Radar device, transport vehicle, and method for controlling transport vehicle

Abstract

The invention relates to a radar device, a transportation carrier and a control method of the transportation carrier, the radar device is applied to the transportation carrier, the transportation carrier comprises a detection module used for detecting the current vehicle speed of the transportation carrier, the radar device comprises an installation part, a radar, a driving mechanism and a covering part, and the installation part is used for being installed on the transportation carrier; the radar is mounted on the mounting part and is used for transmitting and receiving radar signals; the driving mechanism is mounted on the mounting part and is electrically connected with the detection module; the covering part is in transmission connection with the driving mechanism, and the driving mechanism is configured to drive the covering part to move according to the detection information of the detection module so as to expose the signal receiving and transmitting side of the radar or enable the covering part to cover the signal receiving and transmitting side of the radar. Under the arrangement of the embodiment, the detection effect of the radar device is good, and the safety performance of the transportation carrier is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle obstacle avoidance, and in particular to a radar device, a transport vehicle, and a control method for the transport vehicle. Background Art

[0002] As vehicles become more popular, there are more and more cars on the road, and more and more traffic accidents occur. Therefore, people have higher and higher requirements for the obstacle avoidance ability of vehicles. Existing vehicles will install detection devices on the vehicle, such as cameras, radars and other detection equipment on the vehicle to timely obtain obstacle avoidance targets in the environment around the vehicle to reduce the accident rate.

[0003] However, when the existing vehicle is traveling at a high speed, the detection effect of the detection device is relatively poor. Summary of the invention

[0004] The present application provides a radar device, a transport vehicle, and a control method for the transport vehicle.

[0005] In the first aspect, the present application provides a radar device, which is applied to a transport vehicle, the transport vehicle includes a detection module for detecting the current speed of the transport vehicle, the radar device includes a radar, a mounting member, a driving mechanism and a covering member, the radar is used to transmit and receive radar signals; the mounting member is used to install the radar on the transport vehicle; the driving mechanism is installed on the mounting member and is used to be electrically connected to the detection module; the covering member is transmission-connected to the driving mechanism; the driving mechanism is configured to drive the covering member to move according to the detection information of the detection module to reveal the signal transceiver side of the radar or to cause the covering member to cover the signal transceiver side of the radar.

[0006] In the second aspect, the present application provides a transport vehicle, which includes a vehicle body, a detection module, a control device and the radar device mentioned above, wherein the detection module is arranged on the vehicle body, and the detection module is used to detect the current vehicle speed of the transport vehicle; the radar device is installed on the vehicle body, and the control device is installed on the vehicle body, and the control device is electrically connected to the radar device and the detection module respectively, and the control device is configured to control the movement of the cover according to the current vehicle speed.

[0007] On the third aspect, the present application provides a control method for a transport vehicle, which is applied to the transport vehicle mentioned above, and the control method includes: obtaining the current speed of the transport vehicle; determining the target position of the cover according to the current speed; controlling the operation of the driving mechanism according to the target position and driving the cover to move to the target position, so that the cover covers or exposes the signal receiving and sending side.

[0008] The present embodiment provides a radar device, which is applied to a transport vehicle, the transport vehicle includes a detection module, the radar device includes a mounting member, a radar, a driving mechanism and a covering member, the mounting member is mounted on the transport vehicle, the radar is mounted on the mounting member, and the radar can transmit radar signals and receive radar signals to obtain obstacle avoidance targets in the surrounding environment of the transport vehicle. The driving mechanism is mounted on the mounting member, and the covering member is connected to the driving member in a transmission manner so that the covering member can move relative to the mounting member and the radar. The driving mechanism is electrically connected to the detection module of the transport vehicle, and the driving mechanism is configured to drive the covering member to move according to the detection signal of the detection module. In one case, the detection signal indicates that the transport vehicle is traveling at a lower speed and the driving time exceeds a preset time, and the driving mechanism drives the covering member to move to the signal transceiver side of the radar covered by the covering member. In another case, the detection signal indicates that the transport vehicle is traveling at a higher speed and the driving time exceeds a preset time, and the driving mechanism drives the covering member to move to the signal transceiver side of the covering member.

[0009] Under the setting of this embodiment, the driving mechanism can drive the cover to change the relative position relationship between the cover and the signal receiving and transmitting side of the radar to cope with different driving conditions of the transport vehicle. When the transport vehicle is traveling at a higher speed and the driving time exceeds the preset time, the driving mechanism drives the cover to move to the signal receiving and transmitting side of the cover to reduce the attenuation effect of the cover on the radar signal and reduce the attenuation of the radar signal during propagation to improve the detection accuracy of the radar, so that the radar has a longer detection distance, optimize the radar detection data, and shorten the calculation time of the control device, so that the control device can quickly provide the driver with an effective risk avoidance plan, reserve a longer operation time for the driver, and greatly improve the safety performance of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 It is a schematic diagram of the structure of the transport vehicle provided in an embodiment of the present application.

[0012] Figure 2 yes Figure 1 A schematic diagram of the front structure of the radar device of the transport vehicle is shown.

[0013] Figure 3 yes Figure 1 A schematic diagram of the back structure of the radar device of the transport vehicle is shown.

[0014] Figure 4 yes Figure 2 The schematic diagram of the structure of the driving mechanism and cover of the radar device is shown.

[0015] Figure 5 This is a first flow chart of the method for controlling a transport vehicle provided in an embodiment of the present application.

[0016] Figure 6 This is a second flow chart of the method for controlling a transport vehicle provided in an embodiment of the present application.

[0017] Figure 7 This is a third flow chart of the method for controlling a transport vehicle provided in an embodiment of the present application.

[0018] Figure numbers: 1000, transport vehicle, 900, vehicle body, 910, cockpit, 800, control device, 600, wheel set, 500, detection module, 400, bumper, 410, installation part, 100, radar device, 10, radar, 11, signal transmitting and receiving side, 20, installation part, 21, first side, 22, second side, 23, wave-transmitting through hole, 30, covering part, 31, covering part, 32, matching part, 40, driving mechanism, 41, driving part, 42, transmission part. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0020] See also Figure 1The embodiment of the present application provides a radar device 100 and a transport vehicle 1000 equipped with the radar device 100, and the transport vehicle 1000 is used to transport goods or people. In this embodiment, the transport vehicle 1000 includes a vehicle body 900, a control device 800, a drive device and a plurality of wheel groups 600. The vehicle body 900 constructs the main structure of the transport vehicle 1000, and the vehicle body 900 is provided with a cockpit 910. The control device 800 is generally installed in the cockpit 910 to facilitate interaction with the driver. The plurality of wheel groups 600 are installed on the side of the vehicle body 900 facing the ground, and the drive device (not shown in the figure) is installed inside the vehicle body 900 and is transmission-connected to at least one of the plurality of wheel groups 600, so as to be able to drive the wheel group 600 to rotate and make the vehicle body 900 travel on the ground. In the actual driving process, the driver can change the output power of the drive device through the control device 800 to adjust the driving speed of the transport vehicle 1000. In the present embodiment, the transport vehicle 1000 further includes a detection module 500, which is electrically connected to the control device 800. The detection module 500 is used to detect the current speed of the transport vehicle 1000. The detection module 500 can also be used to detect at least one parameter of the time the transport vehicle 1000 travels in a certain speed range, the starting speed of the transport vehicle 1000, the acceleration of the transport vehicle 1000 during braking, etc. In the present embodiment, a preset speed is set for the transport vehicle 1000, and the preset speed is 60km / h. In the present embodiment, a real-time speed less than the preset speed is defined as a lower driving speed, and a real-time speed greater than or equal to the preset speed is defined as a higher driving speed. In other embodiments, the specific value of the preset speed can be set separately according to actual conditions, for example, it can be 50km / h, 65km / h, 70km / h, 75km / h, 80km / h, etc. The detection module 500 can specifically include a vehicle speed sensor.

[0021] See also Figure 2 and Figure 3In this embodiment, the radar device 100 is installed on the vehicle body 900 and is used to obtain the obstacle avoidance target (i.e., obstacle) in the environment of the transport vehicle 1000. The radar device 100 can transmit the information of the obstacle avoidance target obtained to the control device 800. The control device 800 controls the transport vehicle 1000 or reminds the driver according to the information of the obstacle avoidance target. In this embodiment, the radar device 100 includes a mounting member 20 and a radar 10. The mounting member 20 is installed on the transport vehicle 1000. The radar 10 is installed on the mounting member 20. The radar 10 is used to transmit and receive radar signals so as to detect the surrounding environment of the transport vehicle 1000. This embodiment does not limit the position of the radar device 100 on the vehicle body 900 of the transport vehicle 1000. As an example, in a daily transportation vehicle 1000 such as a sedan or SUV, the radar device 100 can be installed at the front end in the direction of travel of the transport vehicle 1000, that is, the radar device 100 is installed on the "front of the vehicle", and the radar device 100 is used to detect the road conditions in front of the transport vehicle 1000. As another example, in a large transport vehicle 1000 such as a truck or a bus, the radar 10 can be installed on the left and right sides in the direction of travel of the transport vehicle 1000 to reduce the blind spot of the driver. The present embodiment does not limit the number of radar devices 100 installed on the transport vehicle 1000, and can be specifically configured according to various factors such as the type of transport vehicle 1000, the road conditions in the area where the transport vehicle 1000 is used, etc. For example, radar devices 100 can be installed at the "front" and "rear" of a transport vehicle 1000 for commuting, and radar devices 100 can be installed at the four "corners" of a large transport vehicle 1000.

[0022] In this embodiment, the radar device 100 is located at the front end of the vehicle body 900 in the direction of travel, the mounting member 20 is connected to the transport vehicle 1000, and the radar 10 is installed on the mounting member 20. The radar 10 has a signal transceiver side 11, and the signal transceiver side 11 refers to a side for receiving and transmitting signals, for example, the radar 10 is provided with a side where a signal window or a lens window is located. The direction of the signal transceiver side 11 is substantially the same as the forward direction of the vehicle body 900. In other embodiments, the radar 10 is rotatably connected to the mounting member 20. As an example, the radar device 100 further includes a rotating motor (not shown in the figure), the rotating motor is mounted on the mounting member 20, and the radar 10 is drivingly connected to the output shaft of the rotating motor. The rotating motor can drive the radar 10 to rotate relative to the mounting member 20 and the vehicle body 900 to change the direction of the signal transceiver side 11 to adapt to the driving habits of different drivers.

[0023] In this embodiment, the radar device 100 further includes a driving mechanism 40 and a cover 30, the driving mechanism 40 is mounted on the mounting member 20, the cover 30 is substantially located at the signal transceiver side 11 of the radar 10, the cover 30 is transmission-connected to the driving member 41, and the driving mechanism 40 can drive the cover 30 to move relative to the radar 10 so that the cover 30 exposes the signal transceiver side 11. The driving mechanism 40 can also drive the cover 30 to move substantially opposite to the radar 10 to cover the signal transceiver side 11.

[0024] The driving mechanism 40 in this embodiment is electrically connected to the detection module 500. The driving mechanism 40 and the detection module 500 can be directly electrically connected or indirectly electrically connected through the control device 800. The detection information detected by the detection module 500 includes the current speed of the transport vehicle 1000, etc. The driving mechanism 40 in this embodiment is configured to drive the cover 30 according to the detection information of the detection module 500. Specifically, the initial state of the cover 30 is set to cover the signal transceiver side 11 of the radar 10. In the actual driving process, when the transport vehicle 1000 travels at a lower speed and the driving time exceeds the preset time, the driving mechanism 40 does not drive the cover 30, and the cover 30 remains in the state of covering the signal transceiver side 11 of the radar 10. In this embodiment, the cover 30 is a structure that allows radar signals to pass through, such as a structure made of glass, plastic, etc., so that the radar 10 can still detect information about the vehicle's surrounding environment when covered by the cover 30. In some other embodiments, the cover 30 may be a non-wave-transparent structure, such as a structure made of metal, etc. When the transport vehicle 1000 travels at a lower speed, the radar 10 may not be enabled to reduce background calculations.

[0025] In this embodiment, the preset duration can be one minute, two minutes, or three minutes, etc. As the transport vehicle 1000 accelerates, when the transport vehicle 1000 travels at a higher speed and the travel time exceeds the preset duration, the driving mechanism 40 drives the cover 30 to move to the signal transceiver side 11 of the cover 30 to reduce the attenuation effect of the cover 30 on the radar signal, reduce the attenuation amount of the radar signal during propagation, so as to improve the detection accuracy of the radar 10, optimize the detection data of the radar 10, and shorten the calculation time of the control device 800, so that the control device 800 can provide the driver with an effective risk avoidance plan more quickly, and reserve a longer operation time for the driver. As the transport vehicle 1000 decelerates, when the transport vehicle 1000 travels at a lower speed and the driving time exceeds a preset time, the driving mechanism 40 drives the cover 30 to move to the initial position of the cover 30, that is, the state in which the cover 30 covers the signal transceiver side 11, so as to protect the radar 10, prevent the radar 10 from being hit by an external structure and causing damage to the radar 10, prevent road surface water, mud, rainwater, etc. from adhering to the radar 10 and the circuit structure near the radar 10, and prevent the radar 10 from being damaged by rainwater or the circuit structure from short-circuiting.

[0026] In summary, in this embodiment, the radar device 100 includes a mounting member 20, a radar 10, a driving mechanism 40 and a covering member 30. The mounting member 20 is mounted on the transport vehicle 1000, and the radar 10 is mounted on the mounting member 20. The radar 10 can transmit and receive radar signals to obtain obstacle avoidance targets in the surrounding environment of the transport vehicle 1000. The driving mechanism 40 is mounted on the mounting member 20, and the covering member 30 is transmission-connected to the driving member 41 so that the covering member 30 can move relative to the mounting member 20 and the radar 10. The driving mechanism 40 is electrically connected to the detection module 500 of the transport vehicle 1000, and the driving mechanism 40 is configured to drive the covering member 30 to move according to the detection signal of the detection module 500, so that the covering member 30 moves to cover the signal transceiver side 11 of the radar 10 or expose the signal transceiver side 11. In actual application scenarios, when the cover 30 covers the signal transceiver side 11, the cover 30 can protect the radar 10 and prevent the radar 10 from being contaminated or damaged; when the cover 30 exposes the signal transceiver side 11, the attenuation effect of the cover 30 on the radar signal can be reduced, thereby improving the detection accuracy of the radar 10 and improving the safety performance of the transport vehicle 1000.

[0027] Under the setting of this embodiment, the driving mechanism 40 can drive the cover 30 according to the demand to change the relative position relationship between the cover 30 and the signal receiving and transmitting side 11 of the radar 10, so as to cope with different driving states of the transport vehicle 1000. When the transport vehicle 1000 is traveling at a lower speed and the driving time exceeds the preset time, the cover 30 shields the signal receiving and transmitting side 11 to protect the radar 10. When the transport vehicle 1000 is traveling at a higher speed and the driving time exceeds the preset time, the driving mechanism 40 drives the cover 30 to move to expose the signal receiving and transmitting side 11, so as to reduce the attenuation effect of the cover 30 on the radar signal, reduce the attenuation amount during the propagation of the radar signal, so as to improve the detection accuracy of the radar 10, so that the radar 10 has a longer detection distance, optimize the detection data of the radar 10, shorten the calculation time of the control device 800, so that the control device 800 can quickly provide the driver with an effective risk avoidance plan, reserve a longer operation time for the driver, and greatly improve the safety performance of the transport vehicle 1000. In this embodiment, the control device 800 can automatically control the driving mechanism 40 according to the travel speed of the transport vehicle 1000. In other embodiments, the transport vehicle 1000 may be provided with buttons or a control screen, and the user interacts with the control device 800 through the buttons or the control screen, so that the control device 800 controls the driving mechanism 40.

[0028] How the driving mechanism 40 drives the cover 30 to move will be described below.

[0029] In this embodiment, the mounting member 20 is mounted on the transport vehicle 1000, and the middle position of the mounting member 20 is relatively flat for mounting the radar 10. In actual application scenarios, the middle position of the mounting member 20 and the radar 10 are roughly located in the middle position of the "front of the vehicle" to have a larger detection range. The mounting member 20 is provided with ventilation parts on both sides of the middle position, and the ventilation parts are provided with multiple ventilation holes. The ventilation parts are roughly in the form of grilles to ensure air circulation between the inside and outside of the "front of the vehicle" and timely dissipate heat.

[0030] See also Figure 3 and Figure 4In this embodiment, the driving mechanism 40 includes a driving member 41 and a transmission member 42. The driving member 41 is fixedly mounted on the mounting member 20 (welding fixation, screw fixation, etc.), and the transmission member 42 is transmission-connected to the driving member 41. The covering member 30 includes a covering portion 31 and a matching portion 32 connected to each other. The covering portion 31 is generally a cover-like structure or a shell-like structure. For example, the covering portion 31 may include a wave-transmitting shell that allows signals to pass through. The wave-transmitting shell may be a glass cover or a plastic cover, etc. The transmission member 42 is transmission-connected to the matching portion 32. In this embodiment, when the transport vehicle 1000 travels at a higher speed and the driving time exceeds a preset time, the driving member 41 can drive the transmission member 42 to move, and the transmission member 42 is transmission-connected to the matching portion 32 so that the matching portion 32 and the covering portion 31 move relative to the mounting member 20 and the radar 10 along the specified direction A to expose the signal transceiver side 11. When the transport vehicle 1000 is traveling at a relatively low speed and the driving time exceeds a preset time, the covering portion 31 moves in the opposite direction of the designated direction A under the drive of the driving mechanism 40 to cover the signal transceiver side 11. In the present embodiment, the covering portion 31 is a flat plate or a cover, the thickness direction of the covering portion 31 is substantially consistent with the direction of the signal transceiver side 11, and the length direction and the width direction of the covering portion 31 are respectively perpendicular to the direction of the signal transceiver side 11. In the present embodiment, the designated direction A is substantially perpendicular to the direction of the signal transceiver side 11, and the designated direction A may be substantially the same as the length direction of the covering portion 31 or the same as the width direction of the covering portion 31, so that the covering portion 31 can quickly reveal or cover the signal transceiver side 11.

[0031] In this embodiment, the matching mode of the transmission member 42 and the matching portion 32 is related to the type of the driving mechanism 40. As an example, the driving mechanism 40 is a hydraulic driving mechanism 40, the driving member 41 of the driving mechanism 40 includes a hydraulic cylinder, the transmission member 42 includes a rod body, and the rod body is connected to the hydraulic cylinder in a transmission manner. In this example, the matching portion 32 can be a plate-like or block-like structure connected to the covering portion 31, and the matching portion 32 can be fixedly connected to the rod body. The hydraulic cylinder cooperates with the rod body so that the rod body and the covering portion 31 move along the axial direction of the rod body, and the axial direction of the rod body is roughly parallel to the specified direction A. In this embodiment, the driving member 41 includes a rotating motor, and the transmission member 42 includes a gear, which is connected to the output shaft of the rotating motor and rotates on the driving member 41 of the rotating motor. Correspondingly, the matching portion 32 includes a rack, the extension direction of the rack is roughly the same as the specified direction A, the rotation axis of the gear is roughly perpendicular to the specified direction A, and the gear is meshed with the rack. In this embodiment, the driving mechanism 40 is fixedly mounted on the mounting member 20 , and the rack and the covering portion 31 move along the designated direction A during the meshing of the gear and the rack.

[0032] In this embodiment, the mounting member 20 has a first side 21 and a second side 22 that are disposed opposite to each other. The mounting member 20 is provided with a wave-transmitting through hole 23 that penetrates the mounting member 20 and connects the first side 21 and the second side 22, so that the two opposite sides of the mounting member 20 can transmit radar signals through the wave-transmitting through hole 23. In this embodiment, the first side 21 of the mounting member 20 faces the vehicle body 900, and the second side 22 faces the surrounding environment of the transport vehicle 1000. The radar 10 is disposed on the first side 21 of the mounting member 20, so that the mounting member 20 has a certain protective effect on the radar 10. The radar 10 sends a radar signal from the first side 21 and transmits it to the second side 22 and the surrounding environment of the transport vehicle 1000 through the wave-transmitting through hole 23. The returned radar signal is transmitted to the first side 21 through the wave-transmitting through hole 23 and is received by the radar 10. In this embodiment, the size of the wave-transmitting hole 23 is larger than the size of the signal transceiver side 11, so that most of the signals transmitted by the radar 10 can be transmitted to the second side 22 through the wave-transmitting hole 23. In this embodiment, the material of the mounting member 20 can be a wave-transmitting material, such as plastic, carbon fiber, etc.

[0033] In this embodiment, the covering portion 31 can be moved to cover the wave-transmitting through hole 23 under the drive of the driving mechanism 40 to cover the signal transceiver side 11. This embodiment does not limit the relative positional relationship between the covering member 30, i.e., the covering portion 31, and the mounting member 20. As an example, the radar 10 is located on the first side 21 of the mounting member 20 and is spaced from the first side 21, and the covering portion 31 is located on the first side 21 of the mounting member 20 and is located between the radar 10 and the mounting member 20. In this embodiment, the covering member 30 is located on the second side 22 of the mounting member 20. When the covering portion 31 covers the signal transceiver side 11, the covering member 30 is connected with the mounting member 20, and the surface of the covering member 30 (i.e., the covering portion 31) is continuous with the surface of the second side 22, so that the transport vehicle 1000 is more beautiful. In this embodiment, the transport vehicle 1000 includes a bumper 400, which is mounted at the "front" of the vehicle body 900. The mounting member 20 is located near the bumper 400, for example, the mounting member 20 can be arranged on the side of the bumper 400 facing the ground. In this embodiment, the bumper 400 includes a mounting portion 410, and the mounting member 20 is connected to the mounting portion 410 so that the mounting member 20 is connected to the vehicle body 900. The radar 10 is mounted on the mounting portion 410 and is spaced from the first side 21 of the mounting member 20 to prevent more impact force from being transmitted to the radar 10 when the mounting member 20 collides with an obstacle, thereby preventing the radar 10 from being damaged.

[0034] In this embodiment, the bumper 400 includes a bar body (not shown in the figure) and an "I"-shaped mounting portion 410, the bar body is connected to the vehicle body 900, the mounting portion 410 is connected to the bar body, at least part of the structure of the mounting portion 410 is located on the first side 21 of the mounting member 20, and the mounting portion 410 includes a longitudinal beam and two cross beams, and the two cross beams are connected to the two ends of the longitudinal beam, so that the mounting portion 410 is in the shape of an "I". In this embodiment, the mounting portion 410 is an integrally formed structure, and in other embodiments, it can be formed by connecting multiple components. In this embodiment, the two ends of each cross beam are respectively connected to the mounting member 20, the longitudinal beam and the mounting member 20 are spaced apart, and the radar 10 is installed on the side of the longitudinal beam facing the mounting member 20, and the radar 10 and the mounting member 20 are spaced apart. In this embodiment, there are four connections between the mounting portion 410 and the mounting member 20, so that the position state of the radar 10 relative to the mounting member 20 and the wave-transmitting through hole 23 is relatively stable, which is conducive to making the radar 10 in a stable output and receiving state, so that the radar 10 has a better detection effect.

[0035] Based on the transport vehicle described above, the present application also provides a method for controlling the transport vehicle. The method for controlling the transport vehicle can be applied to the transport vehicle provided in any of the above embodiments. In the control method, the driving mechanism drives the cover to move according to the monitoring data of the detection module, which can reduce the attenuation of the radar signal when the transport vehicle is traveling at a faster speed. Please refer to Figure 5 The control method of the transport vehicle provided in the embodiment of the present application includes the following steps S110 to S130.

[0036] Step S110, obtaining the current speed of the transport vehicle.

[0037] In the present embodiment, the detection module is electrically connected or communicatively connected to the control device, and the data detected by the detection module can be transmitted to the control device through the Internet or other media, so that the control device can obtain the detection data of the detection module. The detection data refers to the current speed of the transport vehicle during the driving process of the transport vehicle. The detection data may also include the driving speed of the transport vehicle, the rotation speed of the wheel group, etc. Such parameters characterize the driving state of the transport vehicle. In the present embodiment, the detection data includes the driving speed of the transport vehicle, and correspondingly, the detection module in the present embodiment may include a speed sensor. In other embodiments, the detection data may include the rotation speed of the wheel group, and the detection module may be a rotation speed sensor, such as a Hall rotation speed sensor.

[0038] The transport vehicle in this embodiment has a preset speed: 60km / h. In this embodiment, the preset speed can be set manually or by factory default, or it can be determined according to the user's safety needs. The higher the safety level, the lower the value. Therefore, the control method of the transport vehicle in this embodiment may also include the steps of obtaining the safety level determined by the user and determining the corresponding preset speed according to the safety level before S110. For example, the safety level includes a first level, a second level, and a third level, and the safety level decreases in sequence; the preset speed includes a first speed, a second speed, and a third speed, and the speed increases in sequence. The first safety level corresponds to the first speed, the second safety level corresponds to the second speed, and the third safety level corresponds to the third speed. In some embodiments, the user can set the safety level in the safety level selection area on the central control panel or the steering wheel.

[0039] Step S120, determining the target position of the cover according to the current vehicle speed.

[0040] The positional relationship between the cover and the signal transceiver side of the radar includes at least the following two situations: the cover reveals the signal transceiver side, or the cover shields the signal transceiver side. Therefore, in this embodiment, the cover has at least two target positions, namely the first position and the second position. In the first position, the cover reveals the signal transceiver side of the radar, and in the second position, the cover shields the signal transceiver side. After determining the target position of the cover, the control device determines the specific steps and procedures for implementing the control strategy, and then controls the drive mechanism to work, and the drive mechanism can drive the cover to move so that the cover shields or reveals the signal transceiver side. In this embodiment, the specific steps and procedures for implementing the control strategy may include the driving direction, driving speed, driving distance, etc. of the driving mechanism.

[0041] As an example, when the current vehicle speed is greater than or equal to the preset vehicle speed, that is, the current vehicle speed is in the high-speed range, the control driving mechanism drives the cover to move to the first position, and the signal transceiver side of the radar is exposed when the cover is in the first position. That is, when the transport vehicle is in a high-speed driving state (the transport vehicle is traveling at a speed of 60km / h or above), the control driving mechanism drives the cover to move to the signal transceiver side of the radar exposed by the cover, so as to reduce the attenuation effect of the cover on the radar signal, reduce the attenuation of the radar signal during the propagation process, and avoid the cover shortening the detection distance of the radar, so as to ensure the obstacle avoidance capability of the transport vehicle in a high-speed driving state, so that the transport vehicle can better cope with emergencies.

[0042] As another example, when the current vehicle speed is less than the preset speed, that is, the current vehicle speed is in the low-speed range, the control driving mechanism drives the cover to move to the second position, and the cover covers the signal transceiver side of the radar when it is in the second position. That is, when the transport vehicle is in a low-speed driving state (the transport vehicle is traveling at a speed of less than 60km / h), the control driving mechanism drives the cover to move to the signal transceiver side of the radar so as to protect the radar, prevent the radar from being hit by external structures and causing damage to the radar, prevent road surface water, mud, rainwater, etc. from adhering to the radar and the circuit structure near the radar, and prevent the radar from being damaged by rainwater or short-circuiting the circuit structure.

[0043] Step S130, controlling the driving mechanism to operate according to the target position and driving the cover to move to the target position, so that the cover covers or exposes the signal receiving and transmitting side.

[0044] According to the corresponding control strategy, the control device inputs the driving parameters that the driving mechanism needs to achieve, such as the movement speed and the movement direction, into the driving mechanism, and the driving mechanism drives the cover to move or remain in a predetermined position according to the driving parameters. As an example, the cover is in a state of covering the signal transceiver side, and the control strategy includes controlling the cover to reveal the signal transceiver side, the control device can set the output power and driving time of the driving mechanism to control the cover to move to the cover to reveal the signal transceiver side. As another example, the cover is in a state of covering the signal transceiver side, and the control strategy includes controlling the cover to cover the signal transceiver side, the control device can set the driving mechanism not to drive, so that the cover maintains the state of covering the signal transceiver side. As another example, the cover is in a state of revealing the signal transceiver side, and the control strategy includes controlling the cover to cover the signal transceiver side, the control device can set the output power and driving time of the driving mechanism to control the cover to move to the cover to cover the signal transceiver side.

[0045] In an embodiment of the present application, the driving mechanism can adjust the positional relationship between the cover and the signal receiving and sending side according to the driving state of the transport vehicle. When the transport vehicle is in a high-speed driving state, the control device can control the driving mechanism to drive the cover to move to the signal receiving and sending side of the cover that exposes the radar, so as to reduce the attenuation effect of the cover on the radar signal, reduce the attenuation of the radar signal during the propagation process, and avoid the cover shortening the detection distance of the radar, so as to ensure the obstacle avoidance capability of the transport vehicle in a high-speed driving state, so that the transport vehicle can better respond to emergencies.

[0046] See also Figure 6The embodiment of the present application also provides another method for controlling a transport vehicle. The method for controlling a transport vehicle can be applied to the transport vehicle provided by any of the above embodiments to control the driving mechanism to drive the cover, thereby changing the positional relationship between the cover and the signal receiving and transmitting side of the radar, which can reduce the attenuation of the radar signal when the transport vehicle is traveling at a faster speed, thereby ensuring the detection effect of the radar. Specifically, the method for controlling a transport vehicle provided by the embodiment of the present application includes the following steps S210 to S260.

[0047] Step S210, obtaining the current speed of the transport vehicle.

[0048] Step S220: determining a current vehicle speed range based on the current vehicle speed.

[0049] The transport vehicle in this embodiment has a preset speed: 60km / h, and two speed intervals are divided according to the preset speed, namely, a low-speed interval: 0-60km / h (excluding 60km / h), and a high-speed interval: 60km / h and above. The current speed interval refers to the speed interval to which the current speed of the transport vehicle belongs, such as the speed included in the low-speed interval, or the speed included in the high-speed interval, that is, the current speed can fall within the low-speed interval or the high-speed interval. In other embodiments, the value of the preset speed can be 55km / h, 65km / h, 70km / h, 75km / h, etc.

[0050] Step S230, obtaining the duration that the transport vehicle remains within the current vehicle speed range.

[0051] The transport vehicle in this embodiment also has a preset duration, which can be one minute, two minutes or three minutes, etc. "The duration that the transport vehicle remains in the current speed range" refers to the duration that the travel speed of the transport vehicle remains in the low-speed range or the duration that it remains in the high-speed range. In the actual driving scenario, when the travel speed of the transport vehicle is in the low-speed range and the duration is greater than or equal to the preset duration, the transport vehicle is defined as being in a low-speed driving state. When the travel speed of the transport vehicle is in the high-speed range and the duration is greater than or equal to the preset duration, the transport vehicle is defined as being in a high-speed driving state. In the actual application scenario, the data of the travel speed of the transport vehicle between the previous period of time at the current moment and the current moment can be obtained. The "previous period of time" can be one minute before the current moment, two minutes before the current moment, etc. The travel speed of the transport vehicle and the duration of the travel speed of the transport vehicle remaining in the low-speed range or the duration of the travel speed remaining in the high-speed range are determined based on the data of the travel speed in this time period. In this embodiment, when the duration reaches a preset duration, the control device executes the subsequent steps, namely steps S240 and S250 below; when the duration reaches a preset duration, the duration of the transport vehicle in the current vehicle speed range is re-recorded. Under the setting of this embodiment, the influence of accidental or sudden changes in vehicle speed on the control device can be avoided.

[0052] Step S240, determining the target position of the cover according to the current vehicle speed.

[0053] Step S250, controlling the driving mechanism to operate according to the target position and driving the cover to move to the target position, so that the cover covers or exposes the signal receiving and transmitting side.

[0054] In this embodiment, the specific implementation of step S210, step S240 and step S250 may refer to step S110, step S120 and step S130 in the above embodiment, which will not be described in detail in this embodiment.

[0055] See also Figure 7 The embodiment of the present application also provides another method for controlling a transport vehicle. The method for controlling a transport vehicle can be applied to the transport vehicle provided by any of the above embodiments to control the driving mechanism to drive the cover, thereby changing the positional relationship between the cover and the signal receiving and transmitting side of the radar, and can reduce the attenuation of the radar signal when the transport vehicle is traveling at a faster speed, thereby ensuring the detection effect of the radar. Specifically, the method for controlling a transport vehicle provided by the embodiment of the present application includes the following steps S310 to S360.

[0056] Step S310, obtaining the activation status of the radar.

[0057] The activation state of the radar refers to whether the radar is in a state where it can normally perform the detection function. In this embodiment, a chip is provided inside the radar, and a self-test program is recorded in the chip. The state code is stored in the memory of the radar, and different codes represent different states of the radar. In this embodiment, at least two codes are included, one of which indicates that the radar is in an activated state, and the other indicates that the radar is in an inactivated state. The radar is electrically connected to the control device, and the control device can read the code in the radar memory and determine the activation state of the radar according to the code. The activation state of the radar is related to multiple factors, including whether the radar is powered on, whether it is electrically connected to the control device, whether it is electrically connected to the detection module, whether the radar itself is damaged, etc. One or more. In this embodiment, the activation state of the radar includes an activated state and an inactivated state. When the radar is in an activated state, it can be characterized that the radar has been powered on, or that the radar has been electrically connected to the control device or the detection module, or that the radar's own function and structure are normal and not damaged. When the radar is in an inactivated state, it can be characterized that the radar is not powered on, or that the radar is not electrically connected to the control device or the detection module, or that the radar's own function and structure are damaged.

[0058] Step S320, obtaining the gear position of the transport vehicle.

[0059] In this embodiment, the gear of the transport vehicle may include a parking gear, a reverse gear, a neutral gear, a sports gear, a low-speed gear and a forward gear. The transport vehicle includes a gear mechanism, and the gear of the transport vehicle can be selected by a user operating the gear mechanism, or can be switched according to the instruction of the control device. In this embodiment, the control device has a memory, and the gear mechanism is electrically or communicatively connected to the control device. The memory of the control device stores a plurality of gear codes, and different gear codes represent different gears of the transport vehicle. Each gear of the transport vehicle has at least one gear code corresponding thereto, and the gear mechanism can transmit the current gear to the control device and correspond to the corresponding gear code. The control device can read the gear code in the memory of the gear mechanism and determine the gear of the transport vehicle according to the gear code. When the gear is in the parking gear or the reverse gear, the transport vehicle is in a stationary state or a slowly moving state. When the gear is in the neutral gear, the transport vehicle is in a parking state or a ready-to-start state or a ready-to-park state. When the gear is in the sports gear, the low-speed gear or the forward gear, the transport vehicle is in a forward driving state.

[0060] Step S330, determining whether to execute the step of acquiring detection data of the detection module according to the activation state and the gear position.

[0061] In this embodiment, the control device determines whether it is necessary to adjust the positional relationship between the cover and the radar according to the activation state of the radar and the gear position of the transport vehicle. As mentioned above, the initial state of the cover is the state of covering the signal transceiver side. When the transport vehicle is in a low-speed driving state, it is not necessary to adjust the positional relationship between the cover and the radar. When the transport vehicle is in a high-speed driving state, it is necessary to control the drive mechanism to drive the cover so that the cover reveals the signal transceiver side of the radar. Therefore, in this embodiment, when the radar is in an activated state and the gear position is one of the motion gear, the low-speed gear and the forward gear, the step of acquiring the detection data of the detection module and the subsequent steps are determined. When the radar is in an unactivated state, or the gear position is one of the parking gear, the reverse gear and the neutral gear, the steps S310 and S320 are terminated. In some embodiments, after the steps S310 and S320 are completed, the control device can enter a new round of the process of acquiring the activation state of the radar and the gear position of the transport vehicle.

[0062] Step S340, obtaining the current speed of the transport vehicle.

[0063] Step S350, determining the target position of the cover according to the current vehicle speed.

[0064] Step S360, controlling the driving mechanism to operate according to the target position and driving the cover to move to the target position, so that the cover covers or exposes the signal receiving and transmitting side.

[0065] In this embodiment, the specific implementation of step S340, step S350 and step S360 may refer to step S110, step S120 and step S130 in the above embodiment, which will not be described in detail in this embodiment.

[0066] The present embodiment provides a radar device 100, which is applied to a transport vehicle 1000. The transport vehicle 1000 includes a detection module 500. The radar device 100 includes a mounting member 20, a radar 10, a driving mechanism 40, and a covering member 30. The mounting member 20 is mounted on the transport vehicle 1000, and the radar 10 is mounted on the mounting member 20. The radar 10 can transmit and receive radar signals to obtain obstacle avoidance targets in the surrounding environment of the transport vehicle 1000. The driving mechanism 40 is mounted on the mounting member 20, and the covering member 30 is transmission-connected to the driving member 41 so that the covering member 30 can move relative to the mounting member 20 and the radar 10. The driving mechanism 40 is electrically connected to the detection module 500 of the transport vehicle 1000, and the driving mechanism 40 is configured to drive the covering member 30 to move according to the detection signal of the detection module 500. In one case, the detection signal indicates that the transport vehicle 1000 is traveling at a lower speed and the driving time exceeds a preset time, and the driving mechanism 40 drives the cover 30 to move until the cover 30 covers the signal transceiver side 11 of the radar 10. In another case, the detection signal indicates that the transport vehicle 1000 is traveling at a higher speed and the driving time exceeds a preset time, and the driving mechanism 40 drives the cover 30 to move until the cover 30 reveals the signal transceiver side 11.

[0067] Under the setting of this embodiment, the driving mechanism 40 can drive the cover 30 to change the relative position relationship between the cover 30 and the signal receiving and transmitting side 11 of the radar 10 to cope with different driving conditions of the transport vehicle 1000. When the transport vehicle 1000 is traveling at a higher speed and the driving time exceeds the preset time, the driving mechanism 40 drives the cover 30 to move to the signal receiving and transmitting side 11 of the cover 30 to reduce the attenuation effect of the cover 30 on the radar signal and reduce the attenuation of the radar signal during propagation, so as to improve the detection accuracy of the radar 10, so that the radar 10 has a longer detection distance, optimize the detection data of the radar 10, and shorten the calculation time of the control device 800, so that the control device 800 can quickly provide the driver with an effective risk avoidance plan, reserve a longer operation time for the driver, and greatly improve the safety performance of the transport vehicle 1000.

[0068] In the specification of this application, certain words are used to refer to specific components in the specification and claims. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in name as a way to distinguish components, but use the difference in function of the components as the criterion for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0069] In the description of the present application, it should be understood that terms such as "upper", "lower", "front", "back", "left", "right", and "inside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are merely simplified descriptions for the convenience of describing the present application. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0070] In this application, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be internal communication between two elements, or it can be only surface contact. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0071] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A radar device, applied to a transport vehicle, the transport vehicle comprising a detection module for detecting a current vehicle speed of the transport vehicle, characterized in that: The radar device comprises: A radar, wherein the radar is used to transmit and receive radar signals; A mounting member, the mounting member is used to mount the radar on the transport vehicle; a driving mechanism, the driving mechanism being mounted on the mounting member and being used for being electrically connected to the detection module; and A covering member is transmission-connected to the driving mechanism; the driving mechanism is configured to drive the covering member to move according to the detection information of the detection module to reveal the signal transceiving side of the radar or to make the covering member cover the signal transceiving side of the radar.

2. The radar device according to claim 1, characterized in that The driving mechanism comprises a driving member and a transmission member, wherein the transmission member is drivingly connected to the driving member; The radar device further comprises a covering portion and a transmission matching portion connected to each other, wherein the transmission member is in transmission connection with the transmission matching portion and is used to drive the covering portion to move along a specified direction under the drive of the driving member to expose the signal transmitting and receiving side.

3. The radar device according to claim 2, characterized in that The transmission member includes a gear, the transmission matching portion includes a rack, the rack is connected to the covering portion, and the gear is meshed with the rack.

4. The radar device according to claim 2, characterized in that The covering portion is a wave-transmitting shell that allows radar signals to pass through.

5. The radar device according to claim 1, characterized in that The mounting member has a first side and a second side disposed opposite to each other, and the mounting member is provided with a wave-transmitting through hole to connect the first side and the second side; The radar is arranged on the first side, the signal transceiver side is located on the side of the radar facing the first side, and the radar transmits signals to the second side via the wave-transmitting through hole; the cover can be moved to cover the wave-transmitting through hole under the drive of the driving mechanism.

6. The radar device according to claim 5, characterized in that When the cover member covers the wave-transmitting through hole, the surface of the cover member is continuous with the surface of the second side.

7. The radar device according to claim 4, characterized in that The transport vehicle further includes a bumper, the bumper includes a mounting portion, the radar is mounted on the mounting portion, and the mounting member is connected to the mounting portion.

8. A transport vehicle, characterized in that: include: Vehicle body; A detection module, which is arranged on the vehicle body and is used to detect the current speed of the transport vehicle. ； The radar device according to any one of claims 1 to 7, wherein the radar device is mounted on the vehicle body; as well as A control device is installed on the vehicle body, the control device is electrically connected to the radar device and the detection module respectively, and the control device is configured to control the movement of the cover according to the current vehicle speed.

9. A method for controlling a transport vehicle, characterized in that: Applied to the transport vehicle as claimed in claim 8, the control method comprises: Obtaining the current speed of the transport vehicle; determining a target position of the cover according to the current vehicle speed; The driving mechanism is controlled to operate according to the target position and drives the cover member to move to the target position, so that the cover member covers or reveals the signal receiving and transmitting side.

10. The control method according to claim 9, characterized in that: The step of determining the target position of the covering member according to the current vehicle speed includes: When the current vehicle speed is greater than or equal to a preset vehicle speed, determining the target position of the cover member to be a first position, wherein the signal transceiver side is exposed when the cover member is in the first position; When the current vehicle speed is less than the preset vehicle speed, the target position of the cover is determined to be a second position, wherein the cover covers the signal receiving and transmitting side when located at the second position.

11. The control method according to claim 9, characterized in that: After acquiring the current speed of the transport vehicle and before determining the target position of the covering member according to the current speed, the method further includes: determining a current vehicle speed interval based on the current vehicle speed; Obtaining the duration for which the transport vehicle remains within the current vehicle speed range; When the duration reaches a preset duration, the steps of determining the target position of the cover according to the current vehicle speed and controlling the driving mechanism to operate and drive the cover to move to the target position according to the target position are performed.

12. The control method according to claim 9, characterized in that: Before obtaining the current speed of the transport vehicle, the method further includes: Obtaining the activation status of the radar; Obtaining the gear position of the transport vehicle; Determine whether to execute the step of obtaining the current vehicle speed of the transport vehicle according to the activation state and the gear position.

13. The control method according to claim 12, characterized in that: The activation state includes an activated state and an inactivated state; The gear positions include parking gear, reverse gear, neutral gear, sport gear, low speed gear and forward gear; When the radar is in the activated state and the gear is one of the sport gear, the low gear and the forward gear, the step of acquiring the current vehicle speed of the transport vehicle is determined to be executed.

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