An autonomous vehicle

Abstract

The present invention relates to an unmanned vehicle, which includes a vehicle body. A storage groove is provided on the side of the vehicle body. A lidar and a telescopic mechanism are arranged inside the storage groove. The telescopic mechanism is connected to the lidar. The telescopic mechanism includes a lead screw, a linkage rod, a first gear and a second gear. The linkage rod is rotatably connected to the inner wall of the storage groove. A second gear is connected to the end of the linkage rod. A first gear is connected to one end of the lead screw close to the linkage rod. The first gear meshes with the second gear. The lidar is connected to the lead screw. The telescopic mechanism further includes a third gear, a driving mechanism and a fourth gear. The third gear is sleeved on the linkage rod. The output end of the driving mechanism is connected to the fourth gear. The fourth gear meshes with the third gear. The present invention can retract the radar into the storage groove when the radar is in an unused state, avoiding damage to the radar, thereby effectively protecting the radar.

Description

Technical Field

[0001] The present invention relates to the technical field of driverless vehicles, and particularly to a driverless vehicle. Background Art

[0002] Currently, a driverless exploration vehicle is an intelligent device that senses the road environment through an on-vehicle sensing system, automatically plans a driving route, and controls the vehicle to reach a predetermined target. It uses on-vehicle sensors (radars) to sense the environment around the vehicle, and controls the steering and speed of the vehicle based on the information of the road, vehicle position, and obstacles obtained from the sensing, so that the vehicle can drive safely and reliably on the road. The relative position of the existing lidar and the vehicle body is fixed. When the exploration vehicle is being transported or parked, the lidar is in a non-use state, and there is a risk of being scratched or eroded by rain and snow. Summary of the Invention

[0003] The purpose of the present invention is to provide a driverless vehicle, which can retract a radar into a receiving groove when the radar is in a non-use state, avoid damage to the radar, and thus effectively protect the radar.

[0004] The purpose of the present invention is achieved by adopting the following technical solutions. A driverless vehicle according to the present invention includes a vehicle body. A receiving groove is provided on the side of the vehicle body. A radar and a telescopic mechanism are provided inside the receiving groove. The telescopic mechanism is connected to the radar. The telescopic mechanism includes a lead screw, a linkage rod, a first gear, and a second gear. The linkage rod is rotatably connected to the inner wall of the receiving groove. A second gear is connected to the end of the linkage rod. A first gear is connected to one end of the lead screw close to the linkage rod. The first gear meshes with the second gear. The radar is connected to the lead screw. The telescopic mechanism further includes a third gear, a driving mechanism, and a fourth gear. The third gear is sleeved on the linkage rod. The output end of the driving mechanism is connected to the fourth gear. The fourth gear meshes with the third gear.

[0005] In some embodiments, the driverless vehicle further includes a buffer assembly. The buffer assembly is threadedly connected to the lead screw. The radar is provided on the buffer assembly.

[0006] In some embodiments, the buffer assembly includes an outer frame plate, an inner frame plate, and a moving block. The inner frame plate is disposed inside the outer frame plate and can move in the outer frame plate along a first direction. The moving block is disposed inside the inner frame plate and can move in the inner frame plate along a second direction. The first direction is perpendicular to the second direction.

[0007] In some embodiments, the buffer assembly further includes a first buffer mechanism and a second buffer mechanism. The first buffer mechanism is provided between the two side portions of the inner frame plate and the inner wall of the outer frame plate. The second buffer mechanism is provided between the top of the moving block and the inner wall of the inner frame plate, and the second buffer mechanism is also provided between the bottom of the moving block and the inner wall of the inner frame plate.

[0008] In some embodiments, the first buffer mechanism includes a sleeve, a telescopic rod, a limiting plate and an elastic member. The first end of the telescopic rod is inserted into the interior of the sleeve and is connected to the limiting plate provided inside the sleeve. The elastic member is sleeved on the telescopic rod. The first end of the elastic member is connected to the limiting plate, and the second end of the elastic member is connected to the inner wall of the sleeve.

[0009] In some embodiments, the first buffer mechanism further includes a connecting rod and a mounting seat. The second end of the telescopic rod is rotatably connected to the first end of the connecting rod, and the second end of the connecting rod is rotatably connected to the mounting seat.

[0010] In some embodiments, the sleeve is fixed on the inner wall of the outer frame plate, and the mounting seat is fixed on the outer side portion of the inner frame plate.

[0011] In some embodiments, at the top and bottom of the interior of the outer frame plate, first guiding slide rods are provided along the first direction. The first guiding slide rods pass through the inner frame plate, and the inner frame plate is slidably connected to the first guiding slide rods.

[0012] In some embodiments, on both sides of the interior of the inner frame plate, second guiding slide rods are provided along the second direction. The second guiding slide rods pass through the moving block, and the moving block is slidably connected to the second guiding slide rods.

[0013] In some embodiments, the first buffer mechanism further includes a mounting plate. The mounting plate covers the outer frame plate and is fixedly connected to the moving block. The radar is fixed on the mounting plate. A threaded connection seat is provided on the side portion of the outer frame plate, and the outer frame plate is connected to the lead screw through the threaded connection seat.

[0014] The beneficial effects of the present invention at least include:

[0015] 1. In the present invention, a storage groove is provided on the side of the vehicle body, and a lidar, a telescopic mechanism are arranged inside the storage groove. The telescopic mechanism is connected to the lidar and includes a lead screw, a linkage rod, a first gear and a second gear. The linkage rod is rotatably connected to the inner wall of the storage groove, and a second gear is connected to the end of the linkage rod. One end of the lead screw close to the linkage rod is connected with a first gear, and the first gear meshes with the second gear. The lidar is connected to the lead screw. The telescopic mechanism further includes a third gear, a driving mechanism and a fourth gear. The third gear is sleeved on the linkage rod. The output end of the driving mechanism is connected with a fourth gear, and the fourth gear meshes with the third gear. When the radar is in an unused state, it can be retracted into the storage groove to avoid damage to the radar, thus effectively protecting the radar.

[0016] 2. In the present invention, an inner frame plate is arranged inside an outer frame plate and can move along a first direction inside the outer frame plate. A moving block is arranged inside the inner frame plate and can move along a second direction inside the inner frame plate. The first direction is perpendicular to the second direction, and first buffer mechanisms are arranged between both side parts of the inner frame plate and the inner wall of the outer frame plate. Second buffer mechanisms are arranged between the top and bottom of the moving block and the inner wall of the inner frame plate. It can reduce the vibration generated in the first direction and the second direction, improve the damping effect, and avoid the vibration being transmitted to the lidar and damaging its precision components.

[0017] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given and described in detail in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shows a three-dimensional structural schematic diagram of an autonomous vehicle according to an embodiment of the present invention;

[0019] Figure 2 Shows a planar structural schematic diagram of the telescopic mechanism of an autonomous vehicle according to an embodiment of the present invention;

[0020] Figure 3 Shows a three-dimensional structural schematic diagram of the buffer assembly of an autonomous vehicle according to an embodiment of the present invention;

[0021] Figure 4 Shows a three-dimensional structural schematic diagram of the first buffer mechanism according to an embodiment of the present invention;

[0022] Figure 5 Shows a planar structural schematic diagram of the first buffer mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] To further elaborate on the technical means of the present invention, the following specifically describes the embodiments of a driverless vehicle proposed according to the present invention in conjunction with the accompanying drawings and preferred embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, and thus are only examples and cannot be used to limit the protection scope of this application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the term "including" and any variations thereof in the specification and claims of this application and the above description of the drawings.

[0025] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the term "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood according to specific circumstances. "Plurality" means two or more.

[0026] As Figure 1 and Figure 2 shown, the driverless vehicle described in the present invention includes a vehicle body 1. On both sides of the front end of the vehicle body 1, headlights 2 are provided. A camera 3 is also provided on the front of the vehicle body 1. A plurality of storage slots 4 are provided on the side of the vehicle body 1. The storage slots 4 can be configured as cuboids. A lidar 5 and a telescopic mechanism 6 are provided inside the storage slots 4. In one or more embodiments, the telescopic mechanism 6 is connected to the lidar 5 and is used to control the telescoping of the lidar 5.

[0027] The telescopic mechanism 6 includes two lead screws 61 oppositely arranged on both sides inside the storage slot 4, a linkage assembly 62 for driving the rotation of the lead screws 61, and a drive assembly 63. The drive assembly 63 is connected to the linkage assembly 62 and is used to drive the linkage assembly 62. The linkage assembly 62 is connected to the lead screws 61. The two lead screws 61 are respectively rotatably arranged on two opposite inner side walls of the storage slot 4 through bearing seats. In one or more embodiments, the lidar 5 is connected to the lead screw 61.

[0028] As Figure 2As shown, in one or more embodiments, the linkage assembly 62 includes a linkage rod 621, a first gear 622, and a second gear 623. The linkage rod 621 is rotatably connected to the inner wall of the storage groove 4. In one or more embodiments, the linkage rod 621 can be rotatably mounted on the innermost wall surface of the storage groove 4 through a bearing seat. The linkage rod 621 is disposed between the two lead screws 61, and the linkage rod 621 is perpendicular to both of the two lead screws 61. In one or more embodiments, the linkage rod 621 and the two lead screws 61 are both disposed in the same plane. Second gears 623 are connected to both ends of the linkage rod 621, and a first gear 622 is connected to one end of the lead screw 61 close to the linkage rod 621. The first gear 622 meshes with the second gear 623.

[0029] In one or more embodiments, the driving assembly 63 includes a third gear 631, a driving mechanism 632, and a fourth gear 633. The third gear 631 is sleeved on the linkage rod 621. The driving mechanism 632 is disposed at the bottom of the storage groove 4. The output end of the driving mechanism 632 is connected to a fourth gear 633. The fourth gear 633 is vertically and meshingly connected to the third gear 631. The driving mechanism 632 can be a driving motor.

[0030] In one or more embodiments, the two side portions of the buffer assembly 15 are respectively connected to the two lead screws 61 through threaded connection seats 158. The lidar 5 is disposed on the buffer assembly 15.

[0031] As Figure 2 shown, by driving the fourth gear 633 to rotate through the driving mechanism 632, the fourth gear 633 drives the engaged third gear 631 to rotate. The third gear 631 drives the linkage rod 621 and the second gear 623 connected thereto to rotate. The second gear 623 drives the engaged first gear 622 to rotate, thereby driving the lead screw 61 to rotate. And through the threaded connection between the threaded connection seat 158 and the lead screw 61, it drives the buffer assembly 15 and the lidar 5 mounted thereon to move, realizing the automatic telescoping of the lidar 5. When the lidar 5 is in a non-use state, it is retracted into the storage groove 4 to avoid damage to the lidar 5, thereby effectively protecting the lidar 5.

[0032] In one or more embodiments, the autonomous vehicle according to the present invention further includes a buffer assembly 15. The buffer assembly 15 is disposed between two lead screws 61. In one or more embodiments, the lidar 5 is mounted on the buffer assembly 15. The buffer assembly 15 includes an outer frame plate 151, an inner frame plate 152, a moving block 153, and a mounting plate 159. Among them, both the outer frame plate 151 and the inner frame plate 152 are configured to have a hollow structure inside. The inner walls of the outer frame plate 151 and the inner frame plate 152 respectively form receiving grooves. The inner frame plate 152 is disposed in the receiving groove of the outer frame plate 151, and the inner frame plate 152 can move in a first direction within the receiving groove of the outer frame plate 151. The moving block 153 is disposed in the receiving groove of the inner frame plate 152 and can move in a second direction within the receiving groove of the inner frame plate 152. In one or more embodiments, the first direction is perpendicular to the second direction, the first direction is perpendicular to the moving direction of the buffer assembly 15, and the second direction is also perpendicular to the moving direction of the buffer assembly 15. The mounting plate 159 covers the outer frame plate 151 and is fixedly connected to the moving block 153 through a threaded member. The lidar 5 is fixed to the mounting plate 159 through a threaded member. Threaded connection seats 158 are provided on both side portions of the outer frame plate 151, and the outer frame plate 151 is threadedly connected to the two lead screws 61 through the threaded connection seats 158.

[0033] In one or more embodiments, first buffer mechanisms 154 are provided between the two outer side portions of the inner frame plate 152 and the inner walls of the outer frame plate 151, and second buffer mechanisms 155 are provided between the top and bottom of the moving block 153 and the inner walls of the inner frame plate 152.

[0034] As Figure 4 and Figure 5 shown, in one or more embodiments, the first buffer mechanism 154 and the second buffer mechanism 155 have the same structure and both include a sleeve 1541, two telescopic rods 1542, two connecting rods 1543, a mounting seat 1544, two limiting plates 1545, and an elastic member 1546. The two limiting plates 1545 and the elastic member 1546 are both disposed inside the sleeve 1541. In one or more embodiments, the two limiting plates 1545 are disposed opposite to each other and are spaced apart by a certain distance. The first end portions of the two telescopic rods 1542 are respectively inserted into the sleeve 1541 from both ends of the sleeve 1541 and are respectively connected to the two limiting plates 1545 disposed inside the sleeve 1541. Part of the telescopic rod 1542 is located inside the sleeve 1541. The elastic member 1546 is sleeved on the telescopic rod 1542. The first end portion of the elastic member 1546 is connected to the limiting plate 1545, and the second end portion of the elastic member 1546 is connected to the inner wall of the sleeve 1541. The elastic member 1546 can be a spring.

[0035] The second ends of the two telescopic rods 1542 are respectively rotatably connected to the first ends of the two connecting rods 1543. In one or more embodiments, the second ends of the two telescopic rods 1542 are respectively hinged to the first ends of the two connecting rods 1543. The second ends of the two connecting rods 1543 are respectively rotatably connected to the mounting seat 1544. In one or more embodiments, the second ends of the two connecting rods 1543 are respectively hinged to the mounting seat 1544.

[0036] In one or more embodiments, the sleeve 1541 of the first buffer mechanism 154 is fixed to the inner wall of the outer frame plate 151, the mounting seat 1544 of the first buffer mechanism 154 is fixed to the outer side of the inner frame plate 152, the sleeve 1541 of the second buffer mechanism 155 is fixed to the inner wall of the inner frame plate 152, and the mounting seat 1544 on the second buffer mechanism 155 is fixed to the moving block 153.

[0037] During the driving of the unmanned vehicle, vibrations will occur. By the inner frame plate 152 moving left and right within the outer frame plate 151, the first buffer mechanism 154 can be squeezed. The connecting rod 1543 drives the two telescopic rods 1542 to move away from the sleeve 1541, and then the limiting plate 1545 squeezes the elastic member 1546. Through the elastic action of the elastic member 1546, the vibrations generated in the horizontal direction are slowed down. By the moving block 153 moving up and down within the inner frame plate 152, the elastic member 1546 in the second buffer mechanism 155 is squeezed. Through the elastic action of the elastic member 1546, the vibrations generated in the vertical direction are slowed down, improving the damping effect and preventing the vibrations from being transmitted to the lidar 5 and damaging its precision components.

[0038] As Figure 3 shown, in one or more embodiments, at the top and bottom of the inside of the outer frame plate 151, first guiding slide rods 156 are arranged along the first direction. The first guiding slide rods 156 pass through the inner frame plate 152, and the two ends of the first guiding slide rods 156 are fixedly connected to the inner wall of the outer frame plate 151. The inner frame plate 152 is slidably connected to the first guiding slide rods 156. In one or more embodiments, on both sides of the inside of the inner frame plate 152, second guiding slide rods 157 are arranged along the second direction. The second guiding slide rods 157 pass through the moving block 153, and the two ends of the second guiding slide rods 157 are fixedly connected to the inner wall of the inner frame plate 152. The moving block 153 is slidably connected to the second guiding slide rods.

[0039] In the present invention, by the inner frame plate 152 being slidably connected to the first guiding slide rods 156, the stability of the movement of the inner frame plate 152 is improved. By the moving block 153 being slidably connected to the second guiding slide rods 157, the stability of the movement of the moving block 153 is improved, and the use effect of the buffer assembly 15 can be improved.

[0040] The foregoing description of the disclosed aspects is provided to enable any person skilled in the art to make and use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the invention is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unmanned vehicle, characterized by It includes a vehicle body; Lights are provided on both sides of the front end of the vehicle body. The lights include a cylindrical shell and a bulb arranged inside the cylindrical shell, and the cylindrical shell is embedded in the vehicle body; A camera is also provided on the vehicle head of the vehicle body; A plurality of storage grooves are provided on the side of the vehicle body. A radar and a telescopic mechanism are arranged inside the storage groove. The telescopic mechanism is connected to the radar. The telescopic mechanism includes a lead screw, a linkage rod, a first gear and a second gear. The linkage rod is rotatably connected to the inner wall of the storage groove, and the end of the linkage rod is connected with the second gear. One end of the lead screw close to the linkage rod is connected with the first gear, and the first gear meshes with the second gear. The radar is connected to the lead screw. The telescopic mechanism further includes a third gear, a driving mechanism and a fourth gear. The third gear is sleeved on the linkage rod, and the output end of the driving mechanism is connected with the fourth gear, and the fourth gear meshes with the third gear; The driverless vehicle further includes a buffer assembly. The buffer assembly is in threaded connection with the lead screw, and the radar is arranged on the buffer assembly; The buffer assembly includes an outer frame plate, an inner frame plate and a moving block. The inner frame plate is arranged inside the outer frame plate and can move inside the outer frame plate along a first direction. The moving block is arranged inside the inner frame plate and can move inside the inner frame plate along a second direction. The first direction is perpendicular to the second direction; The buffer assembly further includes a first buffer mechanism and a second buffer mechanism. The first buffer mechanism is arranged between the two side parts of the inner frame plate and the inner wall of the outer frame plate. The second buffer mechanism is arranged between the top of the moving block and the inner wall of the inner frame plate. The second buffer mechanism is arranged between the bottom of the moving block and the inner wall of the inner frame plate; The first buffer mechanism further includes a mounting plate. The mounting plate covers the outer frame plate and is fixedly connected with the moving block. The radar is fixed on the mounting plate. A threaded connection seat is arranged on the side of the outer frame plate, and the outer frame plate is connected with the lead screw through the threaded connection seat.

2. The driverless vehicle according to claim 1, wherein The first buffer mechanism includes a sleeve, a telescopic rod, a limiting plate and an elastic member. The first end of the telescopic rod is inserted into the inside of the sleeve and is connected with the limiting plate arranged inside the sleeve. The elastic member is sleeved on the telescopic rod. The first end of the elastic member is connected with the limiting plate, and the second end of the elastic member is connected with the inner wall of the sleeve.

3. The driverless vehicle according to claim 2, wherein The first buffer mechanism further includes a connecting rod and a mounting seat. The second end of the telescopic rod is rotatably connected with the first end of the connecting rod, and the second end of the connecting rod is rotatably connected with the mounting seat.

4. The driverless vehicle according to claim 3, characterized in that, The sleeve is fixed on the inner wall of the outer frame plate, and the mounting seat is fixed on the outer side part of the inner frame plate.

5. The driverless vehicle according to claim 1, characterized in that, First guiding slide bars are arranged along the first direction at the top end and the bottom end inside the outer frame plate. The first guiding slide bars pass through the inner frame plate, and the inner frame plate is slidably connected with the first guiding slide bars.

6. The driverless vehicle according to claim 1, characterized in that, On both sides inside the inner frame plate, second guiding slide bars are arranged along the second direction. The second guiding slide bars pass through the moving blocks, and the moving blocks are slidably connected to the second guiding slide bars.

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