A radar integrated system with a rotatable radar and a vehicle

Abstract

The present invention provides a radar integrated system and a vehicle with a rotatable radar, which relates to the technical field of vehicles. The radar integrated system with a rotatable radar of the present invention is arranged at the fender of the vehicle, and a first opening is provided at the fender. The radar integrated system includes: a radar device, which is located near the first opening; a radar driving mechanism, which includes a driving motor and a double-link mechanism. One end of the double-link mechanism is rotatably connected to the radar device, and the other end is rotatably connected to the fender. When the driving motor is controlled to drive the double-link mechanism to move, the double-link mechanism drives the radar device to rotate relative to the fender so as to extend out of or retract into the fender from the first opening. The present invention uses a radar driving motor to drive the movement and rotation of the radar device, increases the detection angle of the radar device, and at the same time avoids the problems that the radar device is always exposed outside the fender and is contaminated with dust, affecting its use and sensitivity.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a radar integrated system with a flip - movable radar and a vehicle. Background Art

[0002] Intelligent driving is a hot direction in the automotive industry, and lidar is the core detection component for intelligent driving. Currently, most implementations of lidar are fixed on the bumper or the roof, and are of a fixed and exposed type. Moreover, the lidar as a whole is static. Due to the limited detection angle of the radar, the detection angle of the static lidar is not good, and there are a series of problems such as fallen leaves and dust during long - term parking. Summary of the Invention

[0003] An object of the first aspect of the present invention is to provide a radar integrated system with a flip - movable radar, so as to solve the problems in the prior art that the radar is fixed and does not move, resulting in a poor detection angle and being prone to dust accumulation.

[0004] Another object of the first aspect of the present invention is to solve the problem of the complex structure of the mechanism for driving the radar to rotate and extend.

[0005] An object of the second aspect of the present invention is to provide a vehicle including the radar integrated system with a flip - movable radar.

[0006] In particular, the present invention provides a radar integrated system with a flip - movable radar, which is arranged at the fender of a vehicle. A first opening is provided at the fender, and the system includes:

[0007] A radar device, located near the first opening;

[0008] A radar driving mechanism, including a driving motor and a double - link mechanism. One end of the double - link mechanism is rotatably connected to the radar device, and the other end is rotatably connected to the fender. When the driving motor is controlled to drive the double - link mechanism to move, the double - link mechanism drives the radar device to flip relative to the fender to extend out of or retract into the fender from the first opening.

[0009] Optionally, the double - link mechanism includes:

[0010] A first rotating shaft, rotatably connected to the fender, and the first rotating shaft is connected to the driving motor to rotate under the drive of the driving motor;

[0011] A first swing arm, one end of which is fixedly connected to the first rotating shaft to rotate around the axis of the first rotating shaft when the first rotating shaft rotates, and the other end of which is rotatably connected to the radar device;

[0012] A second rotating shaft, rotatably connected to the fender and arranged parallel to the first rotating shaft;

[0013] A second swing arm, one end of which is rotatably connected to the radar device and the other end is fixedly connected to the second rotating shaft;

[0014] Wherein, when the first rotating shaft rotates driven by the driving motor, the radar device is driven to flip and move under the combined action of the first swing arm, the second swing arm and the second rotating shaft.

[0015] Optionally, the number of the first swing arms is two, the two first swing arms are arranged in parallel, and the two first swing arms are respectively rotatably connected to the upper and lower side surfaces of the radar device.

[0016] Optionally, the number of the second swing arms is two, the two second swing arms are arranged in parallel, and the two second swing arms are respectively rotatably connected to the upper and lower side surfaces of the radar device.

[0017] Optionally, the length of the second swing arm is not equal to the length of the first swing arm, or the distance between the first rotating shaft and the second rotating shaft is not equal to the target distance, and the target distance is the distance between the hinge point of the first swing arm and the radar mechanism and the hinge point of the second swing arm and the radar mechanism.

[0018] Optionally, the length of the first swing arm is greater than the length of the second swing arm, and the distance between the first rotating shaft and the second rotating shaft is less than the target distance.

[0019] Optionally, further comprising:

[0020] A housing provided with a second opening, the housing is fixedly arranged inside the fender, and the second opening is correspondingly arranged with the first opening; and

[0021] A fixed frame arranged inside the housing, and both the first rotating shaft and the second rotating shaft are rotatably connected to the fixed frame.

[0022] Optionally, further comprising:

[0023] A cover plate;

[0024] A cover plate driving mechanism located inside the housing, the cover plate driving mechanism is connected to the cover plate and is used for controlled movement to drive the cover plate to open or close the first opening.

[0025] Optionally, further comprising a cleaning device, which is arranged inside the housing and on the side of the radar device away from the fender, and is used for being controlled to start to clean the radar device.

[0026] Particularly, the present invention further provides a vehicle, which includes the radar integrated system with the radar capable of flipping movement described above.

[0027] The radar integrated system with flip - motion of the present invention may include a radar device and a radar driving mechanism. The radar driving mechanism may include a radar driving motor and a double - link mechanism. The radar driving motor is used to drive the double - link mechanism to move, and the double - link mechanism drives the radar device to move, so that the radar device can rotate relative to the fender and extend out of or retract into the fender from the first opening. The present invention uses the radar driving motor to drive the movement and rotation of the radar device. When the radar device is located at the first opening, the radar driving motor can drive the radar device to rotate to increase the detection angle of the radar device. In addition, the radar driving motor can also make the radar device extend out of the fender from the first opening when needed and retract into the fender from the first opening when not needed, thus avoiding the problem that the radar device is always exposed outside the fender and gets dusty, which affects its use and sensitivity.

[0028] The radar driving mechanism of the present invention includes a double - link mechanism, which only includes a first rotating shaft, a first swing arm, a second rotating shaft and a second swing arm. Its structure is simple and the movement process is clear. In addition, the double - link mechanism is connected to the radar device. Driven by the radar driving motor, the double - link mechanism can drive the radar device to move, realizing the simultaneous movement and rotation of the radar device, ensuring that the detection angle of the radar device meets the requirements and achieving the purpose of hiding the radar device inside.

[0029] From the following detailed description of specific embodiments of the present invention in conjunction with the drawings, those skilled in the art will become more clear about the above - mentioned and other objects, advantages and features of the present invention. Brief Description of the Drawings

[0030] Some specific embodiments of the present invention will be described in detail hereinafter with reference to the drawings in an exemplary but non - restrictive manner. The same reference numerals in the drawings denote the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0031] Figure 1 is a schematic structural diagram of the cover plate opening the first opening and the radar device extending out of the fender from the first opening according to an embodiment of the present invention;

[0032] Figure 2 is a schematic exploded view of the radar integrated system with flip - motion of the radar according to an embodiment of the present invention;

[0033] Figure 3 is a schematic structural diagram of the connection between the radar device and the radar driving mechanism according to an embodiment of the present invention;

[0034] Figure 4 is a schematic structural diagram of the connection between the radar device and the double - connection mechanism according to an embodiment of the present invention;

[0035] Figure 5 Schematic structural diagram of a radar integrated system with a radar that can be flipped and moved according to an embodiment of the present invention, disposed at the fender

[0036] Figure 6 Schematic structural diagram of a cover plate and a cover plate drive mechanism connected according to an embodiment of the present invention

[0037] Figure 7 Schematic structural diagram of a control device connected to a controlled device according to an embodiment of the present invention Detailed implementation manners

[0038] Figure 1 Schematic structural diagram of the cover plate opening the first opening and the radar device extending out of the fender from the first opening according to an embodiment of the present invention. Specifically, as shown in the figure, this embodiment provides a radar integrated system 100 with a radar that can be flipped and moved. The radar integrated system 100 with a radar that can be flipped and moved is disposed at the fender 200 of a vehicle. Specifically, there are multiple fenders 200 of the vehicle in this embodiment. In a general sedan, there are four fenders 200 of the vehicle, which are respectively located above the four tires. A first opening 201 is provided at each fender 200, and this opening is located above the wheel arch 300. A radar integrated system 100 with a radar that can be flipped and moved can be provided at each first opening 201. Hereinafter, a radar integrated system 100 with a radar that can be flipped and moved will be taken as an example for description.

[0039] Figure 2 Schematic exploded view of a radar integrated system with a radar that can be flipped and moved according to an embodiment of the present invention Figure 3 Schematic structural diagram of a radar device and a radar drive mechanism connected according to an embodiment of the present invention Figure 4 Schematic structural diagram of a radar device and a double connection mechanism connected according to an embodiment of the present invention. Specifically, in this embodiment, as Figures 3 - 5 shown, the radar integrated system 100 with a radar that can be flipped and moved may include a radar device 10 and a radar drive mechanism 20. Among them, the radar device 10 is located near the first opening 201. The radar drive mechanism 20 may include a radar drive motor 21 and a double link mechanism 22. One end of the double link mechanism 22 is rotatably connected to the radar device 10, and the other end is rotatably connected to the fender 200. When the radar drive motor 21 is controlled to drive the double link mechanism 22 to move, the double link mechanism 22 drives the radar device 10 to flip relative to the fender 200 to extend out of or retract into the fender 200 from the first opening 201.

[0040] In this embodiment, the radar integrated system 100 capable of flipping movement of the radar may include a radar device 10 and a radar driving mechanism 20. The radar driving mechanism 20 may include a radar driving motor 21 and a double-link mechanism 22. The radar driving motor 21 is used to drive the double-link mechanism 22 to move, and the double-link mechanism 22 drives the radar device 10 to move, so that the radar device 10 can rotate relative to the fender 200 and extend or retract from the first opening 201 of the fender 200. Therefore, in this embodiment, the radar driving motor 21 drives the radar device 10 to move and rotate. When the radar device 10 is located at the first opening 201, the radar driving motor 21 can be used to drive the radar device 10 to rotate, thereby increasing the detection angle of the radar device 10. In addition, the radar driving motor 21 can also make the radar device 10 extend from the first opening 201 of the fender 200 when needed, and retract into the fender 200 from the first opening 201 when not needed, thus avoiding the problem that the radar device 10 is always exposed outside the fender 200 and gets dusty, affecting its use and sensitivity.

[0041] As a specific embodiment of the present invention, the double-link mechanism 22 of this embodiment may include a first rotating shaft 221, a first swing arm 222, a second rotating shaft 223, and a second swing arm 224. Among them, the first rotating shaft 221 is rotatably connected to the fender 200, and the first rotating shaft 221 is connected to the radar driving motor 21 to rotate under the drive of the radar driving motor 21. One end of the first swing arm 222 is fixedly connected to the first rotating shaft 221 to rotate around the axis of the first rotating shaft 221 when the first rotating shaft 221 rotates, and the other end is rotatably connected to the radar device 10. The second rotating shaft 223 is rotatably connected to the fender 200 and is arranged in parallel with the first rotating shaft 221. One end of the second swing arm 224 is rotatably connected to the radar device 10, and the other end is fixedly connected to the second rotating shaft 223. Among them, when the first rotating shaft 221 rotates under the drive of the radar driving motor 21, the radar device 10 is driven to flip and move under the combined action of the first swing arm 222, the second swing arm 224, and the second rotating shaft 223.

[0042] In this embodiment, the double-link mechanism 22 only includes the first rotating shaft 221, the first swing arm 222, the second rotating shaft 223, and the second swing arm 224, with a simple structure and a clear movement process. In addition, the double-link mechanism 22 is connected to the radar device 10, and the double-link mechanism 22 can drive the radar device 10 to move under the drive of the radar driving motor 21, realizing the simultaneous movement and rotation of the radar device 10, ensuring that the detection angle of the radar device 10 meets the requirements, and at the same time achieving the purpose of hiding the radar device 10.

[0043] As a specific embodiment of the present invention, the number of the first swing arms 222 in this embodiment is two. The two first swing arms 222 are arranged in parallel, and the two first swing arms 222 are respectively rotatably connected to the upper and lower side surfaces of the radar device 10.

[0044] Specifically, both of the two first swing arms 222 are fixedly connected to the first rotating shaft 221 and are arranged vertically. When the first rotating shaft 221 rotates, the two first swing arms 222 move simultaneously, thereby driving the radar device 10 to move.

[0045] As a specific embodiment of the present invention, the number of the second swing arms 224 in this embodiment is two. The two second swing arms 224 are arranged in parallel, and the two second swing arms 224 are respectively rotatably connected to the upper and lower side surfaces of the radar device 10.

[0046] Specifically, the two second swing arms 224 are respectively located on the sides of the two first swing arms 222. When the first swing arms 222 move under the drive of the driving device, the first swing arms 222 drive the radar device 10 to move, and the radar device 10 then drives the second swing arms 224 to move. The second swing arms 224 rotate relative to the second rotating shaft 223, thereby realizing the flipping movement of the radar device 10.

[0047] As a specific embodiment of the present invention, the length of the second swing arm 224 in this embodiment is not equal to the length of the first swing arm 222, or the distance between the first rotating shaft 221 and the second rotating shaft 223 is not equal to the target distance. The target distance is the distance between the hinge point of the first swing arm 222 and the radar mechanism and the hinge point of the second swing arm 224 and the radar mechanism.

[0048] Since the dual hinge mechanism in this embodiment ultimately needs to achieve the flipping movement of the radar device 10, when the lengths of the first swing arm 222 and the second swing arm 224 are equal, the distance between the first rotating shaft 221 and the second rotating shaft 223 cannot be equal to the target distance. Or, when the distance between the first rotating shaft 221 and the second rotating shaft 223 is equal to the target distance, the lengths of the first swing arm 222 and the second swing arm 224 cannot be equal. If the lengths of the first swing arm 222 and the second swing arm 224 are equal, and the distance between the first rotating shaft 221 and the second rotating shaft 223 is equal to the target distance, the radar device 10 can only translate but cannot rotate.

[0049] In addition, the movement trajectory of the radar device 10 is not only related to the length of the swing arm and the distance from the end of the swing arm, but also related to the relative positions of the radar device 10, the rotating shaft, and the first opening 201. For example, in this embodiment, the radar device 10 is located on the left side of the first rotating shaft 221. When the first rotating shaft 221 rotates counterclockwise, the entire radar device 10 moves outward from the fender 200. If the first rotating shaft 221 rotates clockwise, the entire radar device 10 moves inward to the fender 200. If the radar device 10 is located on the right side of the first rotating shaft 221, when the first rotating shaft 221 rotates counterclockwise, the entire radar device 10 moves inward to the fender 200. If the first rotating shaft 221 rotates clockwise, the entire radar device 10 moves outward from the fender 200.

[0050] More specifically, the length of the first swing arm 222 in this embodiment is greater than the length of the second swing arm 224, and the distance between the first rotating shaft 221 and the second rotating shaft 223 is less than the target distance.

[0051] In this embodiment, since the length of the first swing arm 222 is greater than the length of the second swing arm 224, when the first swing arm 222 rotates counterclockwise when viewed from top to bottom, the radar device 10 moves from inside the fender 200 to the outside, and at the same time, the radar device 10 also rotates counterclockwise when viewed from top to bottom.

[0052] As a specific embodiment of the present invention, the radar integrated system 100 with a flip - movable radar in this embodiment may further include a housing 30 and a fixed frame 40. Among them, the housing 30 is provided with a second opening 31. The housing 30 is fixedly arranged inside the fender 200, and the second opening 31 is correspondingly arranged with the first opening 201. The fixed frame 40 is arranged inside the housing 30, and both the first rotating shaft 221 and the second rotating shaft 223 are rotatably connected to the fixed frame 40.

[0053] In this embodiment, since the fixed frame 40 is arranged inside the housing 30, and the housing 30 is fixedly arranged at the fender 200, when the first rotating shaft 221 and the second rotating shaft 223 are rotatably connected to the fixed frame 40, it is equivalent to that the first rotating shaft 221 and the second rotating shaft 223 are rotatably connected to the fender 200 through the fixed frame 40 and the housing 30.

[0054] Figure 5 is a schematic structural diagram of a radar integrated system with a flip - movable radar according to an embodiment of the present invention arranged at the fender; Figure 6 is a schematic structural diagram of a cover plate and a cover plate driving mechanism connection according to an embodiment of the present invention. More specifically, as Figure 6 and Figure 7As shown in the figure, the radar integrated system 100 capable of flipping movement in this embodiment may further include a cover plate 60 and a cover plate driving mechanism 50. The cover plate driving mechanism 50 is located inside the housing 30. The cover plate driving mechanism 50 is connected to the cover plate 60 and is used to move controllably to drive the cover plate 60 to open or close the first opening 201.

[0055] Specifically, as Figure 5 and Figure 6 shown in the figure, in this embodiment, a chute 41 is provided at the fixed frame 40. The cover plate driving mechanism 50 includes a cover plate driving motor 51 and a motion mechanism 52. One end of the motion mechanism 52 is connected to the cover plate driving motor 51 and is driven by the cover plate driving motor 51. The other end is connected to the cover plate 60. Under the drive of the cover plate driving motor 51, the motion mechanism 52 drives the cover plate 60 to move along the chute 41 and at the same time drives the cover plate 60 to rotate to open and close the first opening 201.

[0056] Specifically, in this embodiment, due to the existence of the first opening 201, when the radar device 10 is driven by the radar driving mechanism 20 to move to the inner side of the fender 200, some dust and the like will still enter the radar device 10 from the first opening 201. Therefore, through the design of the cover plate 60 and the cover plate driving mechanism 50 in this embodiment, when the radar device 10 needs to extend from the first opening 201 out of the fender 200, the cover plate driving mechanism 50 drives the cover plate 60 to close the first opening 201. When the radar device 10 retracts from the first opening 201 into the fender 200, the cover plate driving mechanism 50 drives the cover plate 60 to close the first opening 201 again, which will neither hinder the normal use and detection of the radar device 10 nor allow the radar device 10 to be contaminated by the dust or sewage entering the inside of the fender 200 from the first opening 201 when it is in a non-use state.

[0057] As a specific embodiment of the present invention, the motion mechanism 52 in this embodiment may include a crank 521 and a first connecting rod 522. One end of the crank 521 is fixedly connected to the output shaft 511 of the cover plate driving motor 51 to rotate following the output shaft 511. One end of the first connecting rod 522 is rotatably connected to the end of the crank 521 far from the output shaft 511, and the other end is connected to the cover plate 60. The rotation axis of the first connecting rod 522 is parallel to the rotation axis of the crank 521. A cam is provided on the side of the first connecting rod 522. The cam is clamped at the chute 41. When the crank 521 rotates following the output shaft 511, the cam moves along the chute 41 so that the cover plate 60 moves along a trajectory parallel to the chute 41.

[0058] In this embodiment, the output shaft 511 of the cover plate driving motor 51 is directly fixedly connected to one end of the crank 521, and the crank 521 rotates following the output shaft 511. One end of the first connecting rod 522 is rotatably connected to the other end of the crank 521, and the other end of the first connecting rod 522 is connected to the cover plate 60. Therefore, when the output shaft 511 of the cover plate driving motor 51 rotates, it moves driven by the crank 521 and the first connecting rod 522. Since a cam is provided at the first connecting rod 522 and the cam is restricted by the chute 41, the cover plate 60 also moves along a trajectory parallel to the chute 41. When the chute 41 can just extend from the first opening 201 into the inner part of the fender 200, the cover plate 60 will continuously reciprocate between the first opening 201 and the inner part of the fender 200 driven by the crank 521 and the first connecting rod 522.

[0059] More specifically, the number of the chutes 41 in this embodiment is two, the two chutes 41 are arranged opposite to each other in a mirror image, and the first connecting rod 522 is located between the two chutes 41. The number of the cams is two, which are arranged at two opposite side surfaces of the first connecting rod 522 facing the two chutes 41, and each cam is correspondingly arranged with one of the chutes 41.

[0060] In this embodiment, the design of the two chutes 41 and the two cams is more beneficial to the stable movement of the cover plate 60, and avoids the situation of tilting or jamming during the movement.

[0061] As a specific embodiment of the present invention, the movement mechanism 52 in this embodiment may further include a second connecting rod 523. One end of the second connecting rod 523 is rotatably connected to the fixed frame 40, and the other end is rotatably connected to the cover plate 60. Wherein, the second axis line of the second connecting rod 523 is parallel to the first axis line of the first connecting rod 522, so that when the cover plate 60 moves along the chute 41 driven by the cover plate driving motor 51, the cover plate 60 rotates under the action of the second connecting rod 523; wherein, the second axis line is the axis line of the rotating shaft at the rotatable connection between the second connecting rod 523 and the cover plate 60, and the first axis line is the axis line of the rotating shaft at the rotatable connection between the first connecting rod 522 and the cover plate 60.

[0062] Since the cover plate 60 flips under the drive of the second connecting rod 523 in this embodiment, when the first axis line coincides with the second axis line, the cover plate 60 cannot move. Therefore, the first axis line and the second axis line in this embodiment must be arranged in parallel.

[0063] In this embodiment, under the combined action of the first connecting rod 522 and the second connecting rod 523, driven by the cover plate driving motor 51, the cover plate 60 moves along a trajectory parallel to the chute 41 and also flips at the same time, so as to facilitate the opening and closing of the first opening 201 by the cover plate 60.

[0064] As a specific embodiment of the present invention, the radar integrator system 100 with reversible movement of the radar of this embodiment may further include a hinge rod 524, which is fixedly connected to the cover plate 60 and extends along a direction parallel to the axis of the rotating shaft of the second link 523. One end of the second link 523 is rotatably connected to one end of the hinge rod 524, so that the cover plate 60 and the hinge rod 524 rotate relative to the second link 523 together. The hinge rod 524 is located on one side of the cover plate 60, so that when the cover plate 60 closes the first opening 201, the hinge rod 524 is located inside the fender 200.

[0065] Specifically, the number of the second links 523 is two. The two second links 523 are parallel to each other and are respectively located at both ends of the hinge rod 524. The two second links 523 and the hinge rod 524 form a U-shaped structure.

[0066] In this embodiment, the hinge rod 524 is horizontally arranged inside the cover plate 60. The two second links 523 are respectively rotatably connected to the left and right ends of the hinge rod 524. The first link 522 is rotatably connected to the middle position inside the cover plate 60. The plane where the first link 522 is located is parallel to the plane where the second link 523 is located. Through the design of the two links, the cover plate 60 is more stable during the movement and flipping process.

[0067] Figure 7 It is a schematic structural diagram of a control device connected to a controlled device according to an embodiment of the present invention. As a specific embodiment of the present invention, as Figure 7 shown, the radar integrator system 100 with reversible movement of the radar of this embodiment may further include a cleaning device 70, which is arranged inside the housing 30 and is located on the side of the radar device 10 away from the fender 200, and is used to be started controllably to clean the radar device 10.

[0068] In this embodiment, since the radar device 10 rotates to the inner side of the fender 200 when it retracts into the fender 200. If the radar device 10 is soiled by dust, sewage or other things during use, the cleaning device 70 can be used to clean the radar device 10, so as to ensure that the radar device 10 can better detect the surrounding environment of the vehicle and avoid misjudgment and other situations.

[0069] As a specific embodiment of the present invention, the cleaning device 70 of this embodiment may include a water storage box 71, a pipeline 72 and a nozzle (not shown in the figure). Among them, the water storage box 71 is used to store the cleaning liquid required to clean the radar device 10. One end of the pipeline 72 is communicated with the water storage box 71 and is located in the cleaning liquid. The nozzle is connected to the other end of the pipeline 72. A water pump 721 and a solenoid valve 731 are arranged at the nozzle. The water pump 721 and the solenoid valve 731 are started controllably to spray the cleaning liquid in the water storage box 71 at the radar device 10.

[0070] In this embodiment, the nozzle faces the radar device 10. When the radar device 10 needs to be cleaned, the radar device 10 can be further rotated to face the position where the nozzle is located, so as to ensure that the liquid sprayed by the nozzle can reach the radar device 10 smoothly.

[0071] Specifically, this embodiment may further include a control device 80, which receives instructions and controls the movements of the radar drive mechanism 20, the cover drive mechanism 40, and the cleaning device 70.

[0072] As a specific embodiment of the present invention, this embodiment further provides a vehicle, which may include the radar integration system 100 with the radar capable of flipping and moving described above.

[0073] So far, those skilled in the art should recognize that although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived from the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and determined to cover all these other variations or modifications.

Claims

1. A radar integrated system with reversible movement of the radar, which is arranged at the fender of a vehicle, and a first opening is arranged at the fender, characterized in that, Comprising: A radar device, located near the first opening; A radar driving mechanism, including a driving motor and a double-link mechanism. One end of the double-link mechanism is rotatably connected to the radar device, and the other end is rotatably connected to the fender. When the driving motor controllably drives the double-link mechanism to move, the double-link mechanism drives the radar device to flip relative to the fender to extend out of or retract into the fender from the first opening; The double-link mechanism includes: A first rotating shaft, rotatably connected to the fender, and the first rotating shaft is connected to the driving motor to rotate under the drive of the driving motor; A first swing arm, one end of which is fixedly connected to the first rotating shaft to rotate around the axis of the first rotating shaft when the first rotating shaft rotates, and the other end is rotatably connected to the radar device; A second rotating shaft, rotatably connected to the fender and arranged parallel to the first rotating shaft; A second swing arm, one end of which is rotatably connected to the radar device, and the other end is fixedly connected to the second rotating shaft; Wherein, when the first rotating shaft rotates under the drive of the driving motor, the radar device is driven to flip and move under the combined action of the first swing arm, the second swing arm and the second rotating shaft; The length of the second swing arm is not equal to the length of the first swing arm, or the distance between the first rotating shaft and the second rotating shaft is not equal to the target distance, and the target distance is the distance between the hinge point of the first swing arm and the radar device and the hinge point of the second swing arm and the radar device.

2. The radar integrated system with a radar capable of flipping movement according to claim 1, characterized in that The number of the first swing arms is two, the two first swing arms are arranged in parallel, and the two first swing arms are respectively rotatably connected to the upper and lower side surfaces of the radar device.

3. The radar integrated system with a radar capable of flipping movement according to claim 1, characterized in that The number of the second swing arms is two, the two second swing arms are arranged in parallel, and the two second swing arms are respectively rotatably connected to the upper and lower side surfaces of the radar device.

4. The radar integrated system with a radar capable of flipping movement according to claim 1, characterized in that The length of the first swing arm is greater than the length of the second swing arm, and the distance between the first rotating shaft and the second rotating shaft is less than the target distance.

5. The radar integrated system with a radar capable of flipping movement according to any one of claims 1-3, characterized in that It further includes: A housing provided with a second opening, the housing is fixedly arranged inside the fender, and the second opening is correspondingly arranged with the first opening; and A fixing frame, arranged inside the housing, and both the first rotating shaft and the second rotating shaft are rotatably connected to the fixing frame.

6. The radar integrated system with a radar capable of flipping movement according to claim 5, characterized in that It further includes: A cover plate; A cover plate driving mechanism located inside the housing, the cover plate driving mechanism is connected to the cover plate and is used for controllable movement to drive the cover plate to open or close the first opening.

7. The radar integrated system with a radar that can be flipped and moved according to claim 5, characterized in that it further includes a cleaning device, which is arranged in the housing and on a side of the radar device away from the fender, and is used to be started controllably to clean the radar device.

8. A vehicle, characterized in that, It includes the radar integrated system with a radar that can be flipped and moved according to any one of claims 1-7.

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