CN115056849A - Automobile intelligent driving method and device based on visual detection and storage medium - Google Patents

Automobile intelligent driving method and device based on visual detection and storage medium Download PDF

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Publication number
CN115056849A
CN115056849A CN202210879967.6A CN202210879967A CN115056849A CN 115056849 A CN115056849 A CN 115056849A CN 202210879967 A CN202210879967 A CN 202210879967A CN 115056849 A CN115056849 A CN 115056849A
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China
Prior art keywords
vehicle
arc
rod
visual detection
plate
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CN202210879967.6A
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Chinese (zh)
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CN115056849B (en
Inventor
罗广
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Zhuhai Junchi Technology Co ltd
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Zhuhai Junchi Technology Co ltd
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Priority to CN202210879967.6A priority Critical patent/CN115056849B/en
Publication of CN115056849A publication Critical patent/CN115056849A/en
Priority to IE20220212U priority patent/IE20220212U1/en
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Publication of CN115056849B publication Critical patent/CN115056849B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/16—Arrangement of linkage connections
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

The invention discloses an intelligent automobile driving method and device based on visual detection and a storage medium, and relates to the technical field of intelligent automobile driving. This car intelligent driving device based on visual detection, including the vehicle, the left side fixed mounting of vehicle has the visual detection unit, be provided with the bottom that intelligent steering device vehicle turned to on the vehicle, intelligent steering device is including turning to controlling means, turning to controlling means fixed mounting. This car intelligence driving device based on visual detection can detect road surface situation and the position that the road surface turned through the visual detection unit, and the visual detection unit can transmit the data that detect to steering control device, and steering control device can control electric putter, and electric putter can promote the movable plate to remove, and the movable plate removes and can promote the pivot through the telescopic link and rotate, can turn to the vehicle when the pivot rotates, makes the vehicle can normally turn and travel on the road surface.

Description

Automobile intelligent driving method and device based on visual detection and storage medium
Technical Field
The invention relates to the technical field of intelligent driving of automobiles, in particular to an intelligent driving method and device of an automobile based on visual detection and a storage medium.
Background
The existing intelligent driving automobile cannot be used when the automobile navigation fails to identify the road and cannot move on the road due to the fact that the automobile cannot detect the condition of the road when unmanned driving is carried out on the road.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an intelligent driving method, an intelligent driving device and a storage medium of an automobile based on visual detection, which solve the problems that the existing intelligent driving automobile cannot detect the condition of a road surface, cannot move on the road surface, influence the normal driving of the intelligent automobile and cannot be used when the automobile navigation fails when unmanned driving is carried out on the road surface and the navigation cannot identify the road.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an intelligent driving device of an automobile based on visual detection comprises a vehicle, wherein a visual detection unit is fixedly mounted on the left side of the vehicle, the bottom of the vehicle is provided with an intelligent steering device, the intelligent steering device comprises a steering control device, the steering control device is fixedly mounted on the vehicle, a rotating shaft is rotatably mounted at the bottom of the vehicle, an electric push rod is fixedly mounted at the bottom of the vehicle, a moving plate is slidably mounted at the bottom of the vehicle, the output end of the electric push rod is fixed with the moving plate, a telescopic rod is fixedly mounted on one surface of the moving plate, which is close to the rotating shaft, the free end of the telescopic rod is hinged with the rotating shaft, the road surface condition and the road surface turning position can be detected through the visual detection unit, the visual detection unit can transmit detected data to the steering control device, and the steering control device can control the electric push rod, electric putter can promote the movable plate and remove, and the movable plate removes and can promote the pivot through the telescopic link and rotate, can turn to the vehicle when the pivot rotates, makes the vehicle can normally turn and go on the road surface.
Preferably, the bottom fixed mounting of vehicle has the fixed axle, the tire is all installed to the bottom of fixed axle and pivot, install the axis of rotation on the epaxial tire of fixed, the bottom fixed mounting of vehicle has driving motor, driving motor is connected with rotation axis transmission, can drive the vehicle through driving motor and remove.
Preferably, the vehicle is provided with a mobile protection device, the mobile protection device comprises a slide bar, the slide bar is sleeved on the vehicle in a sliding manner, one end of the slide bar, which is far away from the vehicle, is rotatably provided with a rotating disc, one end of the slide bar rotating disc is arc-shaped, the bottom of the vehicle is fixedly provided with a sealing frame, the surface of the sealing frame is fixedly provided with an elastic telescopic connecting rod, the free end of the elastic telescopic connecting rod is fixedly provided with an arc-shaped plate, the surface of the moving plate is fixedly provided with a pushing plate, when the data fed back to the steering control device by the vision detection unit is deviated, the rotating angle of the rotating shaft is too small, the rotating disc can detect roadside curbs, the rotating disc can drive the slide bar to move towards the vehicle, the arc-shaped plate on the slide bar can push the arc-shaped plate to move, and the arc-shaped surface on the arc-shaped plate can push the pushing plate to move, the pushing plate can drive the moving plate to move, so that the rotating angle of the rotating shaft can be increased, and the situation that the vehicle continuously moves and can impact road teeth can be avoided.
Preferably, be provided with the striking protection device on the arc, the striking protection device includes the elastic rod, elastic rod fixed mounting is on the surface of arc, driving motor's surface mounting has control switch, the bottom slidable mounting of vehicle has concave piece, the one end slidable mounting that the arc was kept away from to the elastic rod moves through the elastic rod when moving to the slide bar, and the elastic rod can drive concave piece and remove, can stop to press control switch when the concave piece removes, and control switch can close driving motor, avoids driving motor to continue to drive axis of rotation and vehicle and removes to can stop the vehicle and remove, improved the security to vehicle driving.
Preferably, an elastic sheet is arranged between the slide rod and the vehicle, the arc position of the slide rod is in contact with the arc plate, the slide rod can be driven to automatically reset through the elastic sheet, and the arc plate can be pushed to move towards the direction of the push plate through the arc position of the slide rod.
Preferably, the sealing frame is provided with a steering protection device, the steering protection device comprises a sealing plate, the sealing plate is slidably mounted on the inner wall of the sealing frame, one surface, close to the pushing plate, of the sealing plate is fixedly provided with an arc-shaped block, the inner wall of the sealing frame is slidably mounted with a transmission block, a second elastic sheet is arranged between the transmission block and the sealing frame, the inner wall of the sealing frame is rotatably mounted with a baffle, the inner wall of the sealing frame is fixedly provided with a limiting block, the baffle is provided with a through hole, the pushing plate can push the arc-shaped block and the sealing plate to move when moving, the sealing plate can push liquid in the sealing frame to move in the sealing frame, the through hole in the baffle can reduce the flow of the liquid in the sealing frame, so that the movement of the pushing plate and the moving plate can be reduced, and the moving speed of the moving plate can be avoided from being too high, the vehicle can turn over at an excessive speed to cause danger.
Preferably, the gangbar has been cup jointed in the slip on the vehicle, the movable rod has been cup jointed in one side slip that sealed frame is close to the gangbar, the surface rotation of vehicle installs arc cleaning board, arc cleaning board is close to gangbar and goes up fixed mounting in one side and has the triangular block, can promote the drive block when the inside liquid of sealed frame removes, can promote the movable rod when the drive block removes, can promote the gangbar and reciprocate when the movable rod removes, can promote the arc cleaning board and remove when the gangbar contacts with the triangular block, can get rid of the dust on the visual detection unit when the arc cleaning board removes, avoids the too much foreign matter of adhesion to influence the detection of visual detection unit to the road surface on the visual detection unit.
Preferably, the movable rod contacts with the linkage rod, the bottom of linkage rod is the arc, be provided with No. three shell fragments between movable rod and the sealed frame, be provided with No. four shell fragments between arc clearance board and the vehicle, be provided with No. five shell fragments between baffle and the sealed frame, the movable rod can promote the linkage rod and remove during the arc of linkage rod bottom, can block the baffle through the restriction piece and rotate to the right side, when making the inside liquid of sealed frame remove to the right side, liquid can only flow through the through-hole, when making the vehicle not turn to for a long time, the arc clearance board just can clear up the vision detecting element, can influence the detection of vision detecting element to the road surface when avoiding the arc clearance board to the vision detecting element clearance.
A driving method of an automobile intelligent device based on visual detection comprises the following steps:
the method comprises the following steps: the road surface turning angle and the turning position can be detected through the visual detection unit;
step two: the visual detection unit transmits the detected data to the steering control device:
step three: the electric push rod can be controlled through the steering control device, the electric push rod can drive the movable plate to move, the movable plate can drive the telescopic rod to move when moving, and the telescopic rod can drive the rotating shaft to rotate;
step four: the rotating shaft can steer the vehicle when rotating.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the above-mentioned intelligent driving method.
(III) advantageous effects
The invention provides an intelligent automobile driving device based on visual detection. The method has the following beneficial effects:
(1) this car intelligent driving device based on visual detection can detect the position that road surface situation and road surface turned through the visual detection unit, and the visual detection unit can be with the data transfer who detects to steering control device, and steering control device can control electric putter, and electric putter can promote the movable plate and remove, and the movable plate removes and can promote the pivot through the telescopic link and rotate, can turn to the vehicle when the pivot rotates, makes the vehicle can normally turn and travel on the road surface.
(2) This car intelligent driving device based on visual detection, when the data that feeds back to steering control device at the visual detection unit appear the deviation, make pivot pivoted angle when too little, make the rolling disc can contact with roadside curb, the rolling disc can drive the slide bar and remove to the direction of vehicle, cambered surface on the slide bar can promote the arc and remove, arcwall face on the arc can promote the slurcam and remove, the slurcam can drive the movable plate and remove, thereby can improve pivot pivoted angle, can avoid the vehicle to continue to remove and can strike road surface curb.
(3) This car intelligent driving device based on visual detection removes through the elastic rod when removing to the slide bar, and the elastic rod can drive concave shape piece and remove, can stop pressing control switch when the concave shape piece removes, and control switch can close driving motor, avoids driving motor to continue to drive axis of rotation and vehicle and removes to can stop the vehicle and remove, improved the security of driving the vehicle.
(4) The intelligent driving device for the automobile based on the visual detection can push the arc-shaped block and the sealing plate to move when the pushing plate moves, the sealing plate can push liquid in the sealing frame to move in the sealing frame, the flow of the liquid in the sealing frame can be reduced through the through holes in the baffle plate, thereby can reduce the removal of slurcam and movable plate, can avoid the speed that the movable plate removed too fast, it can produce and turn on one's side and produce danger to lead to pivot pivoted vehicle at too fast speed, can promote the transmission piece when the inside liquid of sealed frame removes, can promote the movable rod when the transmission piece removes, can promote the gangbar when the movable rod removes and reciprocate, can promote arc cleaning plate when the gangbar contacts with the triangle-shaped piece and remove, can get rid of the dust on the visual detection unit when arc cleaning plate removes, avoid the detection of visual detection unit to the road surface can be influenced to the too much foreign matter of adhesion on the visual detection unit.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a vehicle underbody construction of the present invention;
FIG. 3 is a schematic view of the moving plate structure of the present invention;
FIG. 4 is a schematic view of an arc plate according to the present invention;
FIG. 5 is a schematic view of the internal structure of the sealing frame according to the present invention;
FIG. 6 is a schematic diagram of the structure of the arc-shaped cleaning plate according to the present invention.
In the figure: 1. a vehicle; 2. a visual detection unit; 31. a steering control device; 32. a rotating shaft; 33. an electric push rod; 34. moving the plate; 35. a telescopic rod; 41. a fixed shaft; 42. a drive motor; 43. a rotating shaft; 51. a slide bar; 52. rotating the disc; 53. an elastic telescopic connecting rod; 54. an arc-shaped plate; 55. a push plate; 56. a concave block; 57. an elastic rod; 58. a control switch; 6. a sealing frame; 71. a sealing plate; 72. an arc-shaped block; 73. a transmission block; 74. a baffle plate; 75. a limiting block; 76. a movable rod; 77. a linkage rod; 78. an arc-shaped cleaning plate; 79. a triangular block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1-6, the present embodiment provides a technical solution: an intelligent driving device of an automobile based on visual detection comprises a vehicle 1, a visual detection unit 2 is fixedly installed on the left side of the vehicle 1, the bottom of the intelligent steering device 1 is arranged on the vehicle 1, the intelligent steering device comprises a steering control device 31, the steering control device 31 is fixedly installed, a rotating shaft 32 is rotatably installed on the bottom of the vehicle 1, an electric push rod 33 is fixedly installed on the bottom of the vehicle 1, a moving plate 34 is slidably installed on the bottom of the vehicle 1, the output end of the electric push rod 33 is fixed with the moving plate 34, an expansion link 35 is fixedly installed on one side, close to the rotating shaft 32, of the moving plate 34, the free end of the expansion link 35 is hinged with the rotating shaft 32, the road surface condition and the road surface turning position can be detected through the visual detection unit 2, the visual detection unit 2 can transmit detected data to the steering control device 31, the steering control device 31 can control the electric push rod 33, the electric push rod 33 pushes the moving plate 34 to move, the moving plate 34 pushes the rotating shaft 32 to rotate through the telescopic rod 35, and the rotating shaft 32 can steer the vehicle 1 when rotating, so that the vehicle 1 can normally turn and run on the road surface.
The bottom of the vehicle 1 is fixedly provided with a fixed shaft 41, tires are respectively arranged at the bottoms of the fixed shaft 41 and the rotating shaft 32, a rotating shaft 43 is arranged on the tires on the fixed shaft 41, a driving motor 42 is fixedly arranged at the bottom of the vehicle 1, the driving motor 42 is in transmission connection with the rotating shaft 43, and the vehicle 1 can be driven to move through the driving motor 42.
The vehicle 1 is provided with a mobile protection device, the mobile protection device comprises a slide rod 51, the slide rod 51 is sleeved on the vehicle 1 in a sliding manner, one end of the slide rod 51, which is far away from the vehicle 1, is rotatably provided with a rotating disc 52, one end of the rotating disc 52 of the slide rod 51 is set to be arc-shaped, the bottom of the vehicle 1 is fixedly provided with a sealing frame 6, the surface of the sealing frame 6 is fixedly provided with an elastic telescopic connecting rod 53, the free end of the elastic telescopic connecting rod 53 is fixedly provided with an arc-shaped plate 54, the surface of a moving plate 34 is fixedly provided with a pushing plate 55, when data fed back to a steering control device 31 by a vision detection unit 2 is deviated, when the rotating angle of a rotating shaft 32 is over-small, the rotating disc 52 can detect roadside curbs, the rotating disc 52 can drive the slide rod 51 to move towards the direction of the vehicle 1, the arc-shaped surface on the slide rod 51 can push the arc-shaped plate 54 to move, and the arc-shaped surface on the arc-shaped plate 54 can push the pushing plate 55 to move, the pushing plate 55 will drive the moving plate 34 to move, so as to increase the rotation angle of the rotating shaft 32, and prevent the vehicle 1 from impacting the road curb when moving continuously.
Be provided with the striking protection device on the arc 54, the striking protection device includes elastic rod 57, elastic rod 57 fixed mounting is on the surface of arc 54, driving motor 42's surface mounting has control switch 58, the bottom slidable mounting of vehicle 1 has concave block 56, the one end slidable mounting that elastic rod 57 kept away from arc 54 is on concave block 56, move through elastic rod 57 when moving to slide bar 51, elastic rod 57 can drive concave block 56 and move, can stop pressing control switch 58 when concave block 56 moves, control switch 58 can close driving motor 42, it moves to avoid driving motor 42 to continue drive axis of rotation 43 and vehicle 1, thereby can stop vehicle 1 and move, the security of driving vehicle 1 has been improved.
A first elastic sheet is arranged between the slide rod 51 and the vehicle 1, the arc position of the slide rod 51 is in contact with the arc plate 54, the slide rod 51 can be driven to automatically reset through the first elastic sheet, and the arc plate 54 can be pushed to move towards the pushing plate 55 through the arc position of the slide rod 51.
The sealing frame 6 is provided with a steering protection device, the steering protection device comprises a sealing plate 71, the sealing plate 71 is slidably mounted on the inner wall of the sealing frame 6, one surface of the sealing plate 71, which is close to the pushing plate 55, is fixedly provided with an arc-shaped block 72, the inner wall of the sealing frame 6 is slidably provided with a transmission block 73, a second elastic sheet is arranged between the transmission block 73 and the sealing frame 6, the inner wall of the sealing frame 6 is rotatably provided with a baffle 74, the inner wall of the sealing frame 6 is fixedly provided with a limiting block 75, the baffle 74 is provided with a through hole, the pushing plate 55 can push the arc-shaped block 72 and the sealing plate 71 to move when moving, the sealing plate 71 can push the liquid inside the sealing frame 6 to move inside the sealing frame 6, the flow of the liquid inside the sealing frame 6 can be reduced through the through hole on the baffle 74, so that the movement of the pushing plate 55 and the moving plate 34 can be reduced, and the moving speed of the moving plate 34 can be prevented from being too fast, causing the vehicle 1 to roll over at an excessive speed causing the axle 32 to rotate at a risk.
The linkage rod 77 is sleeved on the vehicle 1 in a sliding mode, the movable rod 76 is sleeved on one side, close to the linkage rod 77, of the sealing frame 6 in a sliding mode, the arc cleaning plate 78 is installed on the surface of the vehicle 1 in a rotating mode, the triangular block 79 is fixedly installed on the side, close to the linkage rod 77, of the arc cleaning plate 78, the driving block 73 can be pushed to move when liquid inside the sealing frame 6 moves, the movable rod 76 can be pushed to move when the driving block 73 moves, the linkage rod 77 can be pushed to move up and down when the movable rod 76 moves, the arc cleaning plate 78 can be pushed to move when the linkage rod 77 is in contact with the triangular block 79, dust on the visual detection unit 2 can be removed when the arc cleaning plate 78 moves, and the detection of the visual detection unit 2 on the road surface can be prevented from being influenced by the excessive foreign bodies adhered to the visual detection unit 2.
The movable rod 76 is in contact with the linkage rod 77, the bottom of the linkage rod 77 is arc-shaped, a third elastic sheet is arranged between the movable rod 76 and the sealing frame 6, a fourth elastic sheet is arranged between the arc-shaped cleaning plate 78 and the vehicle 1, a fifth elastic sheet is arranged between the baffle 74 and the sealing frame 6, the movable rod 76 can push the linkage rod 77 to move when passing through the arc-shaped bottom of the linkage rod 77, the baffle 74 can be prevented from rotating towards the right side through the limiting block 75, when liquid inside the sealing frame 6 moves towards the right side, the liquid can only flow through the through hole, when the vehicle 1 is not steered for a long time, the arc-shaped cleaning plate 78 can clean the visual detection unit 2, and the detection of the visual detection unit 2 on the road surface can be influenced when the arc-shaped cleaning plate 78 cleans the visual detection unit 2.
Example two:
the embodiment provides a driving method of an automobile intelligent device based on visual detection, which comprises the following steps:
the method comprises the following steps: the road surface turning angle and the turning position can be detected through the visual detection unit 2;
step two: the vision detection unit 2 transmits the detected data to the steering control device 31:
step three: the electric push rod 33 can be controlled by the steering control device 31, the electric push rod 33 can drive the moving plate 34 to move, the moving plate 34 can drive the telescopic rod 35 to move when moving, and the telescopic rod 35 can drive the rotating shaft 32 to rotate;
step four: the rotation shaft 32 can steer the vehicle 1 when rotated.
Example three:
the present embodiment provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the intelligent driving method as in the second embodiment.
When the vehicle 1 is required to move on a road surface during working (or during use), the driving motor 42 can drive the rotating shaft 43 and the tires to rotate, so that the vehicle 1 can move on the road surface, the road surface can be detected through the vision detection unit 2, meanwhile, the vision detection unit 2 can detect the turning position of the road surface, when the vehicle 1 moves to the turning position of the road, the vision detection unit 2 can transmit turning data to the steering control device 31, the steering control device 31 can control the electric push rod 33, the moving plate 34 can be pushed by the electric push rod 33 to move, the moving plate 34 can drive the telescopic rod 35 to move when moving, the rotary shaft 32 can be driven to rotate when moving the telescopic rod 35, and the rotary shaft 32 can change the angle of the tires on the rotary shaft 32, so that the vehicle 1 can be turned;
when the data detected by the vision detection unit 2 has an error, and the rotating angle of the rotating shaft 32 is too small, the vehicle 1 gradually approaches to a curb on the road surface, so that the rotating disc 52 contacts with the curb, the rotating disc 52 pushes the sliding rod 51 to move, the arc surface on the sliding rod 51 pushes the arc plate 54 to move towards the pushing plate 55 when the sliding rod 51 moves, the arc plate 54 can further push the pushing plate 55 and the moving plate 34 to move, and the vehicle 1 can be prevented from further moving towards the curb and further impacting the curb by further moving the moving plate 34 through the rotating angle of the rotating shaft 32;
when the vehicle 1 is too close to a curb, the sliding rod 51 pushes the arc-shaped plate 54 to move for a larger distance, the arc-shaped plate 54 drives the elastic rod 57 to move when moving, the concave block 56 can be pulled to move when the elastic rod 57 moves, the concave block 56 can be separated from the control switch 58 when moving, and when the concave block 56 stops pressing the control switch 58, the control switch 58 turns off the driving motor 42, so that the vehicle 1 can stop moving;
the moving plate 34 can drive the pushing plate 55 to move when moving, the pushing plate 55 can push the arc block 72 to move when moving, the arc block 72 can push the sealing plate 71 to move towards the inside of the sealing frame 6, the sealing plate 71 can push the liquid inside the sealing frame 6 to move towards the left side of the sealing frame 6, so that the liquid inside the sealing frame 6 can push the transmission block 73 to move towards the left side, the liquid inside the sealing frame 6 can be reduced to move towards the left side of the sealing frame 6 through the through holes on the baffle 74, thereby avoiding the pushing plate 55 and the moving plate 34 from moving rapidly, the transmission block 73 can contact with the movable rod 76 when moving, the transmission block 73 can push the movable rod 76 to move towards the outside of the sealing frame 6, the movable rod 76 can contact with the bottom cambered surface of the linkage rod 77 when moving, the movable rod 76 can push the linkage rod 77 to move upwards, the linkage rod 77 can contact with the inclined surface of the triangular block 79 when moving upwards, the linkage rod 77 can push the arc cleaning plate 78 to rotate through the triangular block 79, and the surface of the visual detection unit 2 can be cleaned when the arc cleaning plate 78 rotates.
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 appended claims and their equivalents.

Claims (10)

1. The utility model provides an automobile intelligent driving device based on visual detection, includes vehicle (1), its characterized in that: the left side fixed mounting of vehicle (1) has visual detection unit (2), be provided with the bottom that intelligence turned to device vehicle (1) on vehicle (1), intelligence turns to the device including turning to controlling means (31), turn to controlling means (31) fixed mounting, pivot (32) are installed in the bottom rotation of vehicle (1), the bottom fixed mounting of vehicle (1) has electric putter (33), the bottom slidable mounting of vehicle (1) has movable plate (34), the output and movable plate (34) of electric putter (33) are fixed, fixed mounting has telescopic link (35) in the one side that movable plate (34) are close to pivot (32), the free end and pivot (32) of telescopic link (35) are articulated.
2. The intelligent driving device for the automobile based on the visual detection as claimed in claim 1, wherein: the bottom fixed mounting of vehicle (1) has fixed axle (41), the tire is all installed to the bottom of fixed axle (41) and pivot (32), install axis of rotation (43) on the tire on fixed axle (41), the bottom fixed mounting of vehicle (1) has driving motor (42), driving motor (42) are connected with axis of rotation (43) transmission.
3. The intelligent driving device for the automobile based on the visual detection as claimed in claim 2, wherein: be provided with on vehicle (1) and remove protection device, remove protection device and include slide bar (51), slide bar (51) slip cup joint on vehicle (1), the one end of keeping away from vehicle (1) of slide bar (51) is rotated and is installed rolling disc (52), the one end of slide bar (51) rolling disc (52) sets up to the arc, the bottom fixed mounting of vehicle (1) has sealed frame (6), the fixed surface of sealed frame (6) installs flexible telescopic link (53), the free end fixed mounting of flexible telescopic link (53) has arc (54), the fixed surface of movable plate (34) installs slurcam (55).
4. The intelligent driving device for the automobile based on the visual detection as claimed in claim 3, wherein: be provided with the striking protection device on arc (54), the striking protection device includes elastic rod (57), elastic rod (57) fixed mounting is on the surface of arc (54), the surface mounting of driving motor (42) has control switch (58), the bottom slidable mounting of vehicle (1) has concave piece (56), the one end slidable mounting that arc (54) were kept away from in elastic rod (57) is on concave piece (56).
5. The intelligent driving device for the automobile based on the visual detection is characterized in that: a first elastic sheet is arranged between the sliding rod (51) and the vehicle (1), and the arc-shaped position of the sliding rod (51) is in contact with the arc-shaped plate (54).
6. The intelligent driving device for the automobile based on the visual inspection is characterized in that: be provided with on sealed frame (6) and turn to protection device, turn to protection device and include closing plate (71), closing plate (71) slidable mounting is on the inner wall of sealed frame (6), fixed mounting has arc piece (72) on closing plate (71) is close to the one side of slurcam (55), slidable mounting has transmission piece (73) on the inner wall of sealed frame (6), be provided with the shell fragment No. two between transmission piece (73) and sealed frame (6), rotate on the inner wall of sealed frame (6) and install baffle (74), fixed mounting has restriction piece (75) on the inner wall of sealed frame (6), the through-hole has been seted up on baffle (74).
7. The intelligent driving device for the automobile based on the visual detection as claimed in claim 6, wherein: the vehicle is characterized in that a linkage rod (77) is sleeved on the vehicle (1) in a sliding mode, a movable rod (76) is sleeved on one side, close to the linkage rod (77), of the sealing frame (6) in a sliding mode, an arc cleaning plate (78) is installed on the surface of the vehicle (1) in a rotating mode, and a triangular block (79) is fixedly installed on one side, close to the linkage rod (77), of the arc cleaning plate (78).
8. The intelligent driving device for the automobile based on the visual detection as claimed in claim 7, wherein: the movable rod (76) is in contact with the linkage rod (77), the bottom of the linkage rod (77) is arc-shaped, a third elastic sheet is arranged between the movable rod (76) and the sealing frame (6), and a fourth elastic sheet is arranged between the arc-shaped cleaning plate (78) and the vehicle (1).
9. The driving method of the intelligent driving device based on visual inspection for the automobile according to any one of claims 1-8, characterized by comprising the following steps:
the method comprises the following steps: the road surface turning angle and the turning position can be detected through the visual detection unit (2);
step two: the visual detection unit (2) transmits the detected data to the steering control device (31):
step three: the electric push rod (33) can be controlled through the steering control device (31), the electric push rod (33) can drive the moving plate (34) to move, the moving plate (34) can drive the telescopic rod (35) to move when moving, and the telescopic rod (35) can drive the rotating shaft (32) to rotate;
step four: the rotating shaft (32) can steer the vehicle (1) when rotating.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the program when executed by a processor implements the intelligent driving method as claimed in claim 9.
CN202210879967.6A 2022-07-25 2022-07-25 Automobile intelligent driving method and device based on visual detection and storage medium Active CN115056849B (en)

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IE20220212U IE20220212U1 (en) 2022-07-25 2022-12-23 An Intelligent Driving Method, Device and Storage Medium Based on Visual Inspection

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