智能避障底盘,其包括承重板、第一驱动组件、第二支撑板、滑板和第一气缸；承重板上设置第一支撑板,第一支撑板前后侧面上分别设置障碍物检测装置和控制系统；两组第一滑块滑动设置在承重板底部；两组支撑柱分别竖直设置在两组第一滑块底部；两组第一驱动装置分别设置在两组支撑柱底部；第一驱动组件设置两组；第二支撑板设置在承重板底部；滑板两端分别与两组第一滑块连接；两组第一气缸分别设置在两组第二支撑板相对的端面上。本发明中,当障碍物很小时,承重板能直接通过,当障碍物再高一点时,还能通过利用第二驱动组件来抬高承重板的离地高度,顺利通过障碍物。(The invention relates to the technical field of intelligent obstacle avoidance, in particular to an artificial intelligent obstacle avoidance chassis which comprises a bearing plate, a first driving assembly, a second supporting plate, a sliding plate and a first air cylinder, wherein the bearing plate is arranged on the bearing plate; the bearing plate is provided with a first supporting plate, and the front side and the rear side of the first supporting plate are respectively provided with an obstacle detection device and a control system; the two groups of first sliding blocks are arranged at the bottom of the bearing plate in a sliding manner; the two groups of support columns are respectively vertically arranged at the bottoms of the two groups of first sliding blocks; the two groups of first driving devices are respectively arranged at the bottoms of the two groups of supporting columns; two groups of first driving components are arranged; the second supporting plate is arranged at the bottom of the bearing plate; two ends of the sliding plate are respectively connected with the two groups of first sliding blocks; the two groups of first air cylinders are respectively arranged on the opposite end surfaces of the two groups of second supporting plates. According to the invention, when the obstacle is small, the bearing plate can directly pass through the obstacle, and when the obstacle is higher a little, the ground clearance of the bearing plate can be raised by using the second driving assembly, so that the bearing plate can smoothly pass through the obstacle.)

1. An artificial intelligence obstacle avoidance chassis is characterized by comprising a bearing plate (1), a first driving assembly, a second supporting plate (11), a sliding plate (14) and a first air cylinder (15); the first driving component comprises a first sliding block (5), a supporting column (6) and a first driving device (7);

the bearing plate (1) is provided with a first supporting plate (2), the front side surface of the first supporting plate (2) is provided with an obstacle detection device (3), the rear side surface of the first supporting plate (2) is provided with a control system (4), the obstacle detection device (3) is used for measuring the width and height of a front obstacle, and the control system (4) is in data transmission connection with the obstacle detection device (3); the first sliding blocks (5) are arranged at the bottom of the bearing plate (1) in a sliding manner along the width direction of the bearing plate (1), and two groups of the first sliding blocks (5) are arranged; two groups of supporting columns (6) are arranged, and the two groups of supporting columns (6) are respectively vertically arranged at the bottoms of the two groups of first sliding blocks (5); the two groups of first driving devices (7) are arranged, the two groups of first driving devices (7) are respectively arranged at the bottoms of the two groups of supporting columns (6), and the control system (4) is in control connection with the first driving devices (7); the two groups of first driving assemblies are arranged, the two groups of first driving assemblies are respectively positioned at the front end and the rear end of the bottom of the bearing plate (1), a first front wheel (9) is arranged on a first driving device (7) in the first driving assembly positioned at the front end, the first driving device (7) is used for driving the first front wheel (9) to rotate and turn, a group of first mounting blocks (8) are arranged at the bottoms of supporting columns (6) in the first driving assembly positioned at the rear end instead of the first driving device (7), and a first rear wheel (10) is rotatably arranged on the first mounting blocks (8);

the second supporting plates (11) are arranged at the bottom of the bearing plate (1) along the length direction of the bearing plate (1), and two groups of the second supporting plates (11) are arranged; the sliding plates (14) are arranged at the bottom of the bearing plate (1) in a sliding manner along the width direction of the bearing plate (1), two ends of each sliding plate (14) are respectively connected with the two groups of first sliding blocks (5), and the two groups of sliding plates (14) are arranged; the two groups of first cylinders (15) are arranged, the two groups of first cylinders (15) are respectively arranged on the opposite end faces of the two groups of second supporting plates (11), the telescopic ends of the two groups of first cylinders (15) are respectively connected with the two groups of sliding plates (14), and the control system (4) is in control connection with the first cylinders (15).

2. The artificial intelligence obstacle avoidance chassis of claim 1, further comprising a second drive assembly; the second driving component comprises a rotating shaft (12), a third supporting plate (18) and a second driving device (19); the sliding plate (14) is provided with a through hole (13) for the rotating shaft (12) to pass through; two ends of the rotating shaft (12) are respectively and rotatably connected with the two groups of second supporting plates (11), and the rotating shaft (12) penetrates through the through hole (13); the two groups of third supporting plates (18) are arranged, the two groups of third supporting plates (18) are obliquely arranged on the rotating shaft (12), and the two groups of third supporting plates (18) are positioned between the two groups of first sliding blocks (5); two groups of second driving devices (19) are respectively arranged at the bottoms of the two groups of third supporting plates (18), and the control system (4) is in control connection with the second driving devices (19); the two groups of second driving assemblies are arranged, the two groups of second driving assemblies are respectively positioned at the front end and the rear end of the bottom of the bearing plate (1), a third supporting plate (18) in the second driving assembly positioned at the front end inclines towards the lower part of the front side of the bearing plate (1), a second front wheel (21) is arranged on the second driving device (19), the second driving device (19) is used for controlling the rotation and the steering angle of the second front wheel (21), the third supporting plate (18) in the second driving assembly positioned at the rear end inclines towards the lower part of the rear side of the bearing plate (1), the second driving device (19) is not arranged at the bottom of the third supporting plate (18) in the second driving assembly positioned at the rear end, but a second mounting block (20) is arranged, and a second rear wheel (22) is rotatably arranged on the second mounting block (20); the third supporting plate (18) is in a vertical state, the first front wheel (9) and the first rear wheel (10) are separated from the ground, and the bottom of the bearing plate (1) is provided with a first power assembly which drives the two groups of rotating shafts (12) to synchronously rotate in opposite directions.

3. The artificial intelligence obstacle avoidance chassis of claim 1, wherein the first driving device (7) is arranged at the bottom of the supporting column (6) in the first driving assembly at the rear side, and the first mounting block (8) is arranged at the bottom of the supporting column (6) in the first driving assembly at the front side, so as to form a rear driving structure.

4. The artificial intelligence obstacle avoidance chassis of claim 2, characterized in that, two sets of third supporting plates (18) in each set of second driving assembly are connected through a connecting plate (23), a reinforcing rib plate (24) is arranged between the connecting plate (23) and the third supporting plates (18), and a triangular support is formed among the reinforcing rib plate (24), the third supporting plates (18) and the connecting plate (23).

5. The artificial intelligence obstacle avoidance chassis of claim 2, wherein the first power assembly comprises a gear (25) and a rack (26); the bottom of the bearing plate (1) is provided with a first strip-shaped groove (16) and a second strip-shaped groove (17) which are vertically communicated, and the first strip-shaped groove (16) is arranged along the advancing direction of the bearing plate (1); two groups of gears (25) are arranged, and the two groups of gears (25) are respectively arranged on the two groups of rotating shafts (12); the racks (26) are arranged on the top groove wall of the first strip-shaped groove (16) in a sliding manner along the length direction of the bearing plate (1), two groups of racks (26) are arranged, and the two groups of racks (26) are respectively meshed with the two groups of gears (25); a second power component for driving the two groups of racks (26) to approach each other is arranged in the second strip-shaped groove (17).

6. The artificial intelligence obstacle avoidance chassis of claim 5, wherein the second power assembly comprises a fixed block (27), a connecting rod (28), a second sliding block (29) and a second cylinder (30); the two groups of fixing blocks (27) are arranged, and the two groups of fixing blocks (27) are respectively arranged on the opposite end surfaces of the two groups of racks (26); the second sliding block (29) is arranged on the top groove wall of the second strip-shaped groove (17) in a sliding manner along the length direction of the second strip-shaped groove (17); two ends of a connecting rod (28) are respectively rotatably connected with the fixed block (27) and the second sliding block (29), the sliding directions of the connecting rod (28) and the rack (26) are not parallel, and the connecting rods (28) are arranged in two groups; the second air cylinder (30) is arranged in the second strip-shaped groove (17), the telescopic direction of the second air cylinder (30) is the same as the length direction of the second strip-shaped groove (17), the telescopic end of the second air cylinder (30) is connected with the second sliding block (29), and the control system (4) is in control connection with the second air cylinder (30).

7. The artificial intelligence obstacle avoidance chassis of claim 5, wherein the third support plate (18) is in a vertical state, and the two sets of racks (26) are respectively attached to the front and rear side groove walls of the first bar-shaped groove (16).

8. An obstacle avoidance method of the artificial intelligence obstacle avoidance chassis according to any one of claims 1 to 7, characterized by comprising the following steps:

s1, the control system (4) controls the first driving device (7) to drive the first front wheel (9) to rotate, the bearing plate (1) is driven to advance in a front driving mode, and goods are placed and conveyed on the bearing plate (1);

s2, setting the maximum height A and the maximum width B of an obstacle which can pass through the third supporting plate (18) in an inclined state and the vertical state of the supporting column (6), setting the maximum height C and the maximum width D of the obstacle which can pass through the third supporting plate (18) in the vertical state, detecting the obstacle in front of the bearing plate (1) by the obstacle detecting device (3), obtaining the height E and the width F of the obstacle, and transmitting the data of the height E and the width F to the control system (4);

s3, the control system (4) compares the height E with a set value A, C and compares the width F with a set value B, D;

s4, when the height E of the obstacle is larger than the set values A and C or the width of the obstacle is larger than the set value B, the first driving device (7) drives the first front wheel (9) to turn, and the bearing plate (1) bypasses the obstacle from the side;

s5, when the height E of the obstacle is smaller than a set value A and the width F of the obstacle is smaller than a set value B, the bearing plate (1) directly passes through the obstacle without steering, if the obstacle collides with a first front wheel (9) or a first rear wheel (10) on one side, the first air cylinder (15) drives the sliding plate (14) to move through expansion and contraction, the positions of the first front wheel (9) and the first rear wheel (10) on one side are adjusted to avoid, and meanwhile, the first driving device (7) adjusts the rotation angle of the first front wheel (9) to enable the first front wheel to obliquely move forwards;

s6, when the height E of the obstacle is larger than a set value A and smaller than a set value C and the width F of the obstacle is smaller than a set value D, the second driving device (19) is started, the second air cylinder (30) drives the second sliding block (29) to move, the two groups of racks (26) are pushed to be away from each other through the connecting rod (28), the two groups of gears (25) are driven to rotate in the reverse direction, the rotating shaft (12) drives the third supporting plate (18) to rotate until the third supporting plate (18) is in a vertical state, and the angle of the second front wheel (21) is adjusted through the second driving device (19), so that the bearing plate (1) passes through the obstacle.

Technical Field

The invention relates to the technical field of intelligent obstacle avoidance, in particular to an artificial intelligent obstacle avoidance chassis.

Background

Along with scientific and technological development, smart machine uses more and more generally, smart machine mainly includes chassis and truck two parts and constitutes, the chassis mainly plays the effect firm and motion, can set up the mechanism of discernment barrier on the smart machine, after discerning the place ahead barrier, smart machine can turn and avoid the barrier, even be less (highly being less than the chassis height, the width is less than wheel inter-group distance) barrier, smart machine also can select the detour, this just leads to at the extravagant more time of removal in-process, lead to smart machine's conveying efficiency to reduce.

Disclosure of Invention

The invention aims to provide an artificial intelligent obstacle avoidance chassis aiming at the problem that the transportation efficiency is reduced because an obstacle avoidance chassis needs to bypass an obstacle in the background technology.

On one hand, the invention provides an artificial intelligence obstacle avoidance chassis which comprises a bearing plate, a first driving assembly, a second supporting plate, a sliding plate and a first air cylinder; the first driving assembly comprises a first sliding block, a supporting column and a first driving device;

the bearing plate is provided with a first supporting plate, the front side surface of the first supporting plate is provided with an obstacle detection device, the rear side surface of the first supporting plate is provided with a control system, the obstacle detection device is used for measuring the width and the height of a front obstacle, and the control system is in data transmission connection with the obstacle detection device; the first sliding blocks are arranged at the bottom of the bearing plate in a sliding manner along the width direction of the bearing plate, and two groups of the first sliding blocks are arranged; the two groups of support columns are respectively vertically arranged at the bottoms of the two groups of first sliding blocks; the two groups of first driving devices are arranged at the bottoms of the two groups of supporting columns respectively, and the control system is in control connection with the first driving devices; the two groups of first driving assemblies are arranged, the two groups of first driving assemblies are respectively positioned at the front end and the rear end of the bottom of the bearing plate, a first front wheel is arranged on a first driving device in the first driving assembly positioned at the front end, the first driving device is used for driving the first front wheel to rotate and turn, a group of first mounting blocks are arranged at the bottoms of supporting columns in the first driving assemblies positioned at the rear end, and first rear wheels are rotatably arranged on the first mounting blocks;

the second supporting plates are arranged at the bottom of the bearing plate along the length direction of the bearing plate, and two groups of the second supporting plates are arranged; the sliding plates are arranged at the bottom of the bearing plate in a sliding manner along the width direction of the bearing plate, two ends of each sliding plate are respectively connected with the two groups of first sliding blocks, and the two groups of sliding plates are arranged; the first cylinders are arranged in two groups, the two groups of first cylinders are respectively arranged on the opposite end faces of the two groups of second supporting plates, the telescopic ends of the two groups of first cylinders are respectively connected with the two groups of sliding plates, and the control system is in control connection with the first cylinders.

Preferably, the device further comprises a second driving assembly; the second driving assembly comprises a rotating shaft, a third supporting plate and a second driving device; the sliding plate is provided with a through hole for the rotating shaft to pass through; two ends of the rotating shaft are respectively and rotatably connected with the two groups of second supporting plates, and the rotating shaft penetrates through the through holes; the two groups of third supporting plates are obliquely arranged on the rotating shaft and are positioned between the two groups of first sliding blocks; the two groups of second driving devices are respectively arranged at the bottoms of the two groups of third supporting plates, and the control system is in control connection with the second driving devices; the two groups of second driving assemblies are arranged, the two groups of second driving assemblies are respectively positioned at the front end and the rear end of the bottom of the bearing plate, a third supporting plate in the second driving assembly positioned at the front end inclines towards the lower part of the front side of the bearing plate, a second front wheel is arranged on the second driving device, the second driving device is used for controlling the rotation and the steering angle of the second front wheel, a third supporting plate in the second driving assembly positioned at the rear end inclines towards the lower part of the rear side of the bearing plate, a second driving device is not arranged at the bottom of the third supporting plate in the second driving assembly positioned at the rear end, a second mounting block is arranged instead of the second driving device, and a second rear wheel is rotatably arranged on the second mounting block; the third supporting plate is in a vertical state, the first front wheel and the first rear wheel are separated from the ground, and the bottom of the bearing plate is provided with a first power assembly which drives the two groups of rotating shafts to rotate in a synchronous and reverse mode.

Preferably, the first driving device is arranged at the bottom of the supporting column in the first driving assembly at the rear side, and the first mounting block is arranged at the bottom of the supporting column in the first driving assembly at the front side, so as to form a rear-driving structure.

Preferably, two groups of third support plates in each group of second drive assemblies are connected through a connecting plate, a reinforcing rib plate is arranged between the connecting plate and the third support plate, and a triangular support is formed among the reinforcing rib plate, the third support plate and the connecting plate.

Preferably, the first power assembly comprises a gear and a rack; the bottom of the bearing plate is provided with a first strip-shaped groove and a second strip-shaped groove which are vertically communicated, and the first strip-shaped groove is arranged along the advancing direction of the bearing plate; the gears are arranged in two groups, and the two groups of gears are respectively arranged on the two groups of rotating shafts; the racks are arranged on the groove wall at the top of the first strip-shaped groove in a sliding manner along the length direction of the bearing plate, and two groups of racks are arranged and are respectively meshed with two groups of gears; and a second power assembly for driving the two groups of racks to be close to each other is arranged in the second strip-shaped groove.

Preferably, the second power assembly comprises a fixed block, a connecting rod, a second sliding block and a second air cylinder; the two groups of fixed blocks are respectively arranged on the opposite end surfaces of the two groups of racks; the second sliding block is arranged on the top groove wall of the second strip-shaped groove in a sliding manner along the length direction of the second strip-shaped groove; two ends of each connecting rod are respectively and rotatably connected with the fixed block and the second sliding block, the connecting rods are not parallel to the sliding direction of the rack, and the connecting rods are arranged in two groups; the second cylinder sets up in second bar inslot, and the flexible direction of second cylinder is the same with the length direction in second bar groove, and the flexible end and the second slider of second cylinder are connected, control system and second cylinder control connection.

Preferably, the third supporting plate is in a vertical state, and the two groups of racks are respectively attached to the front side groove wall and the rear side groove wall of the first strip-shaped groove.

On the other hand, the invention provides an obstacle avoidance method of the artificial intelligence obstacle avoidance chassis, which comprises the following steps: s1, the control system controls the first driving device to drive the first front wheel to rotate, and drives the bearing plate to move forward in a forerunner mode, and the bearing plate is used for placing and conveying goods; s2, setting the maximum height of an obstacle which can pass through the third supporting plate in an inclined state and a vertical state of the supporting column to be A and B, setting the maximum height of an obstacle which can pass through the third supporting plate in a vertical state to be C and D, detecting the obstacle in front of the bearing plate by the obstacle detection device to obtain the height E and the width F of the obstacle, and transmitting the data of the height E and the width F to the control system;

s3, comparing the height E with a set value A, C and comparing the width F with a set value B, D by the control system; s4, when the height E of the obstacle is larger than the set values A and C or the width of the obstacle is larger than the set value B, the first driving device drives the first front wheel to turn, and the bearing plate bypasses the obstacle from the side; s5, when the height E of the obstacle is smaller than a set value A and the width F of the obstacle is smaller than a set value B, the bearing plate directly passes through the obstacle without steering, and if the obstacle collides with a first front wheel or a first rear wheel on one side, the first air cylinder drives the sliding plate to move through expansion and contraction to adjust the positions of the first front wheel and the first rear wheel on one side to avoid, and meanwhile, the first driving device adjusts the rotation angle of the first front wheel to enable the first front wheel to obliquely move forwards; and S6, when the height E of the obstacle is larger than a set value A and smaller than a set value C and the width F of the obstacle is smaller than a set value D, starting a second driving device, driving a second sliding block to move by a second air cylinder, pushing two groups of racks to be away from each other through a connecting rod, driving two groups of gears to rotate in opposite directions, enabling a rotating shaft to drive a third supporting plate to rotate until the third supporting plate is in a vertical state, and adjusting the angle of a second front wheel by the second driving device to enable a bearing plate to pass through the obstacle.

Compared with the prior art, the invention has the following beneficial technical effects: when the barrier is too big, the barrier is walked around to the bearing plate edgewise, and when the barrier was very little, the bearing plate can directly pass through, need not detour, saves time, when the barrier is higher a bit again, can also raise the terrain clearance of bearing plate through utilizing second drive assembly, passes through the barrier smoothly, improves conveying efficiency.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a bottom view of FIG. 1;

FIG. 3 is an enlarged schematic view taken at A in FIG. 2;

FIG. 4 is an enlarged view of the point B in FIG. 2;

fig. 5 is a flowchart of an obstacle avoidance method.

Reference numerals: 1. a bearing plate; 2. a first support plate; 3. an obstacle detection device; 4. a control system; 5. a first slider; 6. a support pillar; 7. a first driving device; 8. a first mounting block; 9. a first front wheel; 10. a first rear wheel; 11. a second support plate; 12. a rotating shaft; 13. a through hole; 14. a slide plate; 15. a first cylinder; 16. a first bar-shaped groove; 17. a second strip groove; 18. a third support plate; 19. a second driving device; 20. a second mounting block; 21. a second front wheel; 22. a second rear wheel; 23. a connecting plate; 24. reinforcing the ribbed plate; 25. a gear; 26. a rack; 27. a fixed block; 28. a connecting rod; 29. a second slider; 30. a second cylinder.

Detailed Description

Example one

As shown in fig. 1-2, the artificial intelligence obstacle avoidance chassis provided by the invention comprises a bearing plate 1, a first driving assembly, a second supporting plate 11, a sliding plate 14 and a first cylinder 15; the first driving assembly comprises a first slide block 5, a supporting column 6 and a first driving device 7;

the bearing plate 1 is provided with a first supporting plate 2, the front side surface of the first supporting plate 2 is provided with an obstacle detection device 3, the rear side surface of the first supporting plate 2 is provided with a control system 4, the obstacle detection device 3 is used for measuring the width and the height of a front obstacle, and the control system 4 is in data transmission connection with the obstacle detection device 3; the first sliding blocks 5 are arranged at the bottom of the bearing plate 1 in a sliding manner along the width direction of the bearing plate 1, and two groups of the first sliding blocks 5 are arranged; two groups of support columns 6 are arranged, and the two groups of support columns 6 are respectively vertically arranged at the bottoms of the two groups of first sliding blocks 5; the two groups of first driving devices 7 are arranged, the two groups of first driving devices 7 are respectively arranged at the bottoms of the two groups of supporting columns 6, and the control system 4 is in control connection with the first driving devices 7; the two groups of first driving assemblies are arranged, the two groups of first driving assemblies are respectively positioned at the front end and the rear end of the bottom of the bearing plate 1, a first front wheel 9 is arranged on a first driving device 7 in the first driving assembly positioned at the front end, the first driving device 7 is used for driving the first front wheel 9 to rotate and turn, the first driving device 7 is not arranged at the bottom of a supporting column 6 in the first driving assembly positioned at the rear end, but a group of first mounting blocks 8 are arranged, and first rear wheels 10 are rotatably arranged on the first mounting blocks 8;

the second supporting plates 11 are arranged at the bottom of the bearing plate 1 along the length direction of the bearing plate 1, and two groups of the second supporting plates 11 are arranged; the sliding plates 14 are arranged at the bottom of the bearing plate 1 in a sliding manner along the width direction of the bearing plate 1, two ends of each sliding plate 14 are respectively connected with the two groups of first sliding blocks 5, and the two groups of sliding plates 14 are arranged; the two groups of first air cylinders 15 are arranged, the two groups of first air cylinders 15 are respectively arranged on the opposite end faces of the two groups of second supporting plates 11, the telescopic ends of the two groups of first air cylinders 15 are respectively connected with the two groups of sliding plates 14, and the control system 4 is in control connection with the first air cylinders 15.

The working process of the embodiment: the control system 4 controls the first driving device 7 to drive the first front wheel 9 to rotate, the bearing plate 1 is driven to move forwards in a forerunner mode, goods are placed and conveyed on the bearing plate 1, the maximum height of an obstacle which can pass through is set to be A, the maximum width of the obstacle is set to be B, the obstacle detecting device 3 detects an obstacle in front of the bearing plate 1 to obtain the height E and the width F of the obstacle, data of the height E and the width F are transmitted to the control system 4, when the height E of the obstacle is larger than the set value A or the width of the obstacle is larger than the set value B, the first driving device 7 drives the first front wheel 9 to turn, the bearing plate 1 bypasses the obstacle from the side, when the height E of the obstacle is smaller than the set value A and the width F of the obstacle is smaller than the set value B, the bearing plate 1 directly passes through the obstacle without turning, if the obstacle collides with the first front wheel 9 or the first rear wheel 10 on one side, the first cylinder 15 drives the sliding plate 14 to move through expansion, the positions of the first front wheel 9 and the first rear wheel 10 on one side are adjusted to avoid, meanwhile, the first driving device 7 adjusts the rotation angle of the first front wheel 9 to enable the first front wheel 9 to obliquely move forwards, and the first front wheel moves outwards or inwards for a short distance to avoid the possibility of collision with an obstacle. In the embodiment, the steering of the whole chassis is not needed for smaller obstacles, and the small obstacles are directly and linearly passed through after judgment, so that the conveying efficiency is improved.

The first driving device 7 is arranged at the bottom of the supporting column 6 in the first driving assembly at the rear side, the first mounting block 8 is arranged at the bottom of the supporting column 6 in the first driving assembly at the front side, a rear driving structure is formed, and the front driving or the rear driving is determined according to actual use requirements.

Example two

As shown in fig. 2, compared with the first embodiment, the artificial intelligence obstacle avoidance chassis provided in the present invention further includes a second driving assembly; the second driving assembly comprises a rotating shaft 12, a third supporting plate 18 and a second driving device 19; the sliding plate 14 is provided with a through hole 13 for the rotating shaft 12 to pass through; two ends of the rotating shaft 12 are respectively rotatably connected with the two groups of second supporting plates 11, and the rotating shaft 12 penetrates through the through hole 13; two groups of third supporting plates 18 are arranged, the two groups of third supporting plates 18 are obliquely arranged on the rotating shaft 12, and the two groups of third supporting plates 18 are positioned between the two groups of first sliding blocks 5; the two groups of second driving devices 19 are respectively arranged at the bottoms of the two groups of third supporting plates 18, and the control system 4 is in control connection with the second driving devices 19; the two groups of second driving assemblies are arranged, the two groups of second driving assemblies are respectively positioned at the front end and the rear end of the bottom of the bearing plate 1, a third supporting plate 18 in the second driving assembly positioned at the front end inclines towards the lower part of the front side of the bearing plate 1, a second front wheel 21 is arranged on a second driving device 19, the second driving device 19 is used for controlling the rotation and the steering angle of the second front wheel 21, a third supporting plate 18 in the second driving assembly positioned at the rear end inclines towards the lower part of the rear side of the bearing plate 1, the second driving device 19 is not arranged at the bottom of the third supporting plate 18 in the second driving assembly positioned at the rear end, but a second mounting block 20 is arranged, and a second rear wheel 22 is rotatably arranged on the second mounting block 20; the third supporting plate 18 is in a vertical state, the first front wheel 9 and the first rear wheel 10 are separated from the ground, and the bottom of the bearing plate 1 is provided with a first power assembly which drives the two groups of rotating shafts 12 to synchronously and reversely rotate.

In this embodiment, the maximum height of an obstacle that can pass through when the third support plate 18 is inclined and the support column 6 is in a vertical state is set as a maximum width B, the maximum height of an obstacle that can pass through when the third support plate 18 is in a vertical state is set as a maximum width C, the maximum width D is set as a maximum width D, the obstacle detection device 3 detects an obstacle in front of the support plate 1 to obtain the height E and the width F of the obstacle, when the height E of the obstacle is greater than a set value a and less than the set value C and the width F of the obstacle is less than the set value D, the second driving device 19 is started, the first power assembly drives the two sets of rotating shafts 12 to synchronously and reversely rotate, the rotating shafts 12 drive the third support plate 18 to rotate until the third support plate 18 is in a vertical state, the second driving device 19 adjusts the angle of the second front wheel 21 to enable the support plate 1 to pass through the obstacle, and the obstacle at a higher point can pass through by putting down the second driving assembly, further improving the conveying efficiency.

Two groups of third supporting plates 18 in each group of second driving assemblies are connected through a connecting plate 23, a reinforcing rib plate 24 is arranged between the connecting plate 23 and the third supporting plates 18, and triangular supports are formed among the reinforcing rib plates 24, the third supporting plates 18 and the connecting plates 23, so that the stability is enhanced.

EXAMPLE III

As shown in fig. 4-5, compared with the first embodiment or the second embodiment, the artificial intelligence obstacle avoidance chassis provided by the present invention includes a gear 25 and a rack 26; the bottom of the bearing plate 1 is provided with a first strip-shaped groove 16 and a second strip-shaped groove 17 which are vertically communicated, and the first strip-shaped groove 16 is arranged along the advancing direction of the bearing plate 1; two groups of gears 25 are arranged, and the two groups of gears 25 are respectively arranged on the two groups of rotating shafts 12; the racks 26 are arranged on the top groove wall of the first strip-shaped groove 16 in a sliding manner along the length direction of the bearing plate 1, two groups of racks 26 are arranged, and the two groups of racks 26 are respectively meshed with the two groups of gears 25; a second power assembly for driving the two sets of racks 26 to approach each other is arranged in the second strip-shaped groove 17.

In this embodiment, the second power assembly drives the two sets of racks 26 to approach each other, i.e. the gear 25 drives the rotating shaft 12 to rotate, the rotating shaft 12 rotates to make the second front wheel 21 and the second rear wheel 22 contact the ground, and the ground clearance of the bearing plate 1 is raised by the third supporting plate 18, so that the obstacle can pass through the bearing plate.

The second power assembly comprises a fixed block 27, a connecting rod 28, a second sliding block 29 and a second air cylinder 30; the two groups of fixing blocks 27 are arranged, and the two groups of fixing blocks 27 are respectively arranged on the opposite end surfaces of the two groups of racks 26; the second sliding block 29 is arranged on the top groove wall of the second strip-shaped groove 17 in a sliding manner along the length direction of the second strip-shaped groove 17; two ends of a connecting rod 28 are respectively connected with the fixed block 27 and the second sliding block 29 in a rotating mode, the connecting rod 28 is not parallel to the sliding direction of the rack 26, and two groups of connecting rods 28 are arranged; the second cylinder 30 is arranged in the second strip-shaped groove 17, the telescopic direction of the second cylinder 30 is the same as the length direction of the second strip-shaped groove 17, the telescopic end of the second cylinder 30 is connected with the second sliding block 29, and the control system 4 is in control connection with the second cylinder 30; the second cylinder 30 drives the second slider 29 to move, and then the connecting rod 28 pushes and pulls the rack 26 to move, so as to drive the gear 25 to rotate.

When the third support plate 18 is in a vertical state, the two groups of racks 26 are respectively attached to the front and rear side groove walls of the first strip-shaped groove 16, so that the stability of the third support plate 18 in the vertical state is improved.

Example four

As shown in fig. 1 to 5, the obstacle avoidance method based on the artificial intelligence obstacle avoidance chassis embodiment includes the following steps:

s1, the control system 4 controls the first driving device 7 to drive the first front wheel 9 to rotate, the bearing plate 1 is driven to advance in a front driving mode, and goods are placed and conveyed on the bearing plate 1;

s2, setting the maximum height A and the maximum width B of an obstacle which can pass through the third supporting plate 18 in an inclined state and the vertical state of the supporting column 6, setting the maximum height C and the maximum width D of the obstacle which can pass through the third supporting plate 18 in the vertical state, detecting the obstacle in front of the bearing plate 1 by the obstacle detection device 3 to obtain the height E and the width F of the obstacle, and transmitting the data of the height E and the width F to the control system 4;

s3, the control system 4 compares the height E with a set value A, C and compares the width F with a set value B, D;

s4, when the height E of the obstacle is larger than the set values A and C or the width of the obstacle is larger than the set value B, the first driving device 7 drives the first front wheel 9 to turn, and the bearing plate 1 bypasses the obstacle from the side;

s5, when the height E of the obstacle is smaller than a set value A and the width F of the obstacle is smaller than a set value B, the bearing plate 1 directly passes through the obstacle without steering, if the obstacle collides with the first front wheel 9 or the first rear wheel 10 on one side, the first air cylinder 15 drives the sliding plate 14 to move through stretching and retracting, the positions of the first front wheel 9 and the first rear wheel 10 on one side are adjusted to avoid, and meanwhile, the first driving device 7 adjusts the rotation angle of the first front wheel 9 to enable the first front wheel 9 to obliquely move forwards;

and S6, when the height E of the obstacle is larger than the set value A and smaller than the set value C and the width F of the obstacle is smaller than the set value D, the second driving device 19 is started, the second air cylinder 30 drives the second sliding block 29 to move, the two groups of racks 26 are pushed to be away from each other through the connecting rod 28, the two groups of gears 25 are driven to rotate in opposite directions, the rotating shaft 12 drives the third supporting plate 18 to rotate until the third supporting plate 18 is in a vertical state, and the second driving device 19 adjusts the angle of the second front wheel 21 to enable the bearing plate 1 to pass through the obstacle.

In this embodiment, when the barrier is too big, the barrier is walked around to bearing plate 1 from the side, and when the barrier was very little, bearing plate 1 can directly pass through, need not detour, saves time, when the barrier is higher a bit again, can also raise the terrain clearance of bearing plate 1 through utilizing second drive assembly, passes through the barrier smoothly, improves conveying efficiency.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.