阅读说明：本技术 智能巡航导盲车 (Intelligent cruise blind-guiding vehicle ) 是由 贾璐泽 高殿策 李泊桥 武桐宇 徐正立 李子豪 霍志军 周凯歌 郭新宇 王斌赫 于 2021-07-05 设计创作，主要内容包括：本发明为一种智能巡航导盲车,解决了现有导盲装置无法适应复杂路况以及无方向指示功能等问题。该导盲车包括车架,车架上安装有履带驱动部、三角轮驱动部、转向提示部和第一驱动电机,转向提示部主要由支撑柱、传动杆、转向帽、和弹力梁组成,通过车体在转向时给弹力梁施力,弹力梁变形后即可带动转向帽转动,从而得知转向信息。本发明导盲车设计科学、结构合理、操作容易、使用方便、避障精度高、安全可靠,该导盲车不仅能够适应各种复杂环境的城市道路,而且还兼具了转向提示功能,不仅丰富了导盲车的功能,还拓展了导盲车的适用性,最终有效的提高了盲人出行的安全性和便利性,值得推广使用。(The invention relates to an intelligent cruise blind-guiding vehicle, which solves the problems that the existing blind-guiding device cannot adapt to complex road conditions and has no direction indicating function and the like. The blind guiding vehicle comprises a vehicle frame, wherein a crawler driving part, a triangle wheel driving part, a steering prompting part and a first driving motor are installed on the vehicle frame, the steering prompting part mainly comprises a supporting column, a transmission rod, a steering cap and an elastic beam, the vehicle body applies force to the elastic beam when steering, and the elastic beam can drive the steering cap to rotate after deforming, so that steering information can be obtained. The blind guiding vehicle is scientific in design, reasonable in structure, easy to operate, convenient to use, high in obstacle avoidance precision, safe and reliable, not only can adapt to urban roads in various complex environments, but also has a steering prompting function, not only is the function of the blind guiding vehicle enriched, but also the applicability of the blind guiding vehicle is expanded, finally the safety and the convenience of the blind in traveling are effectively improved, and the blind guiding vehicle is worthy of popularization and use.)

1. The utility model provides a blind car is led in intelligence cruises which characterized in that: the device comprises a frame, a crawler driving part, a triangular wheel driving part, a steering prompting part and a first driving motor;

the frame comprises a platform plate, wherein two sides of the middle position of the platform plate are respectively fixed with a first support plate which is extended downwards and used for mounting a crawler driving part, and two sides of the rear position of the platform plate are respectively fixed with a second support plate which is extended upwards and downwards and used for mounting a steering prompting part and a first driving motor;

the crawler driving part comprises two groups of crawler transmission systems which are respectively arranged at the bottom ends of the first supporting plates at the two sides; the driving wheels in each group of crawler belt transmission systems are coaxially fixed with large synchronous belt wheels;

the triangular wheel driving part comprises a second driving motor, a screw rod, two optical axes, a moving plate, a connecting rod, a wheel carrier, a third driving motor and two triangular wheel sets; the second driving motor is arranged at the front end of the bottom surface of the platform plate, the screw rod and the two optical axes are arranged at the position, close to the rear part of the second driving motor, on the bottom surface of the platform plate, the screw rod is positioned between the two optical axes and arranged in parallel, the screw rod can rotate freely, and the front end part of the screw rod is connected with the output end of the second driving motor; the movable plate is inserted on the screw rod and the two optical axes in a sliding manner, a transmission nut is fixed on the movable plate, and the transmission nut is in threaded connection with the screw rod; the top end of the wheel carrier is hinged to the position, close to the rear of the lead screw and the optical axis, on the bottom surface of the platform plate, the bottom end of the wheel carrier is rotatably provided with a rotating shaft, the two groups of triangular wheel sets are respectively arranged at two ends of the rotating shaft, and the rotating shaft is provided with an auxiliary driving gear; the third driving motor is arranged on the position, close to the rotating shaft, of the wheel carrier, a main driving gear is arranged on an output shaft of the third driving motor, and the main driving gear is meshed with an auxiliary driving gear on the rotating shaft; one end of the connecting rod is hinged with the movable plate, and the other end of the connecting rod is hinged with the middle upper part of the wheel carrier;

the steering prompting part comprises a support column, a transmission rod, a steering cap, an elastic beam, a bearing seat and a small synchronous belt wheel; the supporting column is fixed at the rear end position of the top surface of the platform plate and comprises an upright column which is vertically fixed with the platform plate, and a transverse column which is arranged in a backward extending manner is arranged at the top of the upright column; the transmission rod is vertically arranged, the top of the transmission rod penetrates through a cross column of the support column, the end part of the bottom end of the transmission rod is connected with a fisheye joint, and the steering cap is installed at the end part of the top end of the transmission rod after penetrating through the cross column; the elastic beam is an integrated beam and comprises a left beam section, a middle beam section and a right beam section which are positioned on the same horizontal line, a left concave beam section is arranged between the left beam section and the middle beam section, a right concave beam section is arranged between the right beam section and the middle beam section, the left concave beam section, the right beam section and the right concave beam section are symmetrically arranged at the midpoint of the middle beam section, and a fisheye joint on the transmission rod is connected to the center of the middle beam section; two groups of bearing seats are arranged and are respectively fixed on the upper extension sections of the two second supporting plates, and two small synchronous belt wheels are arranged and are respectively rotatably arranged on the two groups of bearing seats;

the left beam section end and the right beam section end of the elastic beam are respectively rotatably installed at the axes of the inner end faces of the corresponding small synchronous belt wheels, and limiting torsion springs are sleeved and fixed at the positions, close to the small synchronous belt wheels, on the left beam section and the right beam section; the inner end surface of the small synchronous belt wheel is outwards extended with a circular flange which is coaxial with the small synchronous belt wheel, the inner annular wall of the circular flange is provided with a positioning clamping ridge along the axial direction of the circular flange, and the end part of a torsion bar of a limiting torsion spring positioned in the circular flange is movably clamped on the positioning clamping ridge;

the two first driving motors are arranged between the lower extension sections of the two second supporting plates and are arranged in a bilateral symmetry mode; two synchronous driving belt wheels are installed on an output shaft of each first driving motor, one synchronous driving belt wheel is connected with the small synchronous belt wheel on the same side through a transmission belt, and the other synchronous driving belt wheel is connected with the large synchronous belt wheel on the same side through a transmission belt.

2. The intelligent cruise blind guide vehicle according to claim 1, characterized in that: the first driving motor is installed on the installation base, the installation base is fixed on the installation cross beam, and the installation cross beam is fixed on the lower extension section of the first supporting plate and the second supporting plate at the same side.

3. The intelligent cruise blind guide vehicle according to claim 2, characterized in that: the upright post and the cross post in the supporting post are detachably connected through an angle connector.

4. The intelligent cruise blind guide vehicle according to any one of claims 1-3, characterized in that: the frame is provided with a solar power generation device.

5. The intelligent cruise blind guide vehicle according to any one of claims 1-3, characterized in that: still including keeping away barrier alarm system, keep away barrier alarm system and include main control board, openMV camera and bee calling organ are connected with the main control board respectively, and openMV camera is installed in the middle position department of the platform board front end of frame.

Technical Field

The invention relates to the technical field of blind guiding, in particular to a blind guiding device with rich functions, and specifically relates to an intelligent cruise blind guiding vehicle.

Background

The existing blind guiding vehicle technology mainly has two functions of tracking and obstacle avoidance, the domestic research focus is basically devised on the blind guiding stick, and the foreign is known as a high-end robot. At present, the ultrasonic blind guiding instrument, the mobile robot, the wearable blind guiding instrument and the guiding walking stick are generally divided into four types. However, the existing blind guiding device still has some problems, and the following two problems are more prominent: firstly, the existing blind guiding device still has certain limitation on more complex road conditions, so that the performance of the blind guiding device for adapting to the complex road conditions is still required to be further improved; secondly, the existing blind guiding devices do not consider the problem of the direction sense of the blind, because the blind has almost no direction sense, more reaction time is needed when the blind guiding vehicle turns, and if an emergency happens on a road, serious consequences can be caused due to the fact that the blind guiding vehicle cannot respond in time.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provide the intelligent cruise blind guiding vehicle with richer functions and more complete performance.

The invention is realized by the following technical scheme:

an intelligent cruise blind-guiding vehicle comprises a frame, a crawler driving part, a triangular wheel driving part, a steering prompting part and a first driving motor;

the frame comprises a platform plate, wherein two sides of the middle position of the platform plate are respectively fixed with a first support plate which is extended downwards and used for mounting a crawler driving part, and two sides of the rear position of the platform plate are respectively fixed with a second support plate which is extended upwards and downwards and used for mounting a steering prompting part and a first driving motor;

the crawler driving part comprises two groups of crawler transmission systems which are respectively arranged at the bottom ends of the first supporting plates at the two sides; the driving wheels in each group of crawler belt transmission systems are coaxially fixed with large synchronous belt wheels;

the triangular wheel driving part comprises a second driving motor, a screw rod, two optical axes, a moving plate, a connecting rod, a wheel carrier, a third driving motor and two triangular wheel sets; the second driving motor is arranged at the front end of the bottom surface of the platform plate, the screw rod and the two optical axes are arranged at the position, close to the rear part of the second driving motor, on the bottom surface of the platform plate, the screw rod is positioned between the two optical axes and arranged in parallel, the screw rod can rotate freely, and the front end part of the screw rod is connected with the output end of the second driving motor; the movable plate is inserted on the screw rod and the two optical axes in a sliding manner, a transmission nut is fixed on the movable plate, and the transmission nut is in threaded connection with the screw rod; the top end of the wheel carrier is hinged to the position, close to the rear of the lead screw and the optical axis, on the bottom surface of the platform plate, the bottom end of the wheel carrier is rotatably provided with a rotating shaft, the two groups of triangular wheel sets are respectively arranged at two ends of the rotating shaft, and the rotating shaft is provided with an auxiliary driving gear; the third driving motor is arranged on the position, close to the rotating shaft, of the wheel carrier, a main driving gear is arranged on an output shaft of the third driving motor, and the main driving gear is meshed with an auxiliary driving gear on the rotating shaft; one end of the connecting rod is hinged with the movable plate, and the other end of the connecting rod is hinged with the middle upper part of the wheel carrier;

the steering prompting part comprises a support column, a transmission rod, a steering cap, an elastic beam, a bearing seat and a small synchronous belt wheel; the supporting column is fixed at the rear end position of the top surface of the platform plate and comprises an upright column which is vertically fixed with the platform plate, and a transverse column which is arranged in a backward extending manner is arranged at the top of the upright column; the transmission rod is vertically arranged, the top of the transmission rod penetrates through a cross column of the support column, the end part of the bottom end of the transmission rod is connected with a fisheye joint, and the steering cap is installed at the end part of the top end of the transmission rod after penetrating through the cross column; the elastic beam is an integrated beam and comprises a left beam section, a middle beam section and a right beam section which are positioned on the same horizontal line, a left concave beam section is arranged between the left beam section and the middle beam section, a right concave beam section is arranged between the right beam section and the middle beam section, the left concave beam section, the right beam section and the right concave beam section are symmetrically arranged at the midpoint of the middle beam section, and a fisheye joint on the transmission rod is connected to the center of the middle beam section; two groups of bearing seats are arranged and are respectively fixed on the upper extension sections of the two second supporting plates, and two small synchronous belt wheels are arranged and are respectively rotatably arranged on the two groups of bearing seats;

the left beam section end and the right beam section end of the elastic beam are respectively rotatably installed at the axes of the inner end faces of the corresponding small synchronous belt wheels, and limiting torsion springs are sleeved and fixed at the positions, close to the small synchronous belt wheels, on the left beam section and the right beam section; the inner end surface of the small synchronous belt wheel is outwards extended with a circular flange which is coaxial with the small synchronous belt wheel, the inner annular wall of the circular flange is provided with a positioning clamping ridge along the axial direction of the circular flange, and the end part of a torsion bar of a limiting torsion spring positioned in the circular flange is movably clamped on the positioning clamping ridge;

the two first driving motors are arranged between the lower extension sections of the two second supporting plates and are arranged in a bilateral symmetry mode; two synchronous driving belt wheels are installed on an output shaft of each first driving motor, one synchronous driving belt wheel is connected with the small synchronous belt wheel on the same side through a transmission belt, and the other synchronous driving belt wheel is connected with the large synchronous belt wheel on the same side through a transmission belt.

Furthermore, a first driving motor is installed on the installation base, the installation base is fixed on the installation cross beam, and the installation cross beam is fixed on the lower extension section of the first support plate and the second support plate at the same side.

Furthermore, the upright columns and the transverse columns in the supporting columns are detachably connected through corner connectors.

Furthermore, a solar power generation device is arranged on the frame.

Further, this lead blind car still includes keeps away barrier alarm system, keeps away barrier alarm system and includes main control board, openMV camera and bee calling organ are connected with the main control board respectively, and openMV camera is installed in the middle position department of the platform board front end of frame.

On one hand, the intelligent cruise blind guiding vehicle adopts a mechanical structure that the crawler and the triangular wheels are matched to adapt to complex urban roads, walks through the crawler when the urban roads are level or straight slopes, can descend the triangular wheels when encountering obstacles such as steps and the like, and can climb over the obstacles such as the steps and the like through the triangular wheels; on the other hand, the blind guiding vehicle is additionally provided with a purely mechanical steering prompting device on the basis of having the blind guiding function, the deformation of the angle is transmitted to the steering cap through the transmission rod by using the deformation property of the elastic beam, and the steering of the blind is further prompted by the prompting of arrow lines and the like on the steering cap.

The blind guiding vehicle is scientific in design, reasonable in structure, easy to operate, convenient to use, high in obstacle avoidance precision, safe and reliable, not only can adapt to urban roads in various complex environments, but also has a steering prompting function, not only is the function of the blind guiding vehicle enriched, but also the applicability of the blind guiding vehicle is expanded, finally the safety and the convenience of the blind in traveling are effectively improved, and the blind guiding vehicle is worthy of popularization and use.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate exemplary embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

Fig. 1 is a front view of the blind guiding vehicle of the invention.

Fig. 2 is a schematic view of the overall rear view structure of the blind guiding vehicle of the present invention.

Fig. 3 is a schematic structural diagram of a triangle wheel driving part of the blind guiding vehicle.

Fig. 4 is a schematic structural view of the elastic beam of the blind guiding vehicle of the invention.

Fig. 5 is a schematic view of the connection between the elastic beam and the small synchronous pulley of the blind guiding vehicle of the present invention.

In the figure: 1-a first driving motor, 2-a platform plate, 3-a first support plate, 4-a second support plate, 5-a track transmission system, 6-a large synchronous pulley, 7-a screw rod, 8-an optical axis, 9-a moving plate, 10-a connecting rod, 11-a wheel carrier, 12-a third driving motor, 13-a triangular wheel set, 14-a second driving motor, 15-a rotating shaft, 16-a transmission rod, 17-a steering cap, 18-an elastic beam, 19-a bearing seat, 20-a small synchronous pulley, 21-an upright post, 22-a cross post, 23-a fisheye joint, 24-a left beam section, 25-a middle beam section, 26-a right beam section, 27-a left concave beam section, 28-a right beam concave section, 29-a limiting torsion spring, 30-a circular flange, 31-positioning clamping edges, 32-mounting seats, 33-mounting beams, 34-synchronous driving pulleys, 35-corner connectors and 36-openMV cameras.

Detailed Description

In order that those skilled in the art will better understand the present invention, the following detailed description of the invention will be given for clearness and completeness. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The utility model provides a blind car is led in intelligence cruise, includes frame, track drive division, triangle wheel drive division, steering suggestion portion, first driving motor 1, solar power system and keeps away barrier alarm system, and its overall structure is as shown in fig. 1 and fig. 2.

The frame includes landing slab 2, and the both sides of landing slab 2 middle part position are fixed with respectively and extend downwards and establish the first backup pad 3 that is used for installing track drive portion, and the both sides of landing slab 2 rear portion position are fixed with respectively upwards and extend downwards simultaneously and establish the second backup pad 4 that is used for installing steering suggestion portion and first driving motor 1.

The crawler driving part comprises two groups of crawler transmission systems 5, and the two groups of crawler transmission systems 5 are respectively arranged at the bottom ends of the first supporting plates 3 at the two sides; and a large synchronous belt wheel 6 is coaxially fixed on the driving wheel in each group of the crawler belt transmission system 5. For a normal road surface, namely a road surface which has no influence on the normal movement of the blind person, the blind guiding vehicle moves through the crawler belt transmission system 5.

The triangular wheel driving part comprises a second driving motor 14, a lead screw 7, two optical axes 8, a moving plate 9, a connecting rod 10, a wheel carrier 11, a third driving motor 12 and two groups of triangular wheel sets 13, and the structure is shown in fig. 3; the second driving motor 14 is arranged at the front end position of the bottom surface of the platform plate 2, the screw 7 and the two optical axes 8 are arranged at the position, close to the rear part of the second driving motor 14, on the bottom surface of the platform plate 2, the screw 7 is arranged between the two optical axes 8 and arranged in parallel, the screw 7 can rotate freely, and the front end part of the screw 7 is connected with the output end of the second driving motor 14; the movable plate 9 is inserted on the screw 7 and the two optical axes 8 in a sliding manner, a transmission nut and a linear bearing are fixed on the movable plate 9, the transmission nut is in threaded connection with the screw, and the linear bearing is connected with the optical axes 8 in a sleeved manner; the top end of the wheel carrier 11 is hinged with the position, close to the screw 7 and behind the optical axis 8, on the bottom surface of the platform plate 2, the bottom end of the wheel carrier 11 is rotatably provided with a rotating shaft 15, two groups of triangular wheel sets 13 are respectively arranged at two ends of the rotating shaft 15, and the rotating shaft 15 is provided with an auxiliary driving gear; the third driving motor 12 is arranged on the wheel carrier 11 at a position close to the rotating shaft 15, a main driving gear is arranged on an output shaft of the third driving motor 12, and the main driving gear is meshed with a secondary driving gear on the rotating shaft 15; one end of the connecting rod 10 is hinged with the moving plate 9, and the other end of the connecting rod 10 is hinged with the middle upper part of the wheel carrier 11. When the blind guiding vehicle touches obstacles such as curbs, stairs and the like, the two triangular wheel sets 13 are descended through the cooperation of the second driving motor 14, the screw 7, the optical axis 8, the moving plate 9, the transmission nut and the connecting rod 10, so that the vehicle body is lifted, and the third driving motor 12 drives the shaft of the triangular wheel to rotate, so that the vehicle body climbs the obstacles such as the curbs or the like. The descending of the triangular wheel set 13 is specifically: the lead screw 7 with the lead of 2mm is driven to rotate through the third driving motor 12, so that the transmission nut translates on the lead screw 7, then the moving plate 9 fixed with the transmission nut translates, and the connecting rod 10 is driven to enable the triangular wheel to descend. The height of the steps of the normal stair is generally 180mm-110mm, the moving plate 9 needs to be pushed forward 97.83mm-38.98mm by calculating the lead screw 7, the third driving motor 12 should rotate 48.9 circles to 19.5 circles, wherein 2 the second driving motor 14 adopts a special-shaped stepping motor, the third driving motor 12 adopts a brushless direct current motor, the moving plate 9 adopts an epoxy plate, the diameter of the lead screw 7 is 8mm, and the diameter of an optical axis is 10 mm.

The steering prompting part comprises a support column, a transmission rod 16, a steering cap 17, an elastic beam 18, a bearing seat 19 and a small synchronous pulley 20; the supporting column is fixed at the rear end position of the top surface of the platform plate 2 and comprises an upright column 21 vertically fixed with the platform plate 2, a transverse column 22 extending backwards is installed at the top of the upright column 21, the upright column 21 and the transverse column 22 are detachably connected through an angle connector 35, the longitudinal stress is friction when the angle connector is connected with the upright column 21 and the transverse column 22, in order to adapt to people with different heights, the height of the angle connector can be adjusted after the angle connector screw is unscrewed, and then the angle connector screw is screwed; the transmission rod 16 is vertically arranged, the top of the transmission rod penetrates through a cross column 22 of the support column, the bottom end part of the transmission rod 16 is connected with a fisheye joint 23, and the steering cap 17 is installed at the top end part of the transmission rod 16 after penetrating through the cross column 22; the elastic beam 18 is an integrated beam, the structure of which is shown in fig. 4, and comprises a left beam section 24, a middle beam section 25 and a right beam section 26 which are positioned on the same horizontal line, a left concave beam section 27 is arranged between the left beam section 24 and the middle beam section 25, a right concave beam section 28 is arranged between the right beam section 26 and the middle beam section 25, the left beam section 24 and the left concave beam section 27, the right beam section 26 and the right concave beam section 28 are symmetrically arranged at the midpoint of the middle beam section 25, and the fisheye joint 23 on the transmission rod 16 is connected to the center position of the middle beam section 25; two groups of bearing seats 19 are arranged and respectively fixed on the upper extension sections of the two second supporting plates 4, and two small synchronous belt pulleys 20 are arranged and respectively rotatably installed on the two groups of bearing seats 19.

The end of the left beam section 24 and the end of the right beam section 26 of the elastic beam 18 are respectively rotatably mounted at the inner end surface axes of the corresponding small synchronous pulleys 20, and the positions of the left beam section 24 and the right beam section 26, which are close to the small synchronous pulleys 20, are respectively sleeved and fixed with a limiting torsion spring 29, as shown in fig. 5; an annular flange 30 which is coaxial with the inner end face edge of the small synchronous pulley 20 is outwards arranged on the inner end face edge of the small synchronous pulley, a positioning clamping ridge 31 is arranged on the inner annular wall of the annular flange 30 along the axial direction of the annular flange, and the end part of a torsion bar of a limiting torsion spring 29 which is positioned in the annular flange 30 is movably clamped on the positioning clamping ridge 31.

First driving motor 1 is equipped with two, and all installs between the lower extension rear of two second backup pads 4, and the installation of two 1 bilateral symmetry of first driving motor, its concrete mounting means is: the first driving motor 1 is arranged on the mounting seat 32, the mounting seat 32 is fixed on the mounting cross beam 33, and the mounting cross beam 33 is fixed on the lower extension sections of the first supporting plate 3 and the second supporting plate 4 which are on the same side; the output shaft of each first driving motor 1 is provided with two synchronous driving belt wheels 34, wherein one synchronous driving belt wheel 34 is connected with the small synchronous belt wheel 20 at the same side through a transmission belt, and the other synchronous driving belt wheel 34 is connected with the large synchronous belt wheel 6 at the same side through a transmission belt.

The working principle of the steering prompting part is as follows: when the vehicle body turns, the rotating speeds of the two first driving motors 1 are different, so that the rotating speeds of the two small synchronous pulleys 20 in the steering prompting part are different; for the elastic beam 18, the torsion bar of the torsion spring 29 is marked as a force arm A, the vertical beam of the concave beam section 28 is marked as a force arm B, the middle beam section 25 is marked as a force arm C, because the length of the force arm B is greater than that of the force arm A, the force arm B can deform firstly when the same force is applied, the force arm B can drive the power arm C to generate transverse torsional deformation after the force arm B deforms, the force arm C drives the transmission rod 16 to rotate, and the transmission rod 16 drives the steering cap 17 printed with an arrow above to rotate, so that the aim of pointing to the blind is achieved. The existing blind guiding vehicle is not provided with a guiding mechanism for advance warning, and a steering prompting part on the blind guiding vehicle is of a pure mechanical structure, so that the blind guiding vehicle can not only steer for prompting in the walking process, but also can transmit vibration to a steering cap 17 in time when the vehicle is vibrated, and the blind can conveniently sense road conditions. The return process of the mechanism after turning through a bend is: when the elastic beam 18 is stressed, the elastic beam is bent, the transverse distance is contracted, when the contraction amount exceeds the height of the positioning clamping ridge 31 in the circular flange 30, the torsion bar of the torsion spring 29 can cross the positioning clamping ridge 31, then the end of the elastic beam 18 can not be stressed, due to the elastic deformation recovery property, the elastic beam 18 can return to the original shape, the length can also return to the original length, the torsion bar of the torsion spring 29 can be clamped again by the positioning clamping ridge 31, and therefore the torsion spring 29 and the positioning clamping ridge 31 are matched to prevent the elastic beam 18 from being subjected to plastic deformation to damage the elastic beam 18 when the bending angle is too large.

The solar power generation device is installed on the frame of the blind guiding vehicle, the specific position of installation can be selected according to actual needs, and the solar power generation device can provide sufficient electric power support for the operation of the blind guiding vehicle, so that the purpose of green travel is realized.

The obstacle avoidance warning system comprises a main control board, an openMV camera 36 and a buzzer, wherein the openMV camera 36 and the buzzer are respectively connected with the main control board; fix the openMV camera 36 on the camera support that 3D printed with bolted connection, install the camera support in the middle position department of the landing slab front end of frame again, the specific position of main control board and bee calling organ installation can be selected according to actual need. The working principle of the obstacle avoidance alarm system is as follows: detect the vehicle place ahead through openMV camera 36 to through the three-dimensional range finding of algorithm, detect the object within a meter, get rid of the noise point through opening the operation, calculate the area simultaneously, do not consider when the area is less than certain threshold value, obtain its central coordinate at last and send to the main control board, the main control board control bee calling organ sends out the police dispatch newspaper and adjusts the direction of advance of car and then keep away the barrier through the track differential.

The above embodiments are provided to further explain the problems and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and all equivalent changes and modifications within the scope of the present invention are intended to be covered by the claims.