Electric vehicle with intelligent barrier avoiding function

Abstract

The invention relates to an electric motor car comprising a power device, a travelling device driving mechanism which can drive a vehicle, a control signal input device and a programmable obstacle-avoiding mechanism. The programmable obstacle-avoiding mechanism comprises a detection device, a road-obstacle information storage device, an obstacle-avoiding calculating, encoding and storing device, and a comparator. The travelling device driving mechanism also comprises a control signal processing device which performs processing to obtain a translation speed value and a rotating angular speed value on the gravity center of the vehicle according to a control signal obtained through the control signal input device and an output signal of the comparator and which inputs the values obtained through calculation into the travelling device driving mechanism. Therefore, the electric motor car can automatically select an obstacle-avoiding method according to a distance away from the obstacle during the travel, which is detected by the programmable obstacle-avoiding mechanism. The system with an automatic obstacle-avoiding function has simple structure, demands low use condition, can reach high manipulation accuracy, saves the production cost, and is applicable to generalization.

Description

technical field [0001] The invention relates to a motion mechanism using a control program, in particular to an electric vehicle with automatic obstacle avoidance function controlled by a program. Background technique [0002] With the development of electric vehicle technology and the improvement of its performance, the field of use of electric vehicles is becoming more and more extensive. The technical points of the existing electronic sensor control vehicle electric driving are: the control of direction change, that is, it must be controlled independently by two The way of driving solves the control of the driving direction, so the problem of intelligent obstacle avoidance of electric vehicles is very important; however, most of the existing electric vehicles do not have intelligent obstacle avoidance functions; the application number "CN200610104667 .1" titled as "a kind of automatic navigation tractor" discloses a kind of automatic guidance tractor, including car body, ...

AI Technical Summary

Problems solved by technology

[0002] With the development of electric vehicle technology and the improvement of its performance, the field of use of electric vehicles is becoming more and more extensive. The technical points of the existing electronic sensor control vehicle electric driving are: the control of direction change, that is, it must be controlled independently by two The way of driving solves the control of the driving direction, so the problem of intelligent obstacle avoidance of electric vehicles is very important; however, most of the existing electric vehicles do not have intelligent obstacle avoidance functions; the application number "CN200610104667 .1" titled as "a kind of automatic navigation tractor" discloses a kind of automatic guidance tractor, including car body, front wheel, two rear wheels, tow hook and the accumulator that the car body is arranged on, it is characterized in that, the The front and left and right sides of the car body are respectively equipped with ultrasonic sensors, and the car body is also provided with a numerical control device and a gyroscope. The two rear wheels are follower wheels arranged symmetrically on the left and right, and the front wheels are used for driving and steering functions. The integrated composite front wheel includes a composite front wheel support, a steering motor reducer assembly is arranged on the composite front wheel support, a small gear is fixed on the shaft of the steering motor reducer assembly, and the shaft of the composite front wheel support is arranged coaxially in turn There is a large gear and a driving wheel, the large gear is meshed with the pinion, and a drive motor reducer assembly is also arranged in the drive wheel; the drive motor reducer assembly and the steering motor reducer assembly include respectively There is an encoder, and the encoder, the numerical control device, the ultrasonic sensor and the gyroscope constitute a combined navigation control system, and two of the ultrasonic sensors are respectively arranged on the front and the left and right sides of the car body; this kind of automatic navigation tractor Obstacle avoidance has been achieved to a certain extent, but this type of automatic navigation tractor cannot adjust its motion mode according to the distance between the tractor and the obstacle, and the reliability of the obstacle avoidance method is low. The structure is relatively complicated and not suitable for use on electric vehicles

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