CN113370173A

CN113370173A - Cruising obstacle avoidance structure based on intelligent robot

Info

Publication number: CN113370173A
Application number: CN202110659912.XA
Authority: CN
Inventors: 孙青松
Original assignee: Xuzhou Chuchuang Intelligent Equipment Co ltd
Current assignee: Xuzhou Chuchuang Intelligent Equipment Co ltd
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2021-09-10

Abstract

The invention discloses a cruising obstacle avoidance structure based on an intelligent robot, which comprises a machine body, a looking-around mechanism, an obstacle clearing mechanism, an anti-collision mechanism and a braking mechanism, wherein the machine body comprises a frame, a shell arranged on the frame and ultrasonic ranging fixedly arranged on two sides of the shell, a first cavity and a second cavity are arranged in the shell, the looking-around mechanism comprises a first motor fixedly arranged in the first cavity, a driving gear fixedly connected to the output end of the first motor, a screw rod fixedly connected to the output end of the second motor, a screw sleeve suitable for sliding relative to the screw rod, a connecting frame fixedly connected to a base, an intelligent camera hinged to the connecting frame and a transmission strip hinged between the screw sleeve and the intelligent camera, the obstacle clearing mechanism is positioned at the bottom of the frame and used for clearing obstacles on a chassis of the frame, the anti-collision mechanism is positioned on two sides of the shell and used for reducing impact force generated during collision, the braking mechanism is positioned in the shell and used for emergently braking the running of the frame.

Description

Cruising obstacle avoidance structure based on intelligent robot

Technical Field

The invention relates to the technical field of robots, in particular to a cruising obstacle avoidance structure based on an intelligent robot.

Background

The robot is an automatic machine, is different from a human or biological similar intelligent capability, such as sensing capability, planning capability, action capability and coordination capability, and is an automatic machine with high flexibility.

Along with the progress of science and technology, the development of robot is more and more mature, the area of modern factory is very big, it is long consuming time to manual work cruise, waste time and energy, then adopt the robot to cruise, and the robot can meet the barrier at the in-process of advancing, current robot is difficult to all-round to observe the surrounding environment, the difficult best route of selecting, and the rubble of bottom or the barrier of less size, the instrument is difficult to detect, cause the damage to the chassis of robot easily, and when the instrument is malfunctioning, the robot suffers the collision, be difficult to protect the robot.

Disclosure of Invention

The present invention is directed to solving one of the technical problems of the prior art or the related art.

Therefore, the technical scheme adopted by the invention is as follows:

the cruising obstacle-avoiding structure based on the intelligent robot comprises a machine body, an around-looking mechanism, an obstacle-clearing mechanism, an anti-collision mechanism and a braking mechanism, wherein the machine body comprises a frame, a shell arranged on the frame and ultrasonic ranging fixedly arranged on two sides of the shell, a first cavity and a second cavity are arranged in the shell, the around-looking mechanism comprises a first motor fixedly arranged in the first cavity, a driving gear fixedly connected to the output end of the first motor, a connecting shaft rotatably arranged in the first cavity, a driven gear sleeved on the connecting shaft and meshed with the driving gear for transmission, a base fixedly connected to the top end of the connecting shaft, a second motor fixedly arranged in the base, a screw fixedly connected to the output end of the second motor, a threaded sleeve suitable for sliding relative to the screw, a connecting frame fixedly connected to the base, an intelligent camera hinged on the connecting frame and a transmission strip hinged between the threaded sleeve and the intelligent camera, the obstacle clearing mechanism is located at the bottom of the frame and used for clearing obstacles on a chassis of the frame, the anti-collision mechanisms are located on two sides of the shell and used for slowing down impact force generated during collision, and the braking mechanism is located in the shell and used for emergently braking the operation of the frame.

Through adopting above-mentioned technical scheme, intelligent camera on the base rotates along with the connecting axle, the second motor starts to drive the screw rod and rotates, make the swivel nut remove, the swivel nut passes through the drive strip pulling or promotes intelligent camera and carries out angle modulation, then can make intelligent camera to the all-round observation of external environment, can make the frame select the best route to walk, then can keep away the barrier at the frame in-process that cruises, keep away the barrier and collide the barrier, be favorable to improving the security of frame walking in-process.

The present invention in a preferred example may be further configured to: obstacle clearance mechanism is including adorning third motor on the frame admittedly, rigid coupling in the first gear of third motor output, meshing transmission in the pinion rack of first gear both sides, rigid coupling in the clearance board of pinion rack bottom, set up in the baffle of frame bottom, rigid coupling in the ejector pin at the baffle back and the drive switch of rigid coupling in the frame bottom, ejector pin and drive switch are located the coplanar, both sides the pinion rack distributes in pairs, the bottom of pinion rack is passed the spout and is extended to the frame below.

Through adopting above-mentioned technical scheme, the third motor starts to drive first gear revolve, first gear and pinion rack meshing transmission, and first gear passes through the pinion rack and drives the clearance board removal, then can be with barrier propelling movement to the both sides of frame, clearance board resets afterwards, can avoid the barrier to cause the damage to the pipeline and the bottom plate of frame bottom, can protect the chassis of frame, is favorable to improving the security that the frame was cruised.

The present invention in a preferred example may be further configured to: the obstacle removing mechanism also comprises supporting blocks fixedly connected to two sides of the bottom of the frame, sliding rods suitable for sliding relative to the supporting blocks and fixedly connected with the baffle plate, and first springs fixedly connected between the baffle plate and the supporting blocks

Through adopting above-mentioned technical scheme, after the clearance, the slide bar promotes the baffle and makes it reset, and the follow-up continuation of being convenient for responds to the barrier, can clear up the barrier once more.

The present invention in a preferred example may be further configured to: the anti-collision mechanism comprises push rods, anti-collision plates, transmission rods, sliding blocks, second springs and sliding frames, the push rods are suitable for sliding relative to the two sides of the shell, the anti-collision plates are fixedly connected to the end portions of the push rods, the transmission rods are fixedly connected into the second cavity, the sliding blocks are suitable for sliding relative to the two sides of the transmission rods, the second springs are fixedly connected to the sliding blocks and the side walls of the shell, and the.

Through adopting above-mentioned technical scheme, suffer when colliding when ultrasonic ranging is out of order, the anticollision board promotes the push rod and removes, and the push rod passes through carriage extrusion slider afterwards for the slider extrudees the second spring, and the second spring cushions the power that the striking produced, then can reduce the influence that causes the organism when colliding.

The present invention in a preferred example may be further configured to: the number of the anti-collision mechanisms is two, and the two anti-collision mechanisms are respectively positioned on two sides of the shell.

Through adopting above-mentioned technical scheme, anticollision institution is provided with two, can protect the organism backing a car and advancing the in-process for the protection is more comprehensive.

The present invention in a preferred example may be further configured to: the braking mechanism comprises a reciprocating screw rod rotatably arranged in the second cavity, a second gear sleeved on the reciprocating screw rod, a transmission sleeve suitable for sliding relative to the reciprocating screw rod, a braking switch fixedly arranged on the inner bottom wall of the second cavity and positioned below the transmission sleeve, and limiting strips fixedly connected to two sides of the transmission sleeve, wherein the end parts of the limiting strips are in sliding connection with the inner bottom of the second cavity through sliding chutes.

Through adopting above-mentioned technical scheme, the transmission cover moves down and presses brake switch, can carry out emergency braking with the frame then, avoids the instrument failure frame to continue the operation, reduces the damage to the organism for it is safer when cruising to the organism.

The present invention in a preferred example may be further configured to: the number of teeth of the driving gear is less than that of the driven gear, and the top end of the connecting shaft extends to the upper side of the shell.

Through adopting above-mentioned technical scheme, drive gear and driven gear meshing transmission for the slew velocity of connecting axle slows down, and then the slew velocity of intelligent camera slows down, makes intelligent camera look around the time to a position and lengthens, and the instrument of being convenient for responds to, is favorable to improving the effect of keeping away the barrier.

The present invention in a preferred example may be further configured to: the front ends of the two cleaning plates are arc-shaped, the opposite end faces of the two cleaning plates are attached to each other, and the two cleaning plates are symmetrically distributed.

Through adopting above-mentioned technical scheme, the curved setting of cleaning plate front end can avoid the barrier to pile up in the front portion of cleaning plate.

The present invention in a preferred example may be further configured to: one side of the rack is connected with the side wall of the shell in a sliding mode, and the two racks are symmetrically distributed on two sides of the second gear.

Through adopting above-mentioned technical scheme, the ultrasonic ranging failure of both sides all can start brake switch, and utilizes single brake mechanism, simple structure can reduce cost.

By adopting the technical scheme, the invention has the beneficial effects that:

1. according to the invention, the looking-around mechanism is arranged, the first motor is started to drive the driving gear to rotate, the driving gear is in meshing transmission with the driven gear, the driving gear drives the connecting shaft to rotate through the driven gear, the intelligent camera on the base rotates along with the connecting shaft, the second motor is started to drive the screw rod to rotate, so that the screw sleeve moves, the screw sleeve pulls or pushes the intelligent camera to adjust the angle through the transmission strip, then the intelligent camera can carry out all-dimensional observation on the external environment, the vehicle frame can select the optimal route to walk, then the obstacle can be avoided in the vehicle frame cruising process, the obstacle is avoided colliding with the obstacle, and the safety of the vehicle frame in the walking process is favorably improved.

2. According to the invention, by arranging the obstacle clearing mechanism, when the ejector rod touches the driving switch, the frame stops walking, the driving switch starts the third motor, the third motor starts to drive the first gear to rotate, the first gear is in meshed transmission with the toothed plate, the first gear drives the clearing plate to move through the toothed plate, then obstacles can be pushed to two sides of the frame, and then the clearing plate resets, so that the obstacles can be prevented from damaging a pipeline and a bottom plate at the bottom of the frame, a chassis of the frame can be protected, and the safety in frame cruising can be improved.

3. According to the invention, by arranging the anti-collision mechanism, when the ultrasonic ranging is out of order, the anti-collision plate pushes the push rod to move, then the push rod extrudes the slide block through the sliding frame, so that the slide block extrudes the second spring, the force generated by the impact is buffered by the second spring, and then the influence on the machine body during the collision can be reduced.

4. According to the invention, by arranging the braking mechanism, when the automobile is collided, the rack moves along with the anti-collision plate, and when the rack is meshed with the second gear, the reciprocating screw rod is driven to rotate, so that the transmission sleeve moves downwards to press the braking switch, and then the automobile frame can be emergently braked, the automobile frame with an instrument failure is prevented from continuously operating, the damage to the automobile body is reduced, and the automobile body is safer during cruising.

Drawings

FIG. 1 is a schematic overall structure diagram of one embodiment of the present invention;

FIG. 2 is a bottom view of one embodiment of the present invention;

FIG. 3 is a cross-sectional view of a housing of one embodiment of the present invention;

FIG. 4 is a schematic view of a look-around mechanism of one embodiment of the present invention;

FIG. 5 is a schematic exterior view of the vehicle frame of one embodiment of the present invention;

FIG. 6 is a schematic view of a barrier clearance mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic view of the external connection of the baffle according to one embodiment of the present invention;

FIG. 8 is a schematic view of a crash mechanism in accordance with one embodiment of the present invention;

FIG. 9 is a schematic view of a braking mechanism according to an embodiment of the present invention.

Reference numerals:

100. a body; 101. a frame; 102. a housing; 103. ultrasonic ranging;

200. a look-around mechanism; 201. a first motor; 202. a drive gear; 203. a driven gear; 204. a second motor; 205. a screw; 206. a threaded sleeve; 207. an intelligent camera;

300. an obstacle removing mechanism; 301. a third motor; 302. a first gear; 303. a toothed plate; 304. cleaning the plate; 305. a top rod; 306. a drive switch; 307. a first spring; 308. a slide bar; 309. a baffle plate;

400. an anti-collision mechanism; 401. a push rod; 402. an anti-collision plate; 403. a slider; 404. a second spring;

500. a brake mechanism; 501. a rack; 502. a reciprocating screw rod; 503. a second gear; 504. a transmission sleeve; 505. and (5) a brake switch.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

It is to be understood that this description is made only by way of example and not as a limitation on the scope of the invention.

The following describes an intelligent robot-based cruise obstacle avoidance structure provided by some embodiments of the present invention with reference to the accompanying drawings.

The first embodiment is as follows:

referring to fig. 1, 3 and 4, the cruising obstacle avoidance structure based on the intelligent robot includes a body 100, a looking-around mechanism 200, an obstacle clearing mechanism 300, an anti-collision mechanism 400 and a braking mechanism 500, wherein the body 100 includes a frame 101, a housing 102 disposed on the frame 101, and ultrasonic ranging 103 fixedly disposed on two sides of the housing 102, and the housing 102 has a first cavity and a second cavity, the looking-around mechanism 200 includes a first motor 201 fixedly disposed in the first cavity, a driving gear 202 fixedly connected to an output end of the first motor 201, a connecting shaft rotatably disposed in the first cavity, a driven gear 203 sleeved on the connecting shaft and in meshing transmission with the driving gear 202, a base fixedly connected to a top end of the connecting shaft, a second motor 204 fixedly disposed in the base, a screw 205 fixedly connected to an output end of the second motor 204, a threaded sleeve 206 adapted to slide relative to the screw 205, and a connecting frame fixedly connected to the base, The intelligent camera 207 hinged on the connecting frame and the transmission strip hinged between the screw sleeve 206 and the intelligent camera 207, the first motor 201 is started to drive the driving gear 202 to rotate, the driving gear 202 is in meshed transmission with the driven gear 203, the driving gear 202 drives the connecting shaft to rotate through the driven gear 203, the intelligent camera 207 on the base rotates along with the connecting shaft, the second motor 204 is started to drive the screw rod 205 to rotate, so that the screw sleeve 206 moves, the screw sleeve 206 pulls or pushes the intelligent camera 207 to adjust the angle through the transmission strip, then the intelligent camera 207 can carry out all-directional observation on the external environment, the vehicle frame 101 can select the best route to walk, then the obstacle can be avoided in the cruising process of the vehicle frame 101, the obstacle can be avoided to collide with the obstacle, the safety of the vehicle frame 101 in the walking process can be improved, and the obstacle clearing mechanism 300 is positioned at the bottom of the vehicle frame 101, the vehicle frame is used for cleaning obstacles on the chassis of the vehicle frame 101, the anti-collision mechanisms 400 are positioned on two sides of the shell 102 and used for relieving impact force generated in collision, and the braking mechanism 500 is positioned in the shell 102 and used for emergently braking the running of the vehicle frame 101.

Specifically, the number of teeth of drive gear 202 is less than driven gear 203's number of teeth, the top of connecting axle extends to the top of casing 102, because the number of teeth of drive gear 202 is less than driven gear 203's number of teeth, drive gear 202 and driven gear 203 meshing transmission, make the slew velocity of connecting axle slow, then intelligent camera 207's slew velocity slows down, make intelligent camera 207 lengthen to a position look around time, the instrument of being convenient for responds to, be favorable to improving the effect of keeping away the barrier.

Example two:

referring to fig. 2, 5, 6 and 7, based on the first embodiment, the obstacle clearing mechanism 300 includes a third motor 301 fixedly mounted on the frame 101, a first gear 302 fixedly connected to an output end of the third motor 301, a toothed plate 303 engaged with and driven by two sides of the first gear 302, a cleaning plate 304 fixedly connected to a bottom end of the toothed plate 303, a baffle 309 disposed at a bottom of the frame 101, a push rod 305 fixedly connected to a back surface of the baffle 309, and a driving switch 306 fixedly connected to a bottom of the frame 101, wherein the push rod 305 and the driving switch 306 are located on a same plane, the toothed plate 303 at two sides are symmetrically distributed, a bottom end of the toothed plate 303 passes through a sliding groove and extends to a position below the frame 101, when a broken stone or a small-sized obstacle is located at a front portion of a traveling direction of the frame 101, the intelligent camera 207 cannot sense the object, when the baffle 309 touches the baffle 309 to push the push rod 305 to move, and when the push rod 305 touches the driving switch 306, the frame 101 stops traveling, drive switch 306 starts third motor 301, third motor 301 starts to drive first gear 302 and rotates, first gear 302 and pinion rack 303 mesh transmission, first gear 302 passes through pinion rack 303 and drives clearance board 304 and remove, then can push the both sides of frame 101 with the barrier, clearance board 304 resets afterwards, can avoid the barrier to cause the damage to the pipeline and the bottom plate of frame 101 bottom, can protect the chassis of frame 101, be favorable to improving the security that frame 101 cruises.

Specifically, the obstacle clearing mechanism 300 further includes support blocks fixedly connected to two sides of the bottom of the vehicle frame 101, a slide bar 308 adapted to slide relative to the support blocks and fixedly connected to the baffle 309, and a first spring 307 fixedly connected between the baffle 309 and the support blocks, and after clearing, the slide bar 308 pushes the baffle 309 to reset the baffle 309, so that subsequent sensing of the obstacle can be continued, and the obstacle can be cleared again.

Further, the front end of two cleaning plates 304 is arc shape, and the relative terminal surface of two cleaning plates 304 laminates mutually, and two cleaning plates 304 are symmetrically distributed, and the curved setting of cleaning plate 304 front end can avoid the barrier to pile up in the front portion of cleaning plate 304.

Example three:

referring to fig. 3 and 8, in the above embodiment, the crashworthy mechanism 400 includes a push rod 401 adapted to slide relative to two sides of the housing 102, a crashworthy plate 402 fixed to an end of the push rod 401, a transmission rod fixed in the second cavity, a slide block 403 adapted to slide relative to two sides of the transmission rod, a second spring 404 fixed to the slide block 403 and a side wall of the housing 102, and a sliding frame hinged between the slide block 403 and the push rod 401, wherein when the ultrasonic ranging apparatus 103 fails to perform a collision, the crashworthy plate 402 pushes the push rod 401 to move, and then the push rod 401 presses the slide block 403 via the sliding frame, so that the slide block 403 presses the second spring 404, and the second spring 404 buffers the force generated by the collision, thereby reducing the influence on the machine body 100 caused by the collision.

Specifically, the number of the anti-collision mechanisms 400 is two, the two anti-collision mechanisms 400 are respectively located on two sides of the shell 102, and the two anti-collision mechanisms 400 are provided, so that the machine body 100 can be protected in the process of backing and advancing, and the protection is more comprehensive.

Example four:

referring to fig. 3 and 9, in the above embodiment, the braking mechanism 500 includes a reciprocating screw rod 502 rotatably installed in the second cavity, a second gear 503 sleeved on the reciprocating screw rod 502, a transmission sleeve 504 adapted to slide relative to the reciprocating screw rod 502, a braking switch 505 fixedly installed on the inner bottom wall of the second cavity and located below the transmission sleeve 504, and a limit bar fixedly connected to two sides of the transmission sleeve 504, wherein an end of the limit bar is slidably connected to the inner bottom of the second cavity through a sliding chute, the rack 501 moves along with the anti-collision plate 402, and when the rack 501 is engaged with the second gear 503, the reciprocating screw rod 502 is driven to rotate, so that the transmission sleeve 504 moves downward to press the braking switch 505, and then the vehicle frame 101 can be emergently braked, thereby preventing the malfunctioning instrument vehicle frame 101 from continuing to operate, reducing damage to the machine body 100, and making the machine body 100 safer when cruising.

Specifically, one side of the rack 501 is slidably connected with the side wall of the housing 102, and the two racks 501 are symmetrically distributed on two sides of the second gear 503, the brake switch 505 can be started when the ultrasonic ranging 103 on two sides fails, and the single brake mechanism 500 is utilized, so that the structure is simple, and the cost can be reduced.

The working principle and the using process of the invention are as follows: firstly, a worker starts the machine body 100 to enable the machine body 100 to cruise, the first motor 201 is started to drive the driving gear 202 to rotate, the driving gear 202 is in meshing transmission with the driven gear 203, the driving gear 202 drives the connecting shaft to rotate through the driven gear 203, the intelligent camera 207 on the base rotates along with the connecting shaft, the second motor 204 is started to drive the screw rod 205 to rotate, the threaded sleeve 206 is enabled to move, the threaded sleeve 206 pulls or pushes the intelligent camera 207 to adjust the angle through the transmission strip, then the intelligent camera 207 can conduct all-dimensional observation on the external environment, and the vehicle frame 101 can walk by selecting the optimal route;

when broken stones or obstacles with smaller sizes are located in the front of the advancing direction of the frame 101, the intelligent camera 207 cannot sense the broken stones or the obstacles with smaller sizes, the baffle 309 touches the baffle 309 to push the ejector rod 305 to move, when the ejector rod 305 touches the driving switch 306, the frame 101 stops walking, the driving switch 306 starts the third motor 301, the third motor 301 starts to drive the first gear 302 to rotate, the first gear 302 is in meshing transmission with the toothed plate 303, the first gear 302 drives the cleaning plate 304 to move through the toothed plate 303, then the obstacles can be pushed to the two sides of the frame 101, and then the cleaning plate 304 resets;

when the ultrasonic ranging 103 is out of order, the collision-proof plate 402 pushes the push rod 401 to move, then the push rod 401 extrudes the sliding block 403 through the sliding frame, so that the sliding block 403 extrudes the second spring 404, the second spring 404 buffers the force generated by collision, the influence on the machine body 100 in collision can be reduced, the rack 501 moves along with the collision-proof plate 402, the reciprocating screw rod 502 is driven to rotate when the rack 501 is meshed with the second gear 503, the transmission sleeve 504 moves downwards to press the brake switch 505, the emergency braking can be carried out on the machine frame 101, the continuous operation of the machine body 100 due to instrument failure is avoided, the damage to the machine body 100 is reduced, and the machine body 100 can cruise more safely.

In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It will be understood that when an element is referred to as being "mounted to," "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means 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 invention. In this specification, the schematic representations of the terms used above do not necessarily 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.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.

Claims

1. Barrier structure is kept away in cruising based on intelligent robot, its characterized in that includes:

the ultrasonic ranging device comprises a machine body (100), wherein the machine body (100) comprises a frame (101), a shell (102) arranged on the frame (101) and ultrasonic ranging (103) fixedly arranged on two sides of the shell (102), and a first cavity and a second cavity are arranged in the shell (102);

the all-round looking mechanism (200) comprises a first motor (201) fixedly arranged in a first cavity, a driving gear (202) fixedly connected to the output end of the first motor (201), a connecting shaft rotatably arranged in the first cavity, a driven gear (203) sleeved on the connecting shaft and in meshed transmission with the driving gear (202), a base fixedly connected to the top end of the connecting shaft, a second motor (204) fixedly arranged in the base, a screw rod (205) fixedly connected to the output end of the second motor (204), a threaded sleeve (206) suitable for sliding relative to the screw rod (205), a connecting frame fixedly connected to the base, an intelligent camera (207) hinged to the connecting frame and a transmission strip hinged between the threaded sleeve (206) and the intelligent camera (207);

the obstacle clearing mechanism (300) is positioned at the bottom of the vehicle frame (101) and used for clearing obstacles on a chassis of the vehicle frame (101);

the anti-collision mechanisms (400) are positioned on two sides of the shell (102) and used for reducing impact force generated in collision;

a brake mechanism (500), the brake mechanism (500) being located within the housing (102) for emergency braking of operation of the vehicle frame (101).

2. The cruising obstacle avoiding structure based on the intelligent robot as claimed in claim 1, wherein the obstacle avoiding mechanism (300) comprises a third motor (301) fixedly mounted on the frame (101), a first gear (302) fixedly connected to an output end of the third motor (301), toothed plates (303) engaged and driven at two sides of the first gear (302), a cleaning plate (304) fixedly connected to a bottom end of the toothed plates (303), a baffle plate (309) arranged at the bottom of the frame (101), a push rod (305) fixedly connected to a back surface of the baffle plate (309), and a driving switch (306) fixedly connected to a bottom of the frame (101), wherein the push rod (305) and the driving switch (306) are located on the same plane, the toothed plates (303) at two sides are symmetrically distributed, and a bottom end of the toothed plate (303) extends to a lower side of the frame (101) through a sliding groove.

3. The intelligent robot-based cruise obstacle avoidance structure according to claim 2, wherein the obstacle clearance mechanism (300) further comprises support blocks fixedly connected to two sides of the bottom of the vehicle frame (101), slide rods (308) adapted to slide relative to the support blocks and fixedly connected to the baffle (309), and first springs (307) fixedly connected between the baffle (309) and the support blocks.

4. The intelligent robot-based cruise obstacle avoidance structure according to claim 1, wherein the collision avoidance mechanism (400) comprises a push rod (401) adapted to slide relative to two sides of the housing (102), a collision prevention plate (402) fixedly connected to an end of the push rod (401), a transmission rod fixedly connected to the second cavity, a slide block (403) adapted to slide relative to two sides of the transmission rod, a second spring (404) fixedly connected to the slide block (403) and a side wall of the housing (102), and a sliding frame hinged between the slide block (403) and the push rod (401).

5. The intelligent robot-based cruising obstacle avoidance structure of claim 4, wherein the number of the collision avoidance mechanisms (400) is two, and the two collision avoidance mechanisms (400) are respectively located at two sides of the housing (102).

6. The intelligent robot-based cruising obstacle avoidance structure according to claim 1, wherein the braking mechanism (500) comprises a reciprocating screw rod (502) rotatably mounted in the second cavity, a second gear (503) sleeved on the reciprocating screw rod (502), a transmission sleeve (504) adapted to slide relative to the reciprocating screw rod (502), a brake switch (505) fixedly mounted on the inner bottom wall of the second cavity and positioned below the transmission sleeve (504), and limit bars fixedly connected to both sides of the transmission sleeve (504), and the end portions of the limit bars are slidably connected with the inner bottom of the second cavity through sliding grooves.

7. The intelligent robot-based cruise obstacle avoidance structure according to claim 1, wherein the number of teeth of the driving gear (202) is less than that of the driven gear (203), and the top end of the connecting shaft extends to the upper side of the housing (102).

8. The intelligent robot-based cruise obstacle avoidance structure according to claim 2, wherein the front ends of the two cleaning plates (304) are both arc-shaped, the opposite end surfaces of the two cleaning plates (304) are attached, and the two cleaning plates (304) are symmetrically distributed.

9. The intelligent robot-based cruise obstacle avoidance structure according to claim 6, wherein one side of the rack (501) is connected with the side wall of the housing (102) in a sliding manner, and the two racks (501) are symmetrically distributed on two sides of the second gear (503).