An automatically adjustable mechanical laser radar fixture and method

Abstract

The application discloses a kind of automatically adjustable mechanical laser radar fixing device and method, including radar and radar support, the radar is fixedly connected in the radar support, longitudinal transmission mechanism is arranged between the radar support and vehicle body, one end of the longitudinal transmission mechanism is fixedly connected with vehicle body, the other end is connected with the radar support by universal device, the lateral surface of the universal device in horizontal direction is connected with transverse transmission mechanism, the lateral surface of the universal device in vertical direction is connected with vertical transmission mechanism, the longitudinal transmission mechanism, the transverse transmission mechanism and the vertical transmission mechanism are electrically connected with control device and memory device, the control device drives the elongation and shrinkage of three transmission mechanisms, and the memory device records the position and attitude of the radar;After radar is fixed on vehicle body, the position of radar can be continuously adjusted according to actual situation, without adjusting the mounting structure of radar, so as to realize the universal installation of radar device.

Description

Technical Field

[0001] This invention relates to the field of automotive radar mounting technology, and in particular to an automatically adjustable mechanical lidar mounting device and method. Background Technology

[0002] Radar is an indispensable piece of hardware for achieving autonomous driving. It is primarily deployed around the vehicle to acquire information about its surrounding environment. However, in certain assembly environments, blind spots exist in the radar's field of view, or its placement is limited by issues related to the vehicle's mounting structure. To address this, current autonomous vehicle radars are placed in open areas on the vehicle's exterior, such as the A-pillar, D-pillar, front grille, or roof, to meet visibility requirements. However, due to variations in vehicle shape, adjustments to the radar's mounting structure are still necessary during installation, preventing the same radar system from being installed on different vehicle models. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides an automatically adjustable mechanical lidar mounting device and method, thereby resolving the issue that the same lidar structure cannot be installed on different vehicle models in the prior art.

[0004] To achieve the above objectives, the present invention provides a technical solution for an automatically adjustable mechanical lidar fixing device and method, comprising a radar and a radar bracket. The radar is fixedly connected within the radar bracket. A longitudinal transmission mechanism is provided between the radar bracket and the vehicle body. One end of the longitudinal transmission mechanism is fixedly connected to the vehicle body, and the other end is connected to the radar bracket via a universal joint. A transverse transmission mechanism is connected to the side of the universal joint in the horizontal direction, and a vertical transmission mechanism is connected to the side of the universal joint in the vertical direction. The longitudinal, transverse, and vertical transmission mechanisms are all electrically connected to a control device and a memory device. The control device drives the extension and retraction of the three transmission mechanisms, and the memory device records the position and attitude of the radar.

[0005] Furthermore, a mounting bracket is fixedly connected to the side of the vehicle body facing the radar bracket, and the longitudinal transmission mechanism is slidably connected within the mounting bracket.

[0006] Furthermore, the gimbal includes a base and a sphere, with a portion of the sphere rotatably connected to the base, and the portion of the sphere exposed to the external environment fixedly connected to the radar bracket.

[0007] Furthermore, the longitudinal transmission mechanism includes a rack and a drive motor. One end of the rack is inserted into the mounting bracket, and the other end is fixedly connected to the base. A gear meshes on one side of the rack, and the gear is sleeved on the output shaft of the drive motor and fixedly connected to the output shaft. The structures of the transverse transmission mechanism and the longitudinal transmission mechanism are the same as those of the longitudinal transmission mechanism, and the rack in the transverse transmission mechanism and the longitudinal transmission mechanism is slidably connected to the radar bracket.

[0008] Furthermore, in the transverse transmission mechanism and the longitudinal transmission mechanism, the rack is rotatably connected to a limiting plate on the side near the radar bracket, and the radar bracket has a sliding groove for the limiting plate to slide.

[0009] Furthermore, the control device includes a button module connected to an MCU module. Each drive motor is connected to the MCU module via a switcher, and the button module controls the switcher through the MCU module.

[0010] Furthermore, the drive motor is connected in parallel to the ground wire, and the switch includes a relay disposed between the ground wire, the phase wire of the drive motor and the pin of the MCU module. The button module controls the connection and disconnection of the phase wire of the drive motor and the pin of the MCU through the relay.

[0011] Furthermore, the memory device includes a first angle sensor, a second angle sensor, and a displacement sensor disposed on the radar, wherein the first angle sensor and the second angle sensor respectively detect the angle in the horizontal direction and the angle in the vertical direction of the radar.

[0012] Furthermore, a protective cover is provided on the side of the vehicle body facing the radar, and the radar is located inside the protective cover.

[0013] On the other hand, the present invention also provides a method for an automatically adjustable mechanical lidar fixing device, which utilizes an automatically adjustable mechanical lidar fixing device from the above-mentioned technical solution and includes the following steps:

[0014] Step S1: The control module obtains the target position of the radar from the memory module, and calculates and adjusts the path based on the target position and the current position of the radar;

[0015] Step S2: Based on the adjustment path, the control module drives the longitudinal transmission mechanism, the transverse transmission mechanism and the vertical transmission mechanism to move respectively, adjusting the radar to the target position.

[0016] Compared with the prior art, the beneficial effects of the present invention are at least as follows:

[0017] 1. When adjusting the vertical angle of the radar, the vertical transmission mechanism is controlled to push the universal joint to swing up and down, thereby adjusting the radar's vertical attitude. Similarly, when adjusting the horizontal angle of the radar, the horizontal transmission mechanism is controlled to push the universal joint to swing left and right, thereby adjusting the radar's horizontal attitude. When adjusting the radar's front and back position, the longitudinal transmission mechanism is used to move the universal joint forward or backward. This invention also includes a memory device that records the current radar angle and travel displacement signal after the radar test is completed. After the radar position changes, the recorded radar position information is used to drive the three transmission mechanisms to move the radar back to the standard position.

[0018] 2. This invention enables the adjustment of the radar position by setting a transmission mechanism, allowing the same radar device to be used on different vehicle models. After the radar is fixed to the vehicle body, the position of the radar can be adjusted according to the actual situation without adjusting the radar installation structure, thereby achieving universal installation of the radar device. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of an automatically adjustable mechanical lidar fixing device according to the present invention.

[0020] Figure 2 This is a connection diagram of the MCU module of the present invention;

[0021] Figure 3 This is a flowchart of a method for fixing an automatically adjustable mechanical lidar according to the present invention.

[0022] In the diagram: 1. Radar; 2. Radar bracket; 3. Horizontal transmission mechanism; 4. Vertical transmission mechanism; 5. Mounting support; 6. Base; 7. Sphere; 8. Drive motor; 9. Longitudinal transmission mechanism; 10. Protective cover; 11. Vehicle body; 12. Button module; 13. Relay; 14. Operation panel. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0024] It is understood that the terms "first," "second," etc., used in this application may be used herein to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this application, a first script may be referred to as a second script, and similarly, a second script may be referred to as a first script.

[0025] like Figure 1 As shown, an automatically adjustable mechanical lidar 1 mounting device includes a lidar 1 and a lidar bracket 2. The lidar 1 is fixedly connected within the lidar bracket 2, and a longitudinal transmission mechanism 9 is provided between the lidar bracket 2 and the vehicle body 11. (Reference) Figure 1 Specifically, the rear end of the longitudinal transmission mechanism 9 is fixedly connected to the vehicle body 11, and the front end is connected to the radar bracket 2 via a universal joint. The universal joint is connected to the lateral transmission mechanism 3 on the horizontal side and to the vertical transmission mechanism 4 on the vertical side. The longitudinal transmission mechanism 9, the lateral transmission mechanism 3, and the vertical transmission mechanism 4 are all electrically connected to a control device and a memory device. The control device drives the extension and retraction of the three transmission mechanisms, and the memory device records the position and attitude of the radar 1.

[0026] When it is necessary to adjust the vertical angle of radar 1, the vertical transmission mechanism 4 is controlled to push the universal joint to swing up and down, thereby adjusting the vertical attitude of radar 1. Similarly, when it is necessary to adjust the horizontal angle of radar 1, the horizontal transmission mechanism 3 is controlled to push the universal joint to swing left and right, thereby adjusting the horizontal attitude of radar 1. When it is necessary to adjust the front and back position of radar 1, the longitudinal transmission mechanism 9 is used to push the universal joint forward or backward. The present invention also includes a memory device, which records the current angle and travel displacement signal of radar 1 after the radar 1 test is completed. After the position of radar 1 changes, the recorded position information of radar 1 is used to drive the three transmission mechanisms to move radar 1 back to the standard position.

[0027] The present invention can adjust the position of radar 1 by setting a transmission mechanism, so that the same radar 1 device can be used on different vehicle models. After radar 1 is fixed on the vehicle body 11, the position of radar 1 can be adjusted according to the actual situation without adjusting the installation structure of radar 1, thereby realizing the universal installation of radar 1 device.

[0028] In this embodiment, a mounting bracket 5 is fixedly connected to the side of the vehicle body 11 facing the radar bracket 2, and a longitudinal transmission mechanism 9 is slidably connected within the mounting bracket 5.

[0029] In this embodiment, the gimbal includes a base 6 and a ball 7. Part of the ball 7 is rotatably connected to the base 6, while the portion of the ball 7 exposed to the external environment is fixedly connected to the radar bracket 2. This structure allows the radar 1 to swing in four directions (up, down, left, and right) without detaching from the base 6.

[0030] In this embodiment, the longitudinal transmission mechanism 9 includes a rack and a drive motor 8. One end of the rack is inserted into the mounting bracket 5, and the other end is fixedly connected to the base 6. A gear meshes on one side of the rack, and the gear is sleeved on the output shaft of the drive motor 8 and fixedly connected to the output shaft. The structures of the transverse transmission mechanism 3 and the longitudinal transmission mechanism 9 are the same as those of the longitudinal transmission mechanism 9, and the racks in the transverse transmission mechanism 3 and the longitudinal transmission mechanism 9 are slidably connected to the radar bracket 2. Since the transmission is carried out through the rack and pinion, when adjusting the position, it is only necessary to control the forward or reverse rotation of the drive motor 8 to realize the forward and backward movement of the rack, thereby facilitating the adjustment of the radar 1 position.

[0031] In this embodiment, the racks in the transverse transmission mechanism 3 and the longitudinal transmission mechanism 9 are rotatably connected to the limit plate on the side near the radar bracket 2. The radar bracket 2 has a sliding groove for the limit plate to slide. This structure ensures that the racks in the transverse transmission mechanism 3 and the longitudinal transmission mechanism 9 will not obstruct the swinging of the radar 1 when it is pushed.

[0032] like Figure 2 As shown, in this embodiment, the control device includes a button module 12, which is connected to an MCU module. Each drive motor 8 is connected to the MCU module via a switcher, and the button module 12 controls the switcher through the MCU module. Specifically, the button module 12 includes a left swing button, a right swing button, an up swing button, a down swing button, a forward button, and a backward button. By setting the button module 12, the position of the radar 1 can be manually adjusted.

[0033] In this embodiment, the drive motor 8 is connected in parallel to the ground wire, and the switch includes a relay 13 disposed between the ground wire, the phase line of the drive motor 8 and the pin of the MCU module. The button module 12 controls the connection and disconnection of the phase line of the drive motor 8 and the pin of the MCU through the relay 13.

[0034] In this embodiment, the memory device includes a first angle sensor, a second angle sensor, and a displacement sensor disposed on the radar 1. The first angle sensor and the second angle sensor respectively detect the angle in the horizontal direction and the angle in the vertical direction of the radar 1.

[0035] In this embodiment, a protective cover 10 is provided on the side of the vehicle body 11 facing the radar 1, and the radar 1 is located inside the protective cover 10. When the vehicle stops moving, the control device can retract the radar 1 into the protective cover 10 through the longitudinal transmission mechanism 9, thereby protecting the radar 1 from scratches.

[0036] like Figure 3 As shown, the present invention also provides a method for fixing an automatically adjustable mechanical lidar 1. This method utilizes an automatically adjustable mechanical lidar 1 fixing device from the above-described technical solution and includes the following steps:

[0037] Step S1: The control module obtains the target position of radar 1 from the memory module, and calculates and adjusts the path based on the target position and the current position of radar 1;

[0038] Step S2: Based on the adjustment path, the control module drives the longitudinal transmission mechanism 9, the transverse transmission mechanism 3 and the vertical transmission mechanism 4 to move, thereby adjusting the radar 1 to the target position.

[0039] For details, please refer to Figure 2 In the initial state, both phase lines of drive motor M1 are grounded, and the motor stops rotating. Taking the left and right swing of radar 1 as an example, when radar 1 is adjusted to the target position and needs to swing left, the MCU module sends a command to keep relay 13 (number 1 in the diagram) continuously energized. At this time, the U phase line of drive motor M1 is switched from grounded to connected to relay 13 (number 1), and this phase line of drive motor M1 changes from grounded to 12V (positive). Drive motor M1 is energized and rotates forward. Drive motor M1 drives the rack and pinion to move, ultimately realizing the leftward swing of radar 1. Similarly, when radar 1 needs to swing right, the MCU module sends a command to keep relay 13 (number 2 in the diagram) continuously energized. At this time, the V phase line of drive motor M1 is switched from grounded to connected to relay 13 (number 2), and this phase line of drive motor M1 changes from grounded to 12V. Drive motor M1 is energized and rotates in reverse, realizing the rightward swing of radar 1.

[0040] In this embodiment, the MCU module is also connected to the operation screen 14. When the storage button on the operation screen 14 is pressed, the MCU module receives the instruction, reads the signals from the first angle sensor, the second angle sensor, and the displacement sensor, and stores them in the MCU module. When the corresponding memory position option is read, the MCU module calculates the adjustment path based on the current position of the radar 1 and the target position, issues an instruction to control the energizing duration of the six relays 13, thereby driving the motor 8 to rotate, and finally adjusting the radar 1 to the memoryed position and angle.

[0041] In this embodiment, after the vehicle is parked and powered off, the MCU module stores the position and angle signal of radar 1 at the time of power-off, and then automatically sends a command to control relay 13 (number 6) to energize, causing radar 1 to retract to its extreme position. When the vehicle is powered on again, the MCU module automatically initializes, reads the stored memory signal, and drives radar 1 to the position and angle it was in when the vehicle was last powered off.

[0042] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0043] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatically adjustable mechanical lidar fixing device, characterized in that, The system includes a radar and a radar bracket. The radar is fixedly connected within the radar bracket. A longitudinal transmission mechanism is provided between the radar bracket and the vehicle body. One end of the longitudinal transmission mechanism is fixedly connected to the vehicle body, and the other end is connected to the radar bracket via a universal joint. A lateral transmission mechanism is connected to the side of the universal joint in the horizontal direction, and a vertical transmission mechanism is connected to the side of the universal joint in the vertical direction. The longitudinal, lateral, and vertical transmission mechanisms are all electrically connected to a control device and a memory device. The control device drives the extension and retraction of the three transmission mechanisms, and the memory device records the position and attitude of the radar.

2. The automatically adjustable mechanical lidar fixing device according to claim 1, characterized in that, A mounting bracket is fixedly connected to the side of the vehicle body facing the radar bracket, and the longitudinal transmission mechanism is slidably connected within the mounting bracket.

3. The automatically adjustable mechanical lidar fixing device according to claim 2, characterized in that, The gimbal includes a base and a sphere. Part of the sphere is rotatably connected to the base, and the part of the sphere exposed to the external environment is fixedly connected to the radar bracket.

4. The automatically adjustable mechanical lidar fixing device according to claim 3, characterized in that, The longitudinal transmission mechanism includes a rack and a drive motor. One end of the rack is inserted into the mounting bracket, and the other end is fixedly connected to the base. A gear meshes on one side of the rack, and the gear is sleeved on the output shaft of the drive motor and fixedly connected to the output shaft. The structures of the transverse transmission mechanism and the longitudinal transmission mechanism are the same as those of the longitudinal transmission mechanism, and the rack in the transverse transmission mechanism and the longitudinal transmission mechanism is slidably connected to the radar bracket.

5. The automatically adjustable mechanical lidar fixing device according to claim 4, characterized in that, The rack in the transverse transmission mechanism and the longitudinal transmission mechanism is rotatably connected to a limiting plate on the side near the radar bracket, and a sliding groove is provided in the radar bracket for the limiting plate to slide.

6. The automatically adjustable mechanical lidar fixing device according to claim 5, characterized in that, The control device includes a button module, which is connected to an MCU module. Each drive motor is connected to the MCU module via a switcher, and the button module controls the switcher through the MCU module.

7. The automatically adjustable mechanical lidar fixing device according to claim 6, characterized in that, The drive motor is connected in parallel to the ground wire. The switch includes a relay disposed between the ground wire, the phase wire of the drive motor and the pin of the MCU module. The button module controls the connection and disconnection of the phase wire of the drive motor and the pin of the MCU through the relay.

8. An automatically adjustable mechanical lidar fixing device according to any one of claims 1-7, characterized in that, The memory device includes a first angle sensor, a second angle sensor, and a displacement sensor disposed on the radar. The first angle sensor and the second angle sensor respectively detect the horizontal angle and the vertical angle of the radar.

9. The automatically adjustable mechanical lidar fixing device according to claim 8, characterized in that, A protective cover is provided on the side of the vehicle body facing the radar, and the radar is located inside the protective cover.

10. A method for fixing an automatically adjustable mechanical lidar device, the method being based on the automatically adjustable mechanical lidar device according to any one of claims 1-9, characterized in that, include: Step S1: The control module obtains the target position of the radar from the memory module, and calculates and adjusts the path based on the target position and the current position of the radar; Step S2: Based on the adjustment path, the control module drives the longitudinal transmission mechanism, the transverse transmission mechanism and the vertical transmission mechanism to move respectively, adjusting the radar to the target position.

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