CN115056849B - 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 PDFInfo
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- CN115056849B CN115056849B CN202210879967.6A CN202210879967A CN115056849B CN 115056849 B CN115056849 B CN 115056849B CN 202210879967 A CN202210879967 A CN 202210879967A CN 115056849 B CN115056849 B CN 115056849B
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- 238000001514 detection method Methods 0.000 title claims abstract description 62
- 230000000007 visual effect Effects 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000003860 storage Methods 0.000 title claims abstract description 8
- 238000007789 sealing Methods 0.000 claims description 21
- 238000004140 cleaning Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 18
- 239000012634 fragment Substances 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 3
- 238000011179 visual inspection Methods 0.000 claims 1
- 239000007788 liquid Substances 0.000 description 16
- 238000005096 rolling process Methods 0.000 description 10
- 239000000428 dust Substances 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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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
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- 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
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- 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
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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
- 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
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- 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
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- 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
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- 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
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- 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 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 go on the road surface.
Description
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 recognize the road because the automobile cannot detect the condition of the road when unmanned driving is carried out on the road and cannot move on the road, so that the normal running of the intelligent automobile is influenced, and the automobile navigation cannot be used when the automobile navigation fails.
Disclosure of Invention
Technical problem to be solved
The invention provides an intelligent automobile driving method, device and storage medium based on visual detection, aiming at the defects of the prior art and solving the problems that when an existing intelligent automobile is driven on a road surface and a navigation cannot identify the road, the automobile cannot detect the condition of the road surface, the automobile cannot move on the road surface, the normal driving of the intelligent automobile is influenced, and the automobile cannot be used when the automobile navigation fails.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an automobile intelligent driving device based on visual detection, includes the vehicle, the left side fixed mounting of vehicle has the visual detection unit, be provided with the bottom that intelligent steering device vehicle was turned to on the vehicle, intelligent steering device is including steering control device, steering control device fixed mounting is at, the bottom of vehicle is rotated and is installed the pivot, the bottom fixed mounting of vehicle has electric putter, the bottom slidable mounting of vehicle has the movable plate, electric putter's output is fixed with the movable plate, fixed mounting has the telescopic link in the one side that the movable plate is close to the pivot, the free end of telescopic link is articulated with the pivot, 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 transmission 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 go on the road surface and turn.
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, be provided with the removal protection device on the vehicle, remove protection device includes the slide bar, the slide bar slides and cup joints on the vehicle, the one end of keeping away from the vehicle of slide bar is rotated and is installed the rolling disc, the one end of slide bar rolling disc sets up to the arc, the bottom fixed mounting of vehicle has sealed frame, the fixed surface of sealed frame installs the flexible telescopic link, the free end fixed mounting of flexible telescopic link has the arc, the fixed surface of movable plate installs the slurcam, and when the data that the vision detection unit fed back to the steering control device appeared the deviation, made pivot pivoted angle when too little, made the rolling disc can detect with roadside curbside, and the rolling disc can drive the slide bar and remove to the direction of vehicle, and the cambered surface on the slide bar can promote the arc and remove, and the cambered surface on the arc can promote the slurcam and remove, and the slurcam can drive the movable plate and remove to can improve pivot pivoted angle, can avoid the vehicle to continue to remove and can strike road curbside.
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, a first elastic sheet is arranged between the slide rod and the vehicle, the arc-shaped position of the slide rod is in contact with the arc-shaped plate, the slide rod can be driven to automatically reset through the first elastic sheet, and the arc-shaped plate can be pushed to move towards the direction of the pushing plate through the arc-shaped position of the slide rod.
Preferably, be provided with on the sealed frame and turn to protection device, turn to protection device and include the closing plate, closing plate slidable mounting is on the inner wall of sealed frame, fixed mounting has the arc piece in the one side that the closing plate is close to the slurcam, slidable mounting has the transmission piece on the inner wall of sealed frame, be provided with the shell fragment No. two between transmission piece and the sealed frame, rotate on the inner wall of sealed frame and install the baffle, fixed mounting has the restriction piece on the inner wall of sealed frame, the through-hole has been seted up on the baffle, can promote arc piece and closing plate and remove when removing through the slurcam, and the closing plate can promote the inside liquid of sealed frame and remove in the inside of sealed frame, can reduce the flow of the inside liquid of sealed frame through the through-hole on the baffle to can reduce the removal of slurcam and movable plate, can avoid the speed that the movable plate removed too fast, lead to pivot pivoted speed too fast vehicle can produce the danger of turning on one's side.
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 turn 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) This car intelligent driving device based on visual detection, can promote arc piece and closing plate to remove when removing through the slurcam, the closing plate can promote the inside liquid of sealed frame and remove in the inside of sealed frame, the flow of the inside liquid of sealed frame can be reduced through the through-hole on the baffle, thereby can reduce the removal of slurcam and movable plate, can avoid the speed that the movable plate removed too fast, the too fast vehicle that leads to pivot pivoted speed can produce and turn on one's side and produce danger, can promote the transmission piece and remove when the inside liquid of sealed frame removes, can promote the movable rod and remove when the transmission piece removes, can promote the gangbar and reciprocate when the movable rod removes, can promote the arc cleaning plate to remove when gangbar and triangular block contact, can get rid of the dust on the visual detection unit when the arc cleaning plate removes, avoid the too much foreign matter of adhesion on the visual detection unit to influence the detection of road surface.
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 diagram of a moving plate structure according to 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: the utility model provides an automobile intelligence driving device based on visual detection, including vehicle 1, the left side fixed mounting of vehicle 1 has visual detection unit 2, be provided with the bottom that intelligent steering gear vehicle 1 was put on the vehicle 1, intelligent steering gear includes steering control device 31, steering control device 31 fixed mounting is at, the bottom of vehicle 1 is rotated and is installed pivot 32, the bottom fixed mounting of vehicle 1 has electric putter 33, the bottom slidable mounting of vehicle 1 has movable plate 34, electric putter 33's output is fixed with movable plate 34, fixed mounting has telescopic link 35 on the one side of movable plate 34 near pivot 32, the free end of telescopic link 35 is articulated with pivot 32, can detect road surface condition and road surface position of turning through visual detection unit 2, visual detection unit 2 can transmit the data that detect to steering control device 31, steering control device 31 can control electric putter 33, electric putter 33 can promote movable plate 34 and remove, movable plate 34 removes can promote pivot 32 through telescopic link 35 and rotate, pivot 32 can turn to vehicle 1 when rotating, make vehicle 1 can normally turn and go 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.
Be provided with the removal protection device on vehicle 1, the removal protection device includes slide bar 51, slide bar 51 slides and cup joints on vehicle 1, slide bar 51's the one end of keeping away from vehicle 1 rotates and installs rolling disc 52, the one end of slide bar 51 rolling disc 52 sets up to the arc, vehicle 1's bottom fixed mounting has sealed frame 6, the fixed surface of sealed frame 6 installs elasticity telescopic link 53, the free end fixed mounting of elasticity telescopic link 53 has arc 54, the fixed surface of movable plate 34 installs catch bar 55, when the data that vision detection unit 2 fed back to steering control device 31 appeared the deviation, when making pivot 32 pivoted angle undersize, make rolling disc 52 can detect with roadside curb, rolling disc 52 can drive slide bar 51 and remove to vehicle 1's direction, the cambered surface on the slide bar 51 can promote arc 54 and remove, the cambered surface on the arc 54 can promote catch bar 55 and remove, catch bar 55 can drive movable plate 34 and remove, thereby can improve pivot 32 pivoted angle, can avoid vehicle 1 to continue to move and can bump road surface curb.
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.
Be provided with on the sealed frame 6 and turn to protection device, turn to protection device includes closing plate 71, closing plate 71 slidable mounting is on the inner wall of sealed frame 6, fixed mounting has arc piece 72 on the one side that closing plate 71 is close to slurcam 55, slidable mounting has transmission block 73 on the inner wall of sealed frame 6, be provided with the shell fragment No. two between transmission block 73 and the sealed frame 6, it installs baffle 74 to rotate on the inner wall of sealed frame 6, fixed mounting has restriction piece 75 on the inner wall of sealed frame 6, the through-hole has been seted up on the baffle 74, can promote arc piece 72 and closing plate 71 and remove when removing through slurcam 55, closing plate 71 can promote the inside liquid of sealed frame 6 and remove in the inside of sealed frame 6, the through-hole on baffle 74 can reduce the flow of the inside liquid of sealed frame 6, thereby can reduce the removal of slurcam 55 and movable plate 34, can avoid the speed that movable plate 34 removed to be too fast, it produces the danger to lead to the too fast vehicle 1 of pivot 32 pivoted speed to turn on one's side.
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 one side, close to the linkage rod 77, of the arc cleaning plate 78, when liquid inside the sealing frame 6 moves, the transmission block 73 can be pushed to move, when the transmission block 73 moves, the movable rod 76 can be pushed to move, when the movable rod 76 moves, the linkage rod 77 can be pushed to move vertically, when the linkage rod 77 is in contact with the triangular block 79, the arc cleaning plate 78 can be pushed to move, when the arc cleaning plate 78 moves, dust on the visual detection unit 2 can be removed, and the situation that the visual detection unit 2 detects the road surface due to the fact that foreign bodies which are too much adhere to the visual detection unit 2 is avoided.
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 can close 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 in the baffle 74, thereby avoiding the pushing plate 55 and the moving plate 34 from moving fast, the transmission block 73 can be in 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 be in contact with the bottom arc 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 be in contact with the inclined surface of the triangular block 79 when moving, the linkage rod 77 can push the arc cleaning plate 78 to rotate, and the surface of the arc cleaning detection unit 2 can rotate.
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 (6)
1. The utility model provides an automobile intelligent driving device based on visual detection, includes vehicle (1), its characterized in that: the visual detection unit (2) is fixedly mounted on the left side of the vehicle (1), an intelligent steering device is arranged on the vehicle (1) and comprises a steering control device (31), the steering control device (31) is fixedly mounted at the bottom of the vehicle (1), a rotating shaft (32) is rotatably mounted at the bottom of the vehicle (1), an electric push rod (33) is fixedly mounted at the bottom of the vehicle (1), a moving plate (34) is slidably mounted at 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 mounted on one surface, close to the rotating shaft (32), of the moving plate (34), and the free end of the expansion link (35) is hinged to the rotating shaft (32); a fixed shaft (41) is fixedly installed at the bottom of the vehicle (1), tires are installed at the bottoms of the fixed shaft (41) and the rotating shaft (32), a rotating shaft (43) is installed on the tires on the fixed shaft (41), a driving motor (42) is fixedly installed at the bottom of the vehicle (1), and the driving motor (42) is in transmission connection with the rotating shaft (43);
the vehicle (1) is provided with a mobile protection device, the mobile protection device comprises a sliding rod (51), the sliding rod (51) is sleeved on the vehicle (1) in a sliding mode, one end, far away from the vehicle (1), of the sliding rod (51) is rotatably provided with a rotating disc (52), one end of the sliding rod (51) is arranged in an arc shape, the bottom of the vehicle (1) is fixedly provided with a sealing frame (6), an elastic telescopic connecting rod (53) is fixedly arranged on the surface of the sealing frame (6), an arc-shaped plate (54) is fixedly arranged at the free end of the elastic telescopic connecting rod (53), and a pushing plate (55) is fixedly arranged on the surface of the moving plate (34);
the collision protection device is arranged on the arc-shaped plate (54) and comprises an elastic rod (57), the elastic rod (57) is fixedly installed on the surface of the arc-shaped plate (54), a control switch (58) is installed on the surface of the driving motor (42), a concave block (56) is installed at the bottom of the vehicle (1) in a sliding mode, and one end, far away from the arc-shaped plate (54), of the elastic rod (57) is installed on the concave block (56) in a sliding mode;
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).
2. The intelligent driving device based on visual inspection for automobile of claim 1, wherein: 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).
3. The intelligent driving device for the automobile based on the visual detection as claimed in claim 2, 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).
4. The intelligent driving device for the automobile based on the visual detection is characterized in that: 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).
5. The driving method of the intelligent driving device for the automobile based on the visual detection is characterized by comprising the following steps of:
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.
6. A computer-readable storage medium having stored thereon a computer program, characterized in that: the program, when executed by a processor, implements a driving method as claimed in claim 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210879967.6A CN115056849B (en) | 2022-07-25 | 2022-07-25 | Automobile intelligent driving method and device based on visual detection and storage medium |
| IE20220212U IE20220212U1 (en) | 2022-07-25 | 2022-12-23 | An Intelligent Driving Method, Device and Storage Medium Based on Visual Inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210879967.6A CN115056849B (en) | 2022-07-25 | 2022-07-25 | Automobile intelligent driving method and device based on visual detection and storage medium |
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| Publication Number | Publication Date |
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| CN115056849A CN115056849A (en) | 2022-09-16 |
| CN115056849B true CN115056849B (en) | 2023-03-14 |
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| CN202210879967.6A Active CN115056849B (en) | 2022-07-25 | 2022-07-25 | Automobile intelligent driving method and device based on visual detection and storage medium |
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| CN (1) | CN115056849B (en) |
| IE (1) | IE20220212U1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10613544B2 (en) * | 2015-05-05 | 2020-04-07 | B. G. Negev Technologies And Applications Ltd. | Universal autonomous robotic driving system |
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- 2022-12-23 IE IE20220212U patent/IE20220212U1/en unknown
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014218098A (en) * | 2013-05-01 | 2014-11-20 | トヨタ自動車株式会社 | Drive support device and drive support method |
| CN106864459A (en) * | 2017-03-16 | 2017-06-20 | 北理慧动（常熟）车辆科技有限公司 | A kind of rotating direction control method of automatic driving vehicle autosteerer |
| CN208360290U (en) * | 2018-07-05 | 2019-01-11 | 北京智行者科技有限公司 | A kind of Vehicular steering control apparatus |
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Also Published As
| Publication number | Publication date |
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| IE20220212U1 (en) | 2024-02-14 |
| CN115056849A (en) | 2022-09-16 |
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