Movable support of multi-information fusion sensing equipment

Abstract

The invention relates to the technical field of vehicles, and discloses a movable support of multi-information fusion sensing equipment, which comprises a translation driving module, a first rotation driving module, a second rotation driving module, a mounting platform and a control module. The first rotation driving module is arranged on the translation driving module, and the translation driving module can drive the first rotation driving module to move in the first direction. The second rotation driving module is arranged on the first rotation driving module, the first rotation driving module can drive the second rotation driving module to rotate around a first axis, the first axis extends in a second direction, the second direction is the height direction of the movable support of the multi-information fusion sensing equipment, and the second direction is perpendicular to the first direction. The mounting platform is arranged on the second rotation driving module, the second rotation driving module can drive the mounting platform to rotate around a second axis perpendicular to the first axis, and the translation driving module, the first rotation driving module and the second rotation driving module are all in communication connection with the control module.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a movable bracket for a multi-information fusion sensing device. Background Technology

[0002] With the continuous development of artificial intelligence and intelligent transportation, autonomous vehicle systems are placing higher demands on the accuracy and real-time performance of target object recognition. A common solution for fixing vehicle lidar is to mount it on the roof, integrating it into the roof structure. This approach ensures the stability and reliability of the radar while avoiding interference from inclement weather. However, as the real-time and accuracy requirements for environmental perception in autonomous driving systems increase, roof-mounted lidar struggles to cope with complex road conditions. Specifically, the vertical detection angle of roof-mounted solid-state lidar is limited. When the road ahead is uphill or downhill, the detection range of the roof-mounted lidar is affected by the slope, making it difficult for the vehicle to obtain timely road condition information. Similarly, when the vehicle needs to turn, it struggles to accurately and promptly obtain road conditions in the turning direction. This lack of road condition information severely impacts the driving safety of autonomous vehicles.

[0003] Therefore, there is an urgent need for a movable support for multi-information fusion sensing devices to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a movable support for a multi-information fusion sensing device, which enables vehicles to have a good detection field of view when preparing to go uphill, downhill, and turn.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A movable support for a multi-information fusion sensing device includes:

[0007] Translation drive module;

[0008] A first rotation drive module is disposed on the translation drive module, and the translation drive module is capable of driving the first rotation drive module to move along a first direction;

[0009] The second rotation drive module is disposed on the first rotation drive module. The first rotation drive module can drive the second rotation drive module to rotate around the first axis. The first axis extends along the second direction, which is the height direction of the movable support of the multi-information fusion sensing device, and the second direction is perpendicular to the first direction.

[0010] An installation platform is mounted on the second rotation drive module for mounting sensing devices, including radar and cameras. The second rotation drive module can drive the installation platform to rotate about a second axis perpendicular to the first axis.

[0011] The control module is communicatively connected to the translation drive module, the first rotation drive module, and the second rotation drive module.

[0012] As an improvement to the above technical solution, the translation drive module includes:

[0013] A slide rail that extends along the first direction;

[0014] A slider is slidably mounted on the slide rail, and the first rotation drive module is mounted on the slider;

[0015] A first driving component is disposed on the slider for driving the slider to move along the slide rail.

[0016] As an improvement to the above technical solution, the translation drive module further includes a position sensing component, which is used to monitor the relative position of the slider and the slide rail.

[0017] As an improvement to the above technical solution, the position sensing component includes a magnet disposed on the slide rail and a magnetic induction sensor disposed on the slider, with a plurality of magnets spaced apart along the extension direction of the slide rail.

[0018] As an improvement to the above technical solution, the first rotation drive module includes:

[0019] A first base is disposed on the slider;

[0020] A second drive assembly is disposed on the first base, and the second drive assembly is capable of driving the second rotation drive module to rotate around the first axis.

[0021] As an improvement to the above technical solution, the second rotation drive module includes:

[0022] The second base is rotatably mounted on the first base, and the rotation axis of the second base relative to the first base is collinear with the first axis.

[0023] Two side plates, the bottom ends of which are fixed to the second base, and the two side plates are spaced apart along the extension direction of the second axis;

[0024] The third drive assembly is provided on both of the two side plates, and the mounting platform is disposed between the two side plates, with the two ends of the mounting platform connected to the two third drive assemblies respectively along the second axis.

[0025] As an improvement to the above technical solution, the third driving component includes:

[0026] A third motor is mounted on the side plate;

[0027] An output shaft is provided, with its axis collinear with the second axis. One end of the output shaft is connected to the third motor drive, and the other end is connected to the mounting platform.

[0028] As an improvement to the above technical solution, the controller is communicatively connected to the radar, the camera, the vehicle navigation module, the vehicle positioning module, and the vehicle speed monitoring module, and the controller has a known route control mode and an unknown route control mode.

[0029] When both the vehicle navigation module and the vehicle positioning module are enabled, the controller enters the known route control mode; otherwise, the controller enters the unknown route control mode.

[0030] When the controller is in the known route control mode, the controller determines the expected driving state of the vehicle within a first preset time period based on the vehicle driving route information of the vehicle navigation module, the vehicle position information of the vehicle positioning module, and the vehicle speed information of the vehicle speed monitoring module, and controls the translation drive module, the first rotation drive module, and the second rotation drive module based on the expected driving state of the vehicle within the first preset time period and the monitoring information of the sensing device.

[0031] When the controller is in the unknown route control mode, the controller determines the expected driving state of the vehicle within a first preset time period based on the monitoring information of the sensing device, and controls the translation drive module, the first rotation drive module and the second rotation drive module based on the expected driving state of the vehicle within the first preset time period and the monitoring information of the sensing device.

[0032] The expected driving states of the vehicle include continuous turning, turning from straight to turning, starting uphill after the end of straight driving, and starting downhill after the end of straight driving.

[0033] As an improvement to the above technical solution, the step of controlling the translation drive module, the first rotation drive module, and the second rotation drive module based on the expected driving state of the vehicle within a first preset time period and the monitoring information of the sensing device includes:

[0034] If the expected driving state of the vehicle within the first preset time is continuous turning or straight-to-turning, the controller determines the offset distance of the slider's current expected position relative to the slider's straight-line working position based on the curvature of the vehicle's driving route after the first preset time, determines the offset direction of the slider's current expected position relative to the slider's straight-line working position based on the curvature of the vehicle's driving route after the first preset time, determines the deflection angle of the second base's current expected position relative to the second base's straight-line working position based on the offset distance of the slider's current expected position relative to the slider's straight-line working position, determines the deflection direction of the second base's current expected position relative to the second base's straight-line working position based on the offset direction of the slider's current expected position relative to the slider's straight-line working position, and then controls the slider to move towards the slider's current expected position and controls the second base to rotate towards the second base's current expected position.

[0035] If the expected driving state of the vehicle within the first preset time period is the end of straight driving and the start of uphill driving, then the current expected position of the first mounting seat is determined according to the distance between the vehicle and the ramp and the angle between the ramp and the horizontal plane, and the first mounting seat is driven to rotate to the current expected position.

[0036] If the expected driving state of the vehicle within the first preset time period is from the end of straight driving to the start of downhill driving, then the current expected position of the first mounting seat is determined based on the distance between the vehicle and the slope and the angle between the slope and the horizontal plane, and the first mounting seat is driven to rotate to the current expected position.

[0037] As an improvement to the above technical solution, the offset direction of the slider's current expected position relative to the slider's straight working position is determined based on the curvature direction of the vehicle's travel route after a first preset time. This includes: if the vehicle's travel route after the first preset time bends to the left relative to the vehicle's current travel direction, then the offset direction of the slider's current expected position relative to the slider's straight working position is to the right; if the vehicle's travel route after the first preset time bends to the right relative to the vehicle's current travel direction, then the slider's current expected offset direction is to the left.

[0038] The deflection direction of the second base relative to the second base's straight-line working position is determined based on the offset direction of the slider's current expected position relative to the slider's straight-line working position. This includes: if the slider's current expected position offset to the left relative to the slider's straight-line working position, then the deflection direction of the second base's current expected position relative to the second base's straight-line working position is right; if the slider's current expected position offset to the right relative to the slider's straight-line working position, then the deflection direction of the second base's current expected position relative to the second base's straight-line working position is left.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0040] The movable bracket for a multi-information fusion sensing device provided by this invention is used to mount radar and cameras on the roof of a vehicle, enabling the vehicle to have multi-information fusion sensing capabilities. In use, the movable bracket is mounted on the top of the vehicle, with a first direction along the width of the vehicle, a first axis extending along the height of the vehicle, and a second axis extending perpendicular to the height of the vehicle. The radar and camera are mounted on a mounting platform. A translation drive module can drive a first rotation drive module to move a second rotation drive module and the mounting platform along the first direction. The first rotation drive module can drive the second rotation drive module to rotate the mounting platform around the first axis extending along the height of the vehicle. Both the translation drive module and the first rotation drive module are communicatively connected to a controller, allowing the controller to control the mounting platform to move along the first direction and control the first rotation drive module to rotate the mounting platform in the turning direction when the vehicle needs to turn. This provides the sensing device with a better detection field of view, facilitating timely acquisition of road condition information in the turning direction. In addition, the second rotary drive module can drive the mounting platform to rotate around the second axis. The second rotary drive module is connected to the control module. When the vehicle needs to go uphill or downhill, the controller can drive the mounting platform to pitch and swing along the axis perpendicular to the vehicle height through the second rotary drive module, so that the radar and camera have a better detection field of view, so as to obtain road condition information on the slope earlier and more accurately. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the movable support structure of the multi-information fusion sensing device provided in an embodiment of the present invention. Figure 1 ;

[0042] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0043] Figure 3 This is a schematic diagram of the movable support structure of the multi-information fusion sensing device provided in an embodiment of the present invention. Figure 2 ;

[0044] Figure 4 This is a schematic diagram of the operation of the active support of the multi-information fusion sensing device provided in the embodiment of the present invention when the expected driving state of the vehicle within the first preset time is the end of straight driving and the start of uphill driving;

[0045] Figure 5 This is a partial correspondence in the table of correspondences between the distance between the vehicle and the ramp, the angle between the ramp and the horizontal plane, and the current expected position of the first mounting base provided in the embodiments of the present invention.

[0046] In the picture:

[0047] 1. Translation drive module;

[0048] 11. Slide rail; 12. Slider; 13. Support frame; 131. Longitudinal beam; 132. Crossbeam; 14. First support column;

[0049] 2. First rotation drive module; 21. First base;

[0050] 3. Second rotary drive module; 31. Second base; 32. Side plate; 33. Motor compartment;

[0051] 4. Mounting platform; 41. First mounting base; 411. First mounting hole; 42. Second support column; 43. Second mounting base; 431. Fourth connecting hole; 432. Second mounting hole. Detailed Implementation

[0052] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0053] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0056] like Figures 1-3As shown, this embodiment provides a movable support for a multi-information fusion sensing device, including a translation drive module 1, a first rotation drive module 2, a second rotation drive module 3, a mounting platform 4, and a control module. The first rotation drive module 2 is mounted on the translation drive module 1, and the translation drive module 1 can drive the first rotation drive module 2 to move along a first direction. The second rotation drive module 3 is mounted on the first rotation drive module 2, and the first rotation drive module 2 can drive the second rotation drive module 3 to rotate around a first axis. The first axis extends along a second direction, which is the height direction of the movable support of the multi-information fusion sensing device, and the second direction is perpendicular to the first direction. The mounting platform 4 is mounted on the second rotation drive module 3 and is used to mount sensing devices, including radar and cameras. The second rotation drive module 3 can drive the mounting platform 4 to rotate around a second axis, which is perpendicular to the first axis. The translation drive module 1, the first rotation drive module 2, and the second rotation drive module 3 are all communicatively connected to the control module.

[0057] The movable bracket for the multi-information fusion sensing device provided in this embodiment is used to mount radar and cameras on the vehicle roof, enabling the vehicle to have multi-information fusion sensing capabilities. In use, the movable bracket for the multi-information fusion sensing device is mounted on the top of the vehicle, with a first direction along the width of the vehicle, a first axis extending along the height of the vehicle, and a second axis extending perpendicular to the height of the vehicle. The radar and camera are mounted on the mounting platform 4. The translation drive module 1 can drive the first rotation drive module 2 to move the second rotation drive module 3 and the mounting platform 4 along the first direction. The first rotation drive module 2 can drive the second rotation drive module 3 to rotate the mounting platform 4 around the first axis extending along the height of the vehicle. Both the translation drive module 1 and the first rotation drive module 2 are communicatively connected to the controller, allowing the controller to control the mounting platform 4 to move along the first direction and control the first rotation drive module 2 to rotate the mounting platform 4 in the turning direction when the vehicle needs to turn. This provides the sensing device with a better detection field of view, facilitating timely acquisition of road condition information in the turning direction. In addition, the second rotary drive module 3 can drive the mounting platform 4 to rotate around the second axis. The second rotary drive module 3 is connected to the control module. When the vehicle needs to go uphill or downhill, the controller can drive the mounting platform 4 to pitch and swing along the axis perpendicular to the vehicle height through the second rotary drive module 3, so that the radar and camera have a better detection field of view, so as to obtain road condition information on the slope earlier and more accurately.

[0058] Optionally, the translation drive module 1 includes a slide rail 11, a slider 12, and a first drive assembly. The slide rail 11 extends along a first direction. The slider 12 is slidably disposed on the slide rail 11, and the first rotation drive module 2 is disposed on the slider 12. The first drive assembly is disposed on the slider 12 and is used to drive the slider 12 to move along the slide rail 11, thereby driving the first rotation drive module 2 on the slider 12 to move along the first direction.

[0059] Optionally, the translation drive module 1 also includes a position sensing component, which monitors the relative position of the slider 12 and the slide rail 11. This allows the controller to more accurately control the movement distance of the mounting platform 4 along the first direction.

[0060] Furthermore, the position sensing component includes magnets disposed on the slide rail 11 and a magnetic induction sensor disposed on the slider 12. Multiple magnets are spaced apart along the extension direction of the slide rail 11. The distance between the centers of two adjacent magnets is a first unit length. By detecting the number of magnets passed by the magnetic induction sensor, the moving distance of the slider 12 can be monitored.

[0061] Optionally, the first driving component includes a roller and a first motor. The roller is rotatably mounted on the slider 12 and abuts against the slide rail 11. The first motor is mounted on the slider 12 and is connected to the roller for driving the roller to rotate. The first motor drives the roller to roll, and the slider 12 moves by the friction between the roller and the slide rail 11. In this embodiment, rollers are provided on both sides of the slide rail 11 along the first direction, and the first motor is correspondingly provided with each roller, driving the corresponding roller.

[0062] Optionally, the first rotary drive module 2 includes a first base 21 and a second drive assembly. The first base 21 is disposed on the slider 12. The second drive assembly is disposed on the first base 21, and the second drive assembly is capable of driving the second rotary drive module 3 to rotate around the first axis.

[0063] Furthermore, the translation drive module 1 also includes a support frame 13 and a first support column 14. Two slide rails 11 are provided, spaced apart along the fourth direction. The first and second directions are both perpendicular to the fourth direction, meaning the fourth direction is the length direction of the vehicle. Two sliders 12 are slidably mounted on each slide rail 11. The support frame 13 includes two longitudinal beams 131 and two transverse beams 132. The longitudinal beams 131 correspond one-to-one with the slide rails 11, and both ends of the longitudinal beams 131 are fixed to the two sliders 12 on the corresponding slide rails 11 by bolts. The transverse beams 132 extend along the fourth direction, spaced apart along the first direction. Both ends are fixed to the two longitudinal beams 131 by bolts. The crossbeam 132 is provided with a plurality of first connecting holes spaced apart along the fourth direction. The first base 21 is provided with a plurality of second connecting holes. Both the first connecting holes and the second connecting holes are provided with internal threads. The first support column 14 extends along the second direction. Both the top and bottom ends of the first support column 14 are provided with external threads. The bottom end of the first support column 14 is inserted into the first connecting hole and threadedly connected to the support frame 13. The top end extends into the second connecting hole and threadedly connected to the first base 21. Each support frame 13 is provided with two first support columns 14. That is to say, the first base plate is connected to the translation drive module 1 through four first support columns 14.

[0064] Optionally, the second rotary drive module 3 includes a second base 31, two side plates 32, and a third drive assembly. The second base 31 is rotatably mounted on the first rotary drive module 2, and the rotation axis of the second base 31 relative to the first base 21 is collinear with the first axis. The bottom ends of the side plates 32 are fixed to the second base 31, and the two side plates 32 are spaced apart along the extension direction of the second axis. Each of the two side plates 32 is provided with a third drive assembly, and a mounting platform 4 is disposed between the two side plates 32, with both ends of the mounting platform 4 connected to the two third drive assemblies respectively along the second axis. A gear ring is fixed to the second base 31, and the second base 31 is rotatably mounted on the first base 21 via a rotating shaft.

[0065] Optionally, the second drive assembly includes a second motor, a drive gear, and a gear ring. The second motor is mounted on the first base 21. The drive gear is connected to the output shaft of the second motor, and the second motor can drive the drive gear to rotate. The gear ring is fixedly mounted on the second base 31, and the axis of the gear ring is collinear with the first axis. The drive gear meshes with the gear ring. That is, the first rotary drive module 2 drives the drive gear through the second motor, the drive gear drives the gear ring, and the gear ring drives the second drive assembly to rotate around the first axis.

[0066] Furthermore, the third drive component includes a third motor and an output shaft. The third motor is mounted on the side plate 32. The axis of the output shaft is collinear with the second axis. One end of the output shaft is connected to the third motor, and the other end is connected to the mounting platform 4. The third motor can drive the mounting platform 4 to rotate around the second axis via the output shaft. That is, the third motor drives the output shaft to rotate the mounting platform 4 along the second axis. In this embodiment, the second rotation drive module 3 also includes a motor housing 33, which is correspondingly arranged with the side plate 32 and fixed to the corresponding side plate 32. The third motor is disposed inside the motor housing 33, and the output shaft is rotatably mounted on the motor housing 33.

[0067] Optionally, the mounting platform 4 provided in this embodiment further includes a first mounting base 41, a second support column 42, and a second mounting base 43. The bottom end of the second support column 42 is connected to the first mounting base 41, and the second mounting base 43 is disposed at the top end of the second support column 42. The first mounting base 41 is fixedly connected to the output shaft. Specifically, the first mounting base 41 is provided with a plurality of third connecting holes, and the second mounting base 43 is provided with a plurality of fourth connecting holes 431. Both the third connecting holes and the fourth connecting holes 431 are provided with internal threads. The top and bottom ends of the second support column 42 are provided with external threads. The bottom end of the second support column 42 is inserted into the third connecting hole and threadedly connected to the first mounting base 41, and the top end is inserted into the fourth connecting hole 431 and threadedly connected to the second mounting base 43. In this embodiment, there are two second support columns 42. The first mounting base 41 is used to mount a camera, and the second mounting base 43 is used to mount a radar. Specifically, the top surface of the first mounting base 41 is provided with a plurality of first mounting holes 411 for connecting a camera. The provision of a plurality of first mounting holes 411 allows the first mounting base 41 to mount various types of cameras. The second mounting base 43 is provided with a plurality of second mounting holes 432 for connecting a radar. The provision of a plurality of second mounting holes 432 allows the second mounting base 43 to mount various types of radar.

[0068] Optionally, the controller is communicatively connected to the radar, camera, vehicle navigation module, vehicle positioning module and vehicle speed monitoring module, and the controller has a known route control mode and an unknown route control mode.

[0069] When both the vehicle navigation module and the vehicle positioning module are enabled, the vehicle can obtain the expected driving route based on the navigation information and the vehicle location information. Therefore, under this condition, the controller enters the known route control mode; otherwise, the controller enters the unknown route control mode.

[0070] When the controller is in the known route control mode, the controller determines the expected driving state of the vehicle within a first preset time period based on the vehicle driving route information of the vehicle navigation module, the vehicle position information of the vehicle positioning module, and the vehicle speed information of the vehicle speed monitoring module. The controller then controls the translation drive module 1, the first rotation drive module 2, and the second rotation drive module 3 based on the expected driving state of the vehicle within the first preset time period and the monitoring information of the sensing device.

[0071] When the controller is in the unknown route control mode, the controller determines the expected driving state of the vehicle within a first preset time period based on the monitoring information of the sensing device, and controls the translation drive module 1, the first rotation drive module 2 and the second rotation drive module 3 based on the expected driving state of the vehicle within the first preset time period and the monitoring information of the sensing device.

[0072] The expected driving states of the vehicle include continuous turning, turning from straight to turning, starting uphill after the end of straight driving, and starting downhill after the end of straight driving.

[0073] It should be noted that the continuous turning and variable turning mentioned in this embodiment include 90° turns, 180° U-turns, and turns following the curve of the road. The first preset time in this embodiment is a relatively short time, such as 5 seconds or 3 seconds, and the specific value of the first preset time can be selected as needed.

[0074] Furthermore, the controller determines the vehicle's expected driving state within a first preset time period based on the monitoring information from the sensing devices. Specifically, this includes: the camera collecting traffic signs and road condition image information from the road surface; the radar collecting point cloud information of the road conditions; the controller using the traffic sign information collected by the camera to determine whether the lane occupied by the vehicle during its journey is a straight lane or a turning lane, thereby determining whether the vehicle will continue straight or end its straight journey and begin turning within the next first preset time period; the controller using the monitoring information obtained by the camera and radar to determine whether there is a slope ahead, thereby determining the vehicle's expected driving state within the next first preset time period; and the controller using the road condition image information collected by the camera and the road condition point cloud information collected by the radar to determine whether there is an uphill or downhill section ahead, thereby determining whether the vehicle will continue straight, change from straight to turning, continue turning, end its straight journey and begin uphill, or end its straight journey and begin downhill within the next first preset time period.

[0075] Further, based on the expected driving state of the vehicle within a first preset time period and the monitoring information from the sensing device, the translation drive module 1, the first rotation drive module 2, and the second rotation drive module 3 are controlled, including:

[0076] If the expected driving state of the vehicle within the first preset time is continuous turning or straight-to-turning, the controller determines the offset distance of the slider's current expected position relative to the slider's straight-line working position based on the curvature of the vehicle's driving route after the first preset time, determines the offset direction of the slider's current expected position relative to the slider's straight-line working position based on the curvature of the vehicle's driving route after the first preset time, determines the deflection angle of the second base's current expected position relative to the second base's straight-line working position based on the offset distance of the slider's current expected position relative to the slider's straight-line working position, and determines the deflection direction of the second base's current expected position relative to the second base's straight-line working position based on the offset direction of the slider's current expected position relative to the slider's straight-line working position. Then, the controller controls the slider 12 to move towards the slider's current expected position and controls the second base 31 to rotate towards the second base's current expected position. Specifically, the second base 31 is driven to rotate by the first rotation drive module 2.

[0077] If the expected driving state of the vehicle within the first preset time is to end the straight driving and start the uphill, then the current expected position of the first mounting seat 41 is determined according to the distance between the vehicle and the slope and the angle between the slope and the horizontal plane, and the first mounting seat 41 is driven to rotate towards the current expected position, so that the vehicle can better obtain road condition information on the slope through the sensing device before going uphill. Specifically, the first mounting seat 41 is driven to rotate through the second rotation drive module 3, so that the vehicle can better obtain road condition information on the slope through the sensing device before going uphill.

[0078] If the vehicle's expected driving state within the first preset time period is to end straight driving and begin going downhill, then the first mounting seat 41's current expected position is determined based on the distance between the vehicle and the slope and the angle between the slope and the horizontal plane, and the first mounting seat 41 is driven to rotate towards the first mounting seat's current expected position, so that the vehicle can better obtain road condition information on the slope through the sensing device before going uphill.

[0079] Those skilled in the art will understand that turning patterns such as 90° turns, 180° U-turns, and turns following curved roads all involve corresponding curvatures in the vehicle's travel path.

[0080] Further, determining the offset direction of the slider's current expected position relative to the slider's straight working position based on the curvature direction of the vehicle's travel route after the first preset time includes: if the vehicle's travel route after the first preset time bends to the left relative to the vehicle's current travel direction, then the offset direction of the slider's current expected position relative to the slider's straight working position is to the right; if the vehicle's travel route after the first preset time bends to the right relative to the vehicle's current travel direction, then the slider's current expected offset direction is to the left.

[0081] The deflection direction of the second base relative to the second base's straight-line working position is determined based on the offset direction of the slider's current expected position relative to the slider's straight-line working position. This includes: if the slider's current expected position offset to the left relative to the slider's straight-line working position, then the deflection direction of the second base's current expected position relative to the second base's straight-line working position is right; if the slider's current expected position offset to the right relative to the slider's straight-line working position, then the deflection direction of the second base's current expected position relative to the second base's straight-line working position is left.

[0082] Furthermore, the offset distance of the slider's current expected position relative to the slider's straight-line working position and the curvature of the vehicle's travel path after the first preset time satisfy the following formula:

[0083]

[0084] Where x represents the offset distance of the slider's current expected position relative to its straight-line working position, in mm; k max This indicates the maximum curvature is set, with a value of 1 / 15, in radians, k. max The corresponding radius of curvature is 15m; L1 is the first unit length, which is the distance between the centers of two adjacent magnets, in millimeters; k represents the curvature of the vehicle's travel route after the first preset time, in radians; round is the nearest evidence collection function.

[0085] It should be noted that the slider's straight-line working position is the middle position of the slide rail 11 along its own length direction, which is also the middle position of the vehicle's width direction. When the second base 31 is in the second base straight-line working position, both the radar and the camera are facing the vehicle's forward direction. In this embodiment, the position of the slider 12 is determined by the mutual induction between the magnetic induction sensor and the magnet. Therefore, in order to make the control of the slider 12 position more accurate, the offset distance (i.e., the moving distance) of the slider 12 in this embodiment is in units of the first unit length. That is to say, the moving distance of the slider 12 each time is an integer multiple of the first unit length. Ten magnets are arranged at intervals on the left and right sides of the slide rail 11 located at the slider's straight-line working position. That is to say, the maximum offset distance of the slider 12 from the middle position of the slide rail 11 to the left and right is 10L1, and the value of L1 is 80mm. When the curvature of the vehicle's driving route is the set maximum curvature after the first preset time, the offset distance of the slider's current expected position relative to the slider's straight-line working position is the maximum offset distance of the slider, which is 10L1.

[0086] Furthermore, the deflection angle of the current expected position of the second base relative to the straight working position of the second base and the offset distance of the current expected position of the slider relative to the straight working position of the slider satisfy the following formula:

[0087]

[0088] Where θ1 is the deflection angle of the current expected position of the second base relative to the straight working position of the second base, in radians; a is the horizontal field of view of the camera, in radians; x represents the offset distance of the current expected position of the slider relative to the straight working position of the slider, in millimeters; h is the camera height, in millimeters; and d is the number of first unit distances of horizontal movement of the slider.

[0089] For example, when the offset distance between the current expected position of the slider and the straight working position of the slider is 10L1, θ1 is 0.34875Rad; when the offset distance between the current expected position of the slider and the straight working position of the slider is 5L1, θ1 is 0.17438Rad.

[0090] Optionally, determining the current expected position of the first mounting base of the second rotary drive module 3 based on the distance between the vehicle and the ramp and the angle between the ramp and the horizontal plane specifically includes: querying a correspondence table between the distance between the vehicle and the ramp, the angle between the ramp and the horizontal plane, and the current expected position of the first mounting base to determine the current expected position of the first mounting base. Partial correspondences in the correspondence table between the distance between the vehicle and the ramp, the angle between the ramp and the horizontal plane, and the current expected position of the first mounting base are as follows: Figure 5 As shown, the straight-line working position of the first mounting seat is the working position of the first mounting seat 41 when the vehicle is moving straight. In this embodiment, the top surface of the first mounting seat 41 remains horizontal when the vehicle is moving straight. θ2 is the angle between the ramp and the horizontal plane. When the ramp is uphill, the angle between the current expected position of the first mounting seat and the straight-line working position of the first mounting seat is "+", indicating that the current expected position of the first mounting seat is deflected upward relative to the straight-line working position of the first mounting seat. When the ramp is downhill, the angle between the current expected position of the first mounting seat and the straight-line working position of the first mounting seat is "-", indicating that the current expected position of the first mounting seat is deflected downward relative to the straight-line working position of the first mounting seat.

[0091] Optionally, the controller periodically determines the expected driving state of the vehicle within a first preset time period, that is, it determines the expected driving state of the vehicle within the next first preset time period every second preset time period, where the second preset time period is shorter than the first preset time period. The schematic diagram of the expected driving state of the vehicle within the first preset time period for the movable bracket of the multi-information fusion sensing device, representing the end of straight-line driving and the start of uphill driving, is shown below. Figure 4 As shown.

[0092] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A movable bracket for a multi-information fusion sensing device, characterized in that: include: Translation drive module (1); A first rotation driving module (2), which is arranged on the translation driving module (1), and the translation driving module (1) is capable of driving the first rotation driving module (2) to move along a first direction; a second rotation driving module (3), which is arranged on the first rotation driving module (2), and the first rotation driving module (2) is capable of driving the second rotation driving module (3) to rotate around a first axis, the first axis extending along a second direction, the second direction being the height direction of the movable bracket of the multi-information fusion sensing device, and the second direction is perpendicular to the first direction; a mounting platform (4), which is arranged on the second rotation drive module (3) and is used to mount a sensing device, wherein the sensing device comprises a radar and a camera, and the second rotation drive module (3) is capable of driving the mounting platform (4) to rotate around a second axis perpendicular to the first axis; The control module, the translation drive module (1), the first rotation drive module (2) and the second rotation drive module (3) are all communicatively connected to the control module.

2. The movable bracket of the multi-information fusion sensing device according to claim 1 is characterized in that: The translation driving module (1) comprises: A slide rail (11) extending along the first direction; a slider (12) which is slidably disposed on the slide rail (11), and the first rotation driving module (2) is disposed on the slider (12); A first driving component is arranged on the slider (12) and is used to drive the slider (12) to move along the slide rail (11).

3. The movable bracket of the multi-information fusion sensing device according to claim 2 is characterized in that: The translation drive module (1) further comprises a position sensing component, wherein the position sensing module is used to monitor the relative position between the sliding block (12) and the sliding rail (11).

4. The movable bracket of the multi-information fusion sensing device according to claim 3 is characterized in that: The position sensing component comprises a magnet arranged on the slide rail (11) and a magnetic induction sensor arranged on the slider (12), and a plurality of the magnets are arranged at intervals along the extension direction of the slide rail (11).

5. The movable bracket of the multi-information fusion sensing device according to claim 2, characterized in that: The first rotation driving module (2) comprises: A first base (21) disposed on the slider (12); A second driving component is arranged on the first base (21), and the second driving component is capable of driving the second rotation driving module (3) to rotate around the first axis.

6. The movable bracket of the multi-information fusion sensing device according to claim 5, characterized in that: The second rotation driving module (3) comprises: A second base (31) is rotatably disposed on the first base (21), and a rotation axis of the second base (31) relative to the first base (21) is colinear with the first axis; two side plates (32), the bottom ends of the side plates (32) being fixed on the second base (31), and the two side plates (32) being arranged at intervals along the extension direction of the second axis; A third drive assembly, wherein the third drive assembly is disposed on each of the two side plates (32), the mounting platform (4) is disposed between the two side plates (32), and the mounting platform (4) is respectively connected to the two third drive assemblies at both ends along the second axis.

7. The movable bracket of the multi-information fusion sensing device according to claim 6, characterized in that: The third driving assembly comprises: a third motor, which is arranged on the side plate (32); An output rotating shaft, the axis of which is colinear with the second axis, one end of the output rotating shaft being drivingly connected to the third motor, and the other end of the output rotating shaft being connected to the mounting platform (4).

8. The movable bracket of the multi-information fusion sensing device according to claim 5, characterized in that: The controller is communicatively connected with the radar, the camera, the vehicle navigation module, the vehicle positioning module and the vehicle speed monitoring module, and the controller has a known route control mode and an unknown route control mode; When the vehicle navigation module and the vehicle positioning module are both turned on, the controller enters a known route control mode, otherwise, the controller enters an unknown route control mode; When the controller is in a known route control mode, the controller determines the expected driving state of the vehicle within a first preset time according to the vehicle driving route information of the vehicle navigation module, the vehicle position information of the vehicle positioning module and the vehicle speed information of the vehicle speed monitoring module, and controls the translation drive module (1), the first rotation drive module (2) and the second rotation drive module (3) according to the expected driving state of the vehicle within the first preset time and the monitoring information of the sensing device; When the controller is in an unknown route control mode, the controller determines the expected driving state of the vehicle within a first preset time according to the monitoring information of the sensing device, and controls the translation drive module (1), the first rotation drive module (2) and the second rotation drive module (3) according to the expected driving state of the vehicle within the first preset time and the monitoring information of the sensing device; The expected driving state of the vehicle includes continuous turning, turning after going straight, going uphill after the end of going straight, and going downhill after the end of going straight.

9. The movable bracket of the multi-information fusion sensing device according to claim 8, characterized in that: The method of controlling the translation drive module (1), the first rotation drive module (2) and the second rotation drive module (3) according to the expected driving state of the vehicle within a first preset time and the monitoring information of the sensing device comprises: If the expected driving state of the vehicle within the first preset time is continuous turning or straight-moving turning, the controller determines the offset distance of the current expected position of the slider relative to the straight-moving working position of the slider according to the curvature of the vehicle's driving route after the first preset time, determines the offset direction of the current expected position of the slider relative to the straight-moving working position of the slider according to the curvature direction of the vehicle's driving route after the first preset time, determines the deflection angle of the current expected position of the second base relative to the straight-moving working position of the second base according to the offset distance of the current expected position of the slider relative to the straight-moving working position of the slider, determines the deflection direction of the current expected position of the second base relative to the straight-moving working position of the second base according to the offset direction of the current expected position of the slider relative to the straight-moving working position of the slider, and then controls the slider (12) to move toward the current expected position of the slider, and controls the second base (31) to rotate toward the current expected position of the second base; If the expected driving state of the vehicle within the first preset time is that the straight-ahead driving ends and the vehicle starts to go uphill, the first mounting seat current expected position of the first mounting seat (41) is determined according to the distance between the vehicle and the ramp and the angle between the ramp and the horizontal plane, and the first mounting seat (41) is driven to rotate toward the first mounting seat current expected position; If the expected driving state of the vehicle within the first preset time is to end straight driving and start downhill, the first mounting seat current expected position of the first mounting seat (41) is determined according to the distance between the vehicle and the ramp and the angle between the ramp and the horizontal plane, and the first mounting seat (41) is driven to rotate toward the first mounting seat current expected position.

10. The movable bracket of the multi-information fusion sensing device according to claim 9, characterized in that: Determining the offset direction of the current expected position of the slider relative to the straight working position of the slider according to the bending direction of the vehicle's driving route after the first preset time, including: if the vehicle's driving route after the first preset time is bent to the left relative to the vehicle's current driving direction, then the offset direction of the current expected position of the slider relative to the straight working position of the slider is right; if the vehicle's driving route after the first preset time is bent to the right relative to the vehicle's current driving direction, then the current expected offset direction of the slider is left; The deflection direction of the current expected position of the second base relative to the straight working position of the second base is determined according to the offset direction of the current expected position of the slider relative to the straight working position of the slider, including: if the offset direction of the current expected position of the slider relative to the straight working position of the slider is left, then the deflection direction of the current expected position of the second base relative to the straight working position of the second base is right; if the offset direction of the current expected position of the slider relative to the straight working position of the slider is right; then the deflection direction of the current expected position of the second base relative to the straight working position of the second base is left.

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