CN207319068U - A kind of intelligent carriage of omnibearing movable - Google Patents

Abstract

The utility model belongs to the technical field of mechatronics, aims at the above-mentioned problems in the prior art that the smart car that can rarely move in all directions and the comprehensive monitoring of the driving conditions of the car, proposes a smart car that moves in all directions, including a mechanical movement structure , information collection system, control system and upper computer. This device has reasonable structure, ingenious design and novel concept. It is designed with four-wheel independent drive, independent steering and independent braking functions. This structure breaks away from the limitations of traditional mechanical mechanism transmission methods. The advantages of the electronic control system are fully utilized and the mobility and stability of the intelligent control car are greatly improved. Searchlights and cameras can collect road surface information in a dark environment, and transmit video signals back to the host computer control and management terminal through the image transmission module. The information is sent back to the control center, allowing the administrator to conduct a comprehensive monitoring of the car information.

Description

A smart car with all-round motion

technical field

The invention belongs to the technical field of mechatronics, and in particular relates to an omnidirectional smart car with functions such as omnidirectional movement, autonomous planning, and voice control.

Background technique

Smart cars cover various disciplines such as precision machinery, microelectronics and computers, automatic control, sensing and information processing technology, computer graphics, and artificial intelligence. Smart cars can greatly reduce manual work and reduce the rate of traffic accidents. It is obviously of great significance to design a mechanical structure and control system that is compatible with its functions.

However, the design of the mechanical moving part of the existing smart car is relatively simple, and complex programming control is required to realize movement in all directions, and it is difficult to realize lateral translation and in-situ rotation. This seriously affects the performance of the smart car.

Contents of the invention

The present invention aims at the above-mentioned problems in the prior art that there are few smart cars that can realize omni-directional movement and the comprehensive monitoring of the driving conditions of the car, and proposes a smart car that moves in all directions. At the same time, it has the characteristics of high cost performance, small size, strong freedom of driving direction, good environmental adaptability, outstanding autonomy, and easy operation.

The present invention adopts following technical scheme:

An all-round motion intelligent car, including a mechanical motion structure, an information collection system, a control system and a host computer. The information collection system and the control system are connected to the host computer. The wheels are independent of each other and respectively connected to a set of steering control system. The steering control system includes steering mechanism, drive system, suspension structure and brake system. The steering mechanism includes worm gear motor, cover plate, bottom plate, driving sprocket, chain, steering The shaft and the driven sprocket, the cover plate and the bottom plate are fixed on the steering shaft, the worm gear motor is installed on the cover plate, the driving sprocket is connected with the output shaft of the worm gear motor, and the driven sprocket is installed on the steering shaft; The suspension structure adopts a single wishbone independent suspension, including a bracket, a shock absorber and a hook. The bracket is connected to the steering shaft, and the hook is connected to the bracket. Two shock absorbers are symmetrically installed on the left and right sides of the bracket; The hub motor, the hub motor is fixed on the claw hook of the suspension structure through the axle; the brake system includes the hub brake pad and the brake controller, and the brake controller includes the brake line, the linear guide rail, the No. 1 brake baffle, and the No. 2 brake block Plate, No. Ⅲ brake baffle, push rod motor and brake bottom plate, No. 1 brake baffle is fixed on the brake bottom plate and connected with one end of the brake line, and No. Ⅱ brake baffle is connected with the other end of the brake line and fixed on the brake bottom plate The No. 3 brake baffle is fixed on the brake base plate. One end of the push rod of the push rod motor is connected with the No. 2 brake baffle, and the other end is connected with the No. Ⅲ brake baffle.

The information collection system includes an image collection device, an image display device and a sensor information collection device. The image collection device includes a signal transmitter, a No. I camera, a No. II camera, a headlight and a rear light. The No. I camera is installed on On the front top of the car body, the No. 2 camera is installed on the rear top of the car body, and the signal transmitter is installed on the left top of the car body and is connected to the No. 1 camera and No. 2 camera through a data cable. The headlights are respectively installed on the left and right sides of the front middle part of the vehicle body, and the two rear lights are respectively installed on the left and right sides of the rear middle part of the vehicle body; the image display device includes a display screen and a signal receiver, and the signal receiver is connected with the display screen. The signal receiver receives the image signal emitted by the signal transmitter and displays it on the display screen; the sensor information collection device includes No. 1 distance sensor, No. 2 distance sensor, No. 3 distance sensor, No. Ⅳ distance sensor, photosensitive sensor, GPS module and Temperature sensor; No. Ⅱ distance sensor and No. Ⅳ distance sensor are respectively installed on the front and rear sides of the vehicle body; No. 1 distance sensor and No. Ⅲ distance sensor are respectively installed on the left and right sides of the vehicle body; The temperature inside the car is detected and controlled, and the GPS module is installed in the center of the front of the car. The No. I distance sensor, No. II distance sensor, No. III distance sensor, No. IV distance sensor, photosensitive sensor and temperature sensor transmit the signal to the sensor module through USB interface data transmission. The GPS module is installed in the center of the front of the vehicle body. The signal transmits the signal to the GPS module.

The control system includes a control board, a voice acquisition module, a main controller, an auxiliary controller, a power supply voltage stabilization module, a sensor drive module, a wireless communication module and a motor drive module, the control board is installed at the front center of the vehicle body, the main The controller, auxiliary controller, power supply voltage stabilization module, motor drive module, wireless communication module and sensor drive module are all installed on the control board, the power supply voltage stabilization module is connected to the battery through the power line, the main controller, auxiliary controller, The motor drive module, wireless communication module and sensor drive module are all connected to the power supply voltage stabilization module through the power line, and the main controller is respectively connected to the four worm gear motors in the steering mechanism and the four hub motors in the drive system through the drive interface. The main controller is connected to the drive interface, and the main controller is connected to the secondary controller, wireless communication module, and camera No. It is connected with the drive interface of the push rod motor in the braking system and the motor drive module, and the auxiliary controller is connected with the sensor drive module and the voice acquisition module through the USB interface; the wireless communication module is connected with the host computer through wireless signals, and the sensor drive modules are respectively It is connected with No. 1 distance sensor, No. 2 distance sensor, No. 3 distance sensor, No. 4 distance sensor, photosensitive sensor, GPS module and temperature sensor; the voice acquisition module is connected with the signal input terminal of the auxiliary controller through the wireless communication interface Connection, the signal output terminal of the auxiliary controller is connected with the main controller, and the main controller is connected with the host computer through the communication module.

Compared with the prior art, the present invention has the following advantages:

(1) The present invention mainly aims at the problems that existing automobiles are prone to traffic accidents and not safe enough, and provides an all-round mobile car that can self-help obstacle avoidance, path planning, lateral movement, turning in place, and lateral movement.

(2) The four-wheel independent steering mechanism can turn through the corresponding angle under the control of the computer to realize the normal turning of the car. With the functions of lateral movement and turning in place, compared with the steering mechanism of ordinary cars, this smart car can more flexibly and conveniently realize the storage of the car, turning in place, and horizontal movement at various angles. Moreover, the four independent steering mechanisms can complete repairs faster during maintenance, which reduces the difficulty of maintenance and shortens the time for repair.

(3) The suspension structure of the unmanned vehicle is specially designed according to the structure of the steering mechanism, which can more reasonably complete the shock absorption of the vehicle and make the smart car run more smoothly.

(4) The unmanned smart car can change the limitation of the usual mechanical transmission mode, give full play to the advantages of the electronic control system, make the mechanism control of the car easier, and reduce the difficulty of controlling the car.

(5) The driving of the car is all driven by electric energy, which can reduce pollution compared with ordinary automobile fossil fuels, and the universality of electric energy makes it more convenient to charge and add electric energy.

(6) Using sensors and infrared signal detection, computer control can respond more quickly to complex road conditions on the road, reducing the probability of traffic accidents.

The device is reasonable in structure, ingenious in design, and novel in concept. It is designed with four-wheel independent drive, independent steering and independent braking functions. Improve the maneuverability and stability of the intelligent control car. The searchlights and cameras installed on the car body can collect road surface information in a dark environment, and transmit the video signal back to the host computer control and management terminal through the image transmission module, and the distance, temperature, GPS and other sensors installed on the car body The detected information can be sent back to the control center, allowing the administrator to conduct a comprehensive monitoring of the car information. Therefore, it can be said that the device has many advantages and can be adapted to work in various complex environments.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a three-dimensional view of the mechanical movement structure of the present invention;

Fig. 3 is the assembly front view of steering mechanism, driving system and suspension structure of the present invention;

Fig. 4 is the left side view of the assembly of the steering mechanism, drive system and suspension structure of the present invention;

Fig. 5 is a structural schematic diagram of the braking device of the present invention;

Fig. 6 is a partially enlarged view of the braking device A of the present invention;

Fig. 7 is a perspective view of the information collection system of the present invention;

Fig. 8 is a schematic structural diagram of the image display system of the present invention;

Fig. 9 is a top view of the control system of the present invention;

Fig. 10 is a block diagram of the autonomous control system of the present invention;

Fig. 11 is a block diagram of the voice control system of the present invention;

Fig. 12 is a principle diagram of the in-situ rotation movement of the present invention.

Detailed ways

An all-round motion intelligent car is composed of four parts: a mechanical motion structure, an information collection system, a control system and a host computer. Frame structure and braking system. The steering mechanism includes a cover plate 2, and the cover plate 2 is fixed on the steering shaft 8 through four bolts and No. superior. Between the cover plate 2 and the bottom plate 3, the driving sprocket 4, the chain 5, and the driven sprocket 10 are sequentially arranged from left to right, wherein the driving sprocket 4 is fastened to the worm gear motor 1 by two front and rear bolts, and the worm gear The worm motor 1 is fixed on the cover plate 2 by four bolts, and the driven sprocket 10 is also fastened to the steering shaft 8 by two front and rear bolts; the suspension structure adopts a single wishbone independent suspension. 7 and claw hook 13, the bracket 6 is connected with the steering shaft 8 as a whole, and the two shock absorbers 7 are installed on the left and right sides of the bracket 6; On the claw hook 13; the brake system of the trolley includes hub brake pads 15 and a brake controller, and the brake controller consists of brake lines 16, linear guide rails 18, No. 21. The push rod motor 20 and the brake base plate 22 are composed. The No. 1 brake baffle 17 is fixed on the brake base 22 and connected to one end of the brake line 16. The No. 2 brake baffle 19 is connected to the other end of the brake line 16 and fixed on the brake pad. The linear guide rail 18 on the base plate 22 is connected, the No. III brake baffle 21 is fixed on the brake base 22, one end of the push rod of the push rod motor 20 is connected with the No. II brake baffle 19, and the other end is connected with the No. Ⅲ brake baffle 21; Body 23 adopts square steel welding to form, and a set of steering mechanism, suspension structure and driving system are respectively installed on the four directions of body 23, and the controller of brake system is housed at the front and bottom of body 23, and the middle and rear part of body 23 is battery. 24 installation positions;

The information acquisition system is composed of an image acquisition device, an image display device and a sensor information acquisition device, as shown in Fig. 7 and Fig. 8, wherein the image acquisition device is composed of a signal transmitter 25, No. I camera 29, No. II camera 36, headlight 27. Composed of rear light 34, No. I camera 29 is installed on the front top of the vehicle body, No. II camera 36 is installed on the rear top of the vehicle body, and signal transmitter 25 is installed on the left top of the vehicle body and communicates with No. I camera through a data line 29 is connected with No. II camera 36, and the signal transmitter 25 transmits the images captured by the two cameras to the image display device. 33 are respectively contained in the left and right sides of the rear middle part of the vehicle body 23; The image signal is displayed on the display screen 37; the sensor information collection device is composed of distance sensors (26, 28, 31, 35) from I to IV, a photosensitive sensor 30, a GPS module 32, and a temperature sensor 33;

As shown in Figures 9 to 11, the control system consists of a control panel 39, a voice acquisition module 40, a main controller 41, an auxiliary controller 44, a power supply voltage stabilization module 42, a sensor driver module 43, a wireless communication module 45 and a motor driver module 46 Composition, the control panel 39 is installed on the front center of the vehicle body 23, the main controller 41, auxiliary controller 44, power supply voltage stabilization module 42, motor drive module 46, wireless communication module 45 and sensor drive module 46 are all installed on the control panel 39, the power supply voltage stabilizing module 42 is connected with the battery 24 through the power line, and the main controller 41, the auxiliary controller 44, the motor drive module 46, the wireless communication module 45 and the sensor driving module 46 are all connected to the power supply voltage stabilizing module through the power line 42, the main controller 41 is respectively connected with the drive interfaces of the four worm gear motors 1 in the steering mechanism and the four hub motors 12 in the drive system through the drive interface, and is respectively connected with the auxiliary controller 44 and the wireless communication module through the communication interface. 45 is connected with No. I camera 29, No. II camera 36, headlamp 27, and rear lamp 34 of the image acquisition device; the auxiliary controller 44 is respectively connected to the drive interface and the motor of the push rod motor 20 in the brake system through the drive interface. The drive module 46 is connected, and is connected with the sensor drive module 43 and the voice acquisition module 40 through the communication interface; the wireless communication module 45 is connected with the upper computer through a wireless signal, and the sensor drive module 43 is connected with the No. I distance sensor 26 and the No. II distance sensor respectively. 28. No. III distance sensor 31, No. IV distance sensor 35, photosensitive sensor 30, GPS module 32 and temperature sensor 33 are connected;

No. I camera 29 transmits the collected image information to the host computer through the wireless communication module 45, and the host computer makes instructions for the car to move straight ahead, turn left and turn right according to the image information and transmit the wireless signal to the wireless communication module 45, wireless communication The module 45 receives the corresponding instructions and then transmits the instructions to the main controller 41 through the communication interface. After receiving the instructions, the main controller 41 controls the rotation angles of the two worm gear motors 1 at the head position and the four hub motors in the drive system respectively. 12 speed, to realize the car straight forward, turn left or turn right; similarly, No. Ⅱ camera 36 transmits the image information collected by the wireless communication module 45 to the host computer, and the host computer makes instructions according to the image information, through the wireless communication module 45 Send it to the main controller 41, and then control the worm gear motor 1 and the hub motor 12 to realize the backward movement of the trolley; No. Ⅰ, Ⅱ, Ⅲ, Ⅳ distance sensors 26, 28, 31, 35 collect and transmit the front, rear, left and right distance information To the sensor drive module 43, the sensor drive module 43 transmits the collected data to the auxiliary controller 44, and the auxiliary controller 44 transmits to the main controller 41 through the communication interface, and the main controller 41 transmits the collected data through the wireless communication module 45. The information is sent to the host computer, and the host computer makes left and right translation commands for the car according to the distance information collected by No. Ⅰ, No. Ⅱ, No. Ⅲ, and No. After receiving the instruction, the main controller 41 controls the rotation angles of the four worm gear motors 1 in the steering mechanism, so that the four steering shafts 8 turn left or right by 90° at the same time, and control the four hubs The rotating speed of motor 12, thereby realizes the lateral translation of dolly; Photosensitive sensor 30 transmits the data collected to sensor drive module 43, and sensor drive module 43 transmits the data collected to auxiliary controller 44, and auxiliary controller 44 transmits to main controller 44 through communication interface. The controller 41, the main controller 41 transmits the collected information to the host computer through the wireless communication module 45, and the host computer transmits the front and rear lamp operation instructions to the wireless communication module 45 according to the collected data, and the wireless communication module 45 receives The front and rear lamp operation instructions are transmitted to the main controller 40 through the communication interface, and the main controller 40 controls the headlight 27 and the rear lamp 34 to turn on or off after receiving the instruction, so as to realize the control of the car searchlight; the temperature sensor 33 The collected data is transmitted to the sensor driving module 43, and the sensor driving module 43 transmits the collected data to the auxiliary controller 44, and the auxiliary controller 44 transmits the data to the main controller 41 through the communication interface, and the main controller 41 passes the wireless communication module 45 The collected information is transmitted to the host computer for display to realize the monitoring of the temperature of the car;

After the voice collection module 40 collects the driver's instruction, it transmits the instruction to the auxiliary controller 44 through the wireless communication interface. 45 sends the received instruction to the host computer, and the host computer performs two operations, the first one is to analyze the voice, make a corresponding operation instruction and send it to the main controller 41 through the wireless communication module 45, and the main controller 41 executes the command; the second is to monitor the running status of the execution command of the car.

The various voices sent by the driver received by the voice collection module include instructions such as forward, backward, stop, turn left, turn right, translation, turn in place, turn on and turn off the lights;

The driver sends a voice forward command, and the voice acquisition module 40 collects the forward command sent by the driver and transmits the command to the secondary controller 44 through the UART communication interface, and the secondary controller 44 transmits the command to the main controller 41 after receiving the command. The main controller 41 sends the received instruction to the upper computer through the wireless communication module 45, and the upper computer analyzes the voice and makes a forward instruction and transmits it to the main controller 41 through the wireless communication module 45, and the main controller 41 executes the instruction to realize the car. straight ahead,

At the same time, the upper computer monitors the forward status of the trolley;

The driver sends a voice back command, and the voice acquisition module 40 collects the back command sent by the driver and transmits the command to the secondary controller 44 through the UART communication interface, and the secondary controller 44 sends it to the main controller 41 after receiving the command. The main controller 41 sends the received instruction to the upper computer through the wireless communication module 45, and the main controller 41 sends the accepted instruction to the upper computer through the wireless communication module 45, and the upper computer analyzes the voice and makes a retreat instruction through the wireless communication module 45 is transmitted to the main controller 41, and the main controller 41 executes the instruction to realize the straight-line retreat of the trolley. At the same time, the upper computer monitors the backward state of the trolley;

The driver sends a voice stop instruction, and the voice acquisition module 40 collects the stop instruction sent by the driver and sends the instruction to the auxiliary controller 44 through the UART communication interface, and the auxiliary controller 44 sends it to the main controller 41 after receiving the instruction. The main controller 41 sends the received command to the host computer through the wireless communication module 45, and the host computer analyzes the voice and makes a deceleration command and transmits it to the main controller 41 through the wireless communication module 45, and then the main controller 41 sends it to the auxiliary control unit. device 44, the auxiliary controller 44 executes the instruction to realize the stop of the car, and at the same time, the upper computer monitors the deceleration state of the car;

The driver sends a voice turn left instruction, and the voice acquisition module 40 collects the left turn instruction sent by the driver and transmits the instruction to the auxiliary controller 44 through the UART communication interface, and the auxiliary controller 44 transmits the instruction to the main controller after receiving the instruction. 41, the main controller 41 sends the received instruction to the host computer through the wireless communication module 45, and the host computer analyzes the voice, makes a left turn instruction and transmits it to the main controller 41 through the wireless communication module 45, and the main controller 41 executes the instruction In order to realize the left turn of the car, at the same time, the host computer monitors the left turn status of the car;

The driver sends a voice turn right instruction, and the voice acquisition module 40 collects the right turn instruction sent by the driver and transmits the instruction to the auxiliary controller 44 through the UART communication interface, and the auxiliary controller 44 transmits the instruction to the main controller after receiving the instruction. 41, the main controller 41 sends the received instruction to the host computer through the wireless communication module 45, and the host computer analyzes the voice, makes a left turn instruction and transmits it to the main controller 41 through the wireless communication module 45, and the main controller 41 executes the instruction In order to realize the right turn of the car, at the same time, the upper computer monitors the right turn state of the car;

The driver sends a voice left translation or right translation instruction, and the voice acquisition module 40 collects the right turn instruction sent by the driver and transmits the instruction to the auxiliary controller 44 through the UART communication interface, and the auxiliary controller 44 transmits the instruction to the auxiliary controller 44 after receiving the instruction. The main controller 41, the main controller 41 sends the received instruction to the upper computer through the wireless communication module 45, and the upper computer analyzes the voice, makes a left translation or right translation instruction and transmits it to the main controller 41 through the wireless communication module 45, the main computer The controller 41 controls the rotation angles of the four worm gear motors 1 in the steering mechanism, so that the four steering shafts 8 turn left or right 90° at the same time, and control the rotation speed of the four hub motors 12, thereby realizing the lateral translation of the trolley; At the same time, the upper computer monitors the right turning state of the trolley;

The driver sends out a voice command to rotate in situ, and the voice acquisition module 40 collects the in situ rotation command sent by the driver and transmits the command to the secondary controller 44 through the UART communication interface. After receiving the command, the secondary controller 44 transmits the command to the main The controller 41, the main controller 41 sends the received instruction to the host computer through the wireless communication module 45, and the host computer analyzes the voice, and transmits the instruction of turning in situ to the main controller 41 through the wireless communication module 45, and the main controller 41 executes This command, as shown in Figure 12, controls the same direction and angle of rotation of the two worm gear motors 1 in the diagonal direction of the vehicle body, and controls the rotation speed of the four hub motors 12 in the drive system to realize the original rotation of the car; at the same time , the upper computer monitors the in-situ rotation status of the trolley;

The driver sends a voice command to turn on or turn off the light, and after the voice acquisition module 40 collects the command to turn on or turn off the light from the driver, the command is sent to the secondary controller 44 through the UART communication interface, and the secondary controller 44 receives the command Then send it to the main controller 41, the main controller 41 sends the received command to the host computer through the wireless communication module 45, and the host computer analyzes the voice, and makes an instruction to turn on or turn off the light and transmit it to the main controller through the wireless communication module 45 41. The main controller 41 executes the instruction to control the on or off of the front and rear lamps to realize searchlight control; at the same time, the upper computer displays the instruction information through text, and the upper computer displays the instruction information through text.

This independent intelligent car is equipped with GPS module 32, and GPS module 32 detects the position information of car and sends information to auxiliary controller 44, and auxiliary controller 44 is transmitted to main controller 41, and main controller 41 sends information by wireless communication module 45. Send it to the host computer, and the monitoring personnel can know the position of the smart car from the host computer terminal.

Claims (3)

1. A smart car with all-round motion, including a mechanical motion structure, an information collection system, a control system and a host computer, the information collection system and the control system are connected to the host computer, and the mechanical motion structure includes a vehicle body (23) and four The road wheels are characterized in that: each road wheel is independent of each other and connected to a set of steering control system respectively, the steering control system includes a steering mechanism, a drive system, a suspension structure and a braking system, and the steering mechanism includes a worm gear motor (1), Cover plate (2), base plate (3), driving sprocket (4), chain (5), steering shaft (8) and driven sprocket (10), cover plate (2) and base plate (3) are fixed on the steering On the shaft (8), the worm gear motor (1) is installed on the cover plate (2), the driving sprocket (4) is connected with the output shaft of the worm gear motor (1), and the driven sprocket (10) is installed on the steering shaft (8) above; the suspension structure adopts a single wishbone independent suspension, including a bracket (6), a shock absorber (7) and a claw hook (13), the bracket (6) is connected with the steering shaft (8), and the claw The hook (13) is connected to the bracket (6), and two shock absorbers (7) are symmetrically installed on the left and right sides of the bracket (6); the drive system uses a hub motor (12), and the hub motor (12) passes through the axle (14) It is fixed on the claw hook (13) of the suspension structure; the brake system includes the hub brake pad (15) and the brake controller, and the brake controller includes the brake line (16), the linear guide rail (18), and the No. 1 brake baffle (17), No. Ⅱ brake baffle (19), No. Ⅲ brake baffle (21), push rod motor (20) and brake bottom plate (22), and No. Ⅰ brake baffle (17) is fixed on the brake bottom plate (22) and connected with one end of the brake line (16), the No. Ⅱ brake baffle (19) is connected with the other end of the brake line (16) and connected with the linear guide rail (18) fixed on the brake bottom plate, and the No. Ⅲ brake baffle ( 21) Fixed on the brake base plate (22), one end of the push rod of the push rod motor (20) is connected with the No. Ⅱ brake baffle (19), and the other end is connected with the No. Ⅲ brake baffle (21). 2. The intelligent car with omnidirectional movement according to claim 1, characterized in that: the information collection system includes an image collection device, an image display device and a sensor information collection device, and the image collection device includes a signal transmitter (25) , No. I camera (29), No. II camera (36), headlight (27) and rear light (34), No. I camera (29) is installed on the front top of vehicle body (23), No. II camera (36 ) is installed on the rear top of the vehicle body (23), and the signal transmitter (25) is installed on the left top of the vehicle body and is connected with No. I camera (29) and No. II camera (36) through a data cable. Connected with the image display device, the two headlights (27) are respectively installed on the left and right sides of the front middle part of the vehicle body (23), and the two rear lights (34) are respectively installed on the left and right sides of the rear middle part of the vehicle body (23); The image display device includes a display screen (37) and a signal receiver (38), the signal receiver (38) is connected to the display screen (37), and the signal receiver (38) receives the image signal emitted by the signal transmitter (25) And displayed on the display screen (37); the sensor information collection device includes No. I distance sensor (26), No. II distance sensor (28), No. III distance sensor (31), No. IV distance sensor (35), photosensitive sensor ( 30), GPS module (32) and temperature sensor (33); No. Ⅱ distance sensor (28), No. Ⅳ distance sensor (35) are respectively installed on the front and rear sides of the vehicle body (23), and No. Ⅰ distance sensor (26), Ⅲ No. distance sensors (31) are installed on the left and right sides of the vehicle body (23), the photosensitive sensor (30) is installed in front of the vehicle body (23), the temperature sensor (33) is installed in the front interior of the vehicle body (23), and the GPS module (32) is installed In the center of the front part of the vehicle body (23). 3. The intelligent car with omnidirectional movement according to claim 2, characterized in that: the control system includes a control panel (39), a voice collection module (40), a main controller (41), an auxiliary controller ( 44), power supply voltage stabilization module (42), sensor drive module (43), wireless communication module (45) and motor drive module (46), the control board (39) is installed at the front center of the vehicle body (23), the main Controller (41), auxiliary controller (44), power supply voltage stabilization module (42), motor driver module (46), wireless communication module (45) and sensor driver module (46) are all installed on the control board (39) , the power supply voltage stabilization module (42) is connected to the battery (24) through the power line, the main controller (41), the auxiliary controller (44), the motor drive module (46), the wireless communication module (45) and the sensor drive module (46) are connected to the power supply voltage stabilizing module (42) through the power line, and the main controller (41) is respectively connected to the four worm gear motors (1) in the steering mechanism and the four hub motors in the drive system through the drive interface (12), the main controller (41) is connected with the secondary controller (44), the wireless communication module (45) and the No. I camera (29) and No. II camera (36) of the image acquisition device respectively through the USB interface. ), headlights (27), and rear lights (34); the auxiliary controller (44) communicates with the drive interface of the push rod motor (20) in the brake system and the motor drive module (46) through the drive interface connection, the auxiliary controller (44) is connected with the sensor driver module (43) and the voice acquisition module (40) through the USB interface; the wireless communication module (45) is connected with the upper computer through a wireless signal, and the sensor driver module (43) is respectively connected with No. I distance sensor (26), No. II distance sensor (28), No. III distance sensor (31), No. IV distance sensor (35), photosensitive sensor (30), GPS module (32) and temperature sensor (33) connection; the voice acquisition module (40) is connected to the signal input end of the auxiliary controller (44) through the wireless communication interface, and the signal output end of the auxiliary controller (44) is connected to the main controller (41), and the main controller (41) Connect with the host computer via the wireless communication module (45).