Radar and unmanned vehicle

Abstract

The application provides a radar applied to the technical field of unmanned equipment. The radar comprises a radar shell, a radar plate rotating in the radar shell, and a driving assembly driving the radar plate to rotate. The two ends of the radar shell are connected with the shell of a supporting arm of an unmanned vehicle, so that the radar is arranged in the part of the supporting arm which is parallel to the base of the unmanned vehicle and higher than the base. A visual obstacle avoidance assembly is arranged on the outer side of the radar shell. In the embodiment of the application, the radar is arranged in the part of the supporting arm which is parallel to the base and higher than the base, compared with the prior art, the setting height of the radar is improved, and thus the detection range of the radar is improved. In addition, the visual obstacle avoidance assembly is arranged on the radar shell, the obstacles are timely and accurately detected through the cooperation of radio signal detection and video detection, and rapid and effective obstacle avoidance is realized.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, specifically to a radar and an unmanned vehicle. Background Technology

[0002] In recent years, unmanned vehicles (UAVs) have been increasingly widely used across various industries. For example, in plant protection, various operating devices are installed on UAVs to complete tasks such as spraying pesticides, seeds, and powders. Compared to traditional manual methods, this improves work efficiency and saves manpower. During the movement of UAVs, they inevitably encounter obstacles. To ensure safe movement, rapid and effective obstacle avoidance is necessary to improve the safety and stability of the UAVs. Summary of the Invention

[0003] In view of this, embodiments of this application provide a radar and an unmanned vehicle to effectively avoid obstacles, thereby improving the safety and stability of the unmanned vehicle.

[0004] According to one aspect of this application, an embodiment of this application provides a radar, comprising: a radar housing, a radar plate rotating within the radar housing, and a drive assembly for driving the radar plate to rotate. The radar housing is connected at both ends to the housing of a support arm of an unmanned vehicle, such that the radar is disposed in a portion of the support arm that is parallel to and higher than the base of the unmanned vehicle. A visual obstacle avoidance assembly is disposed on the outer side of the radar housing.

[0005] In one embodiment, the central axis of the radar housing coincides with the central axis of the portion of the support arm that connects to the radar.

[0006] In one embodiment, the visual obstacle avoidance component includes a mounting bracket fixedly connected to a radar housing and a visual sensor module detachably connected to the mounting bracket.

[0007] In one embodiment, the visual obstacle avoidance assembly further includes a back plate detachably connected to the mounting bracket; wherein the back plate and the visual sensor module are located on opposite sides of the mounting bracket, and the back plate is used for heat dissipation.

[0008] In one embodiment, the back panel includes a plurality of grille windows.

[0009] In one embodiment, the visual sensor module includes a binocular camera, wherein the two cameras in the binocular camera are at a preset distance and a preset angle.

[0010] In one embodiment, a wiring groove is provided on the outside of the radar housing to accommodate the circuit wiring of other components on the support arm.

[0011] In one embodiment, the support arm includes a main support arm and an end support arm, with both ends of the radar housing connected to the main support arm and the end support arm, respectively.

[0012] In one embodiment, the outer shell of the main arm of the support arm includes a support portion connected to the base and a connecting portion connected to the support portion and having a corner connection function; wherein, the first end of the radar shell is connected to the connecting portion via a connecting seat, and the second end of the radar shell opposite to the first end is connected to the outer shell of the end arm of the support arm via a fixing seat; the radar plate is connected to the fixing seat via a drive assembly, and rotates around the central axis of the radar shell within the mounting cavity formed by the drive assembly.

[0013] In one embodiment, the support is vertically connected to the base.

[0014] In one embodiment, the radar housing includes: a cylindrical peripheral wall forming a mounting cavity; a side end wall connected to the inner side of the peripheral wall, the plane of the side end wall being perpendicular to the central axis of the radar housing, the side end wall dividing the mounting cavity into a first cavity and a second cavity, the radar plate and the drive assembly being disposed in the first cavity, and the second cavity being used to accommodate the connecting portion.

[0015] In one embodiment, a first positioning part is provided on the side wall near the connecting part, and the first positioning part is connected to a second positioning part provided on the connecting seat that matches the first positioning part, so as to realize the connection between the first end and the connecting part; a third positioning part is provided on the peripheral wall of the second cavity near the end arm of the support arm, and the third positioning part is connected to a fourth positioning part provided on the fixed seat that matches the third positioning part, so as to realize the connection between the second end and the end arm of the support arm.

[0016] In one embodiment, the radar further includes a first mounting portion disposed on the outside of the radar housing. The first mounting portion and the mounting bracket are respectively disposed on both sides of the central axis of the radar housing. The first mounting portion is used to mount lighting equipment.

[0017] According to another aspect of this application, one embodiment of this application provides an unmanned vehicle that includes the radar described in any of the above embodiments.

[0018] This application provides a radar comprising a radar housing, a radar plate rotating within the radar housing, and a drive assembly for rotating the radar plate. The radar housing is connected to the housing of a support arm of an unmanned vehicle at both ends, allowing the radar to be positioned within the support arm of the unmanned vehicle, parallel to and higher than the base. Compared to existing technologies, this increases the radar's installation height, thereby improving its detection range. Furthermore, a visual obstacle avoidance component is installed on the radar housing, enabling timely and accurate obstacle detection through the combined use of radio signal detection and video detection, achieving rapid and effective obstacle avoidance. Attached Figure Description

[0019] Figure 1 The image shown is an exploded view of the structure of a radar according to an embodiment of this application.

[0020] Figure 2 The figure shown is an exploded view of a support arm provided in an embodiment of this application.

[0021] Figure 3 The diagram shown is a structural schematic of an unmanned vehicle provided in an embodiment of this application.

[0022] Figure 4 The diagram shown is a structural schematic of a radar housing provided in one embodiment of this application from a single viewpoint.

[0023] Figure 5 As shown Figure 4 The schematic diagram of the radar housing provided in the embodiment shown is viewed from another angle.

[0024] Figure 6 The diagram shown is an exploded view of the structure of a visual obstacle avoidance component provided in an embodiment of this application.

[0025] Figure 7 The diagram shown is a structural schematic of a support arm provided in an embodiment of this application from one viewpoint.

[0026] Figure 8 As shown Figure 7 The illustrated embodiment provides a structural schematic diagram of the support arm from another perspective.

[0027] Figure 9 As shown Figure 7 The illustrated embodiment provides a structural schematic diagram of the outer shell of the main arm of the support arm.

[0028] Figure 10 As shown Figure 7 An exploded view of the support arm provided in the illustrated embodiment.

[0029] Figure 11 As shown Figure 7 The diagram shows the structure of the radar housing in the support arm provided in the embodiment, viewed from one angle.

[0030] Figure 12 As shown Figure 11 The schematic diagram of the radar housing provided in the embodiment shown is viewed from another angle.

[0031] Figure 13 As shown Figure 7 The illustrated embodiment provides a structural schematic diagram of the support arm end arm of the support arm.

[0032] Figure 14 The diagram shown is a structural schematic of an unmanned vehicle provided in an embodiment of this application. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] Application Overview

[0035] With the continuous development of technology, unmanned vehicles (UAVs) are being used more and more widely in various industries, including agriculture and industry. For example, in industrial material handling, UAVs work in conjunction with robotic arms to replace traditional manual handling; in plant protection, various operating devices are installed on UAVs to complete tasks such as spraying pesticides, seeds, and powders. Compared with traditional manual methods, the application of UAVs in these fields can improve work efficiency and save manpower. For drones used in plant protection, due to the limitations of the operating environment, obstacles may appear during the drone's operation. To ensure safe movement, rapid and effective obstacle avoidance is required to improve the safety and stability of the UAV.

[0036] However, in existing technologies, radar is directly mounted on the front of the autonomous vehicle's base. Due to height limitations, the radar's detection range is limited, and it cannot be combined with visual obstacle avoidance components, thus failing to achieve fast and effective obstacle avoidance.

[0037] Based on this, this application provides a radar to solve the aforementioned problems. Specifically, the radar includes a radar housing, a radar plate rotating within the radar housing, and a drive assembly for rotating the radar plate. The radar housing is connected to the housing of the support arm of an unmanned vehicle at both ends, allowing the radar to be positioned in the portion of the support arm that is parallel to and higher than the base. Compared to existing technologies where the radar is directly mounted on the front end of the unmanned vehicle's base, this allows the radar to be positioned at a higher height, thereby increasing its detection range and improving its overall detection capability. Furthermore, a visual obstacle avoidance component is installed on the radar housing, enabling timely and accurate obstacle detection through the combined use of radio signal detection and video detection, thus achieving rapid and effective obstacle avoidance.

[0038] The following is combined with Figures 1 to 14 Further examples of the radar and unmanned vehicles mentioned in this application will be provided.

[0039] Exemplary radar

[0040] Figure 1 The image shown is an exploded view of the structure of a radar according to an embodiment of this application. Figure 2 The image shown is an exploded view of a support arm according to an embodiment of this application. (Combined with...) Figure 1 and Figure 2 As shown, the radar 30 includes: a radar housing 31, a radar plate 32 rotating inside the radar housing 31, and a drive assembly (not shown) for driving the radar plate 32 to rotate. Both ends of the radar housing 31 are connected to the housing of the support arm 20 of the unmanned vehicle, such that the radar 30 is disposed in the portion of the support arm 20 that is parallel to and higher than the base 10 of the unmanned vehicle. A visual obstacle avoidance assembly 33 is disposed on the outer side of the radar housing 31.

[0041] Specifically, radar 30 is used to detect obstacles in the working environment of the mobile device. After radar 30 emits electromagnetic wave signals through radar board 32, if an obstacle in the autonomous vehicle's path hits the radar 30 signal, it will reflect an echo. The radar 30 receiver will receive the echo signal, thereby obtaining information such as the distance, direction, and speed of the obstacle based on the echo signal. The visual obstacle avoidance component 33 analyzes and calculates the size, shape, and orientation of the obstacle based on the captured video and / or image data, thereby guiding the autonomous vehicle to perform obstacle avoidance behavior.

[0042] In this embodiment, the radar 30 is connected to the housing of the support arm 20 of the unmanned vehicle at both ends of the radar housing 31, and is positioned in the portion of the support arm 20 that is parallel to and higher than the base 10. Compared with the prior art, this increases the installation height of the radar 30, thereby improving its detection range. Furthermore, a visual obstacle avoidance component 33 is mounted on the radar housing 31. The visual obstacle avoidance component 33 and the radar 30 work together, cooperating through radio signal detection and video detection to detect obstacles accurately and promptly, achieving rapid and effective obstacle avoidance.

[0043] Figure 3 The diagram shown is a structural schematic of an unmanned vehicle according to an embodiment of this application. Figure 3 As shown, the central axis of the radar housing 31 coincides with the central axis of the part of the support arm 20 that is connected to the radar 30.

[0044] For example, such as Figure 3 As shown, the unmanned vehicle is equipped with a support arm 20. The portion of the support arm 20 that is parallel to and higher than the base 10 of the unmanned vehicle is the radar mounting area. The support arm 20 is in the shape of an inverted "L," and the top of the inverted "L" in the figure is the radar mounting area. By connecting both ends of the radar housing 31 to the housing of the support arm 20 of the unmanned vehicle, and aligning the central axis of the radar housing 31 with the central axis of the radar mounting area of ​​the support arm 20, the radar housing 31 is installed in the radar mounting area of ​​the support arm 20, thus achieving a coaxial connection between the radar housing 31 and the housing of the support arm 20. Simultaneously, a visual obstacle avoidance component 33 is provided on the outer side of the radar housing 31. The visual obstacle avoidance component 33 detects obstacles accurately and promptly through the combined use of radio signal detection and video detection, enabling rapid and effective obstacle avoidance.

[0045] In this embodiment, the radar 30 is installed in the part of the support arm 20 that is parallel to and higher than the base 10 through the above connection method. Compared with the prior art where the radar 30 is directly installed at the front end of the unmanned vehicle base 10, the radar 30 can be located at a higher height, thereby increasing the detection range of the radar 30. In addition, a visual obstacle avoidance component 33 is installed on the radar housing 31. The visual obstacle avoidance component 33 and the radar 30 work together to detect obstacles in a timely and accurate manner through the cooperation of radio signal detection and video detection, so as to achieve fast and effective obstacle avoidance.

[0046] In one embodiment, such as Figure 1 As shown, the visual obstacle avoidance assembly 33 includes a mounting bracket 331 fixedly connected to the radar housing 31; a visual sensor module 332 detachably connected to the mounting bracket 331; and a back plate 333 detachably connected to the mounting bracket 331. The back plate 333 and the visual sensor module 332 are located on opposite sides of the mounting bracket 331, and the back plate 333 is used for heat dissipation and decoration.

[0047] In this embodiment, the backplate 333 and the vision sensor module 332 are located on opposite sides of the mounting bracket 331, and are both detachably connected to the mounting bracket 331. The mounting bracket 331 mounts the vision sensor module 332, used for capturing video and / or images, onto the radar 30. The radar can locate obstacles using radio signals. By analyzing and calculating the video and / or images captured by the vision sensor module 332, the size and shape of the obstacles are obtained. Radio signal detection and video detection work together to obtain obstacle information, enabling timely and accurate obstacle detection, thereby achieving rapid and effective obstacle avoidance.

[0048] It should be noted that in some other embodiments of this application, the visual obstacle avoidance component 33 may only include the mounting bracket 331 and the visual sensor module 332.

[0049] Figure 4 The diagram shown is a structural schematic of a radar housing provided in one embodiment of this application from a single viewpoint. Figure 5 As shown Figure 4 The illustrated embodiment provides a schematic structural diagram of the radar housing from another perspective. (Combined with...) Figure 4 and Figure 5 As shown, the mounting bracket 331 is rectangular in shape and has multiple hollowed-out sections. The mounting bracket 331 with the above structure reduces its weight and saves materials without affecting its strength.

[0050] It should be noted that the mounting bracket 331 and the radar housing 31 can be manufactured as a single unit. That is, a portion of the radar housing 31 extends outward, and this extended portion is the mounting bracket 331.

[0051] In one embodiment, the vision sensor module 332 includes a binocular camera, wherein the two cameras in the binocular camera are at a preset distance and a preset angle. Based on the images and / or videos acquired by the binocular camera and the preset distance and angle between the two cameras, the size, shape, and orientation of obstacles can be determined through analysis and calculation of the images and / or videos. This obstacle information is then sent to the communication module of the control unit in the support arm 20, and subsequently to an external terminal, thereby guiding the autonomous vehicle to perform obstacle avoidance maneuvers.

[0052] It should be noted that the two cameras in the binocular camera system meet the preset distance and preset angle according to the design of the autonomous vehicle.

[0053] Figure 6 The image shown is an exploded view of the structure of a visual obstacle avoidance component provided in an embodiment of this application. Figure 6 As shown, the backplate 333 of the visual obstacle avoidance component 33 includes multiple grid windows 3331, which are used to dissipate the heat generated during the operation of the visual sensor module 332.

[0054] Figure 7 The diagram shown is a structural schematic of a support arm provided in an embodiment of this application from one viewpoint. Figure 8 As shown Figure 7 The illustrated embodiment provides a structural schematic diagram of the support arm from another perspective. Figure 9 As shown Figure 7 The illustrated embodiment provides a structural schematic diagram of the outer shell of the main arm of the support arm. (Combined with...) Figures 7 to 9 As shown, the support arm 20 includes a main support arm 21 and an end support arm 22. Both ends of the radar housing 31 are connected to the main support arm and the end support arm, respectively. By connecting the main support arm 21 and the end support arm 22 to both ends of the radar housing 31, the radar 30 is positioned within the portion of the support arm 20 that is parallel to and higher than the base 10.

[0055] In a further embodiment, the support arm 20 includes a main support arm 21 and an end support arm 22, and the housing of the support arm 20 includes the housing of the main support arm 21 and the housing of the end support arm 22. The housing of the main support arm 21 includes a support portion 211 connected to the base 10, and a connecting portion 212 connected to the support portion 211 and having a corner connection function.

[0056] It is understood that in some embodiments of this application, the support 211 and the base 10 are vertically connected.

[0057] Figure 10 As shown Figure 7 An exploded view of the support arm provided in the illustrated embodiment. Figure 10 As shown, the first end of the radar housing 31 is connected to the connecting part 212 via the connecting seat 40, and the second end of the radar housing 31 opposite to the first end is connected to the housing of the support arm end arm 22 via the fixing seat 50. The radar plate 32 is connected to the fixing seat 50 via the driving assembly, and rotates around the central axis of the radar housing 31 within the mounting cavity 310 formed by the driving assembly.

[0058] For example, the radar board 32 is a circuit board that integrates an antenna, a signal transmission circuit, and a signal processing circuit. The radar board 32 includes a transmitting antenna, a receiving antenna, a signal processing circuit electrically connected to the receiving antenna, and a signal transmission circuit electrically connected to the signal processing circuit. The transmitting antenna is used to transmit electromagnetic wave signals, the receiving antenna is used to receive echo signals, the signal processing circuit is used to process the echo signals, and the signal transmission circuit is used to send the processed echo signals to an external terminal.

[0059] After the transmitting antenna emits electromagnetic wave signals, if an obstacle in the autonomous vehicle's path comes into contact with the electromagnetic wave signal, it will reflect an echo. The receiving antenna receives the echo signal, and the signal processing circuit obtains information such as the distance, direction, and speed of the obstacle based on the echo signal. The signal transmission circuit sends this information to the communication module of the support arm control unit, and then to the external terminal.

[0060] For example, the drive assembly includes a drive motor and a drive control circuit. The drive motor includes a stator, a rotor, and a shaft. The drive motor is fixed to the mounting base 50 via the stator. The radar plate 32 is fixed to the rotor and connected to the shaft. The drive control circuit controls the drive motor to rotate. The rotation of the drive electrode drives the rotor to rotate, thereby causing the radar plate 32 to rotate.

[0061] In this embodiment, the two ends of the radar housing 31 are connected to the housing of the connecting part 212 and the support arm end arm 22 via the connecting seat 40 and the fixing seat 50, respectively, so that the two ends of the radar 30 are fixed by the main support arm 21 and the support arm end arm 22. The radar plate 32 is connected to the fixing seat 50 via the driving component. Under the drive of the driving component, the radar plate 32 can rotate around the central axis of the radar housing 31 within the mounting cavity 310 formed by the radar housing 31 to complete the detection of obstacles.

[0062] Figure 11 As shown Figure 7 The diagram shows the structure of the radar housing in the support arm provided in the embodiment, viewed from one angle. Figure 12 As shown Figure 11 The schematic diagram of the radar housing provided in the embodiment shown is viewed from another angle. Figure 13 As shown Figure 7 The illustrated embodiment provides a structural schematic diagram of the support arm end arm of the support arm. (Combined with...) Figures 11 to 13 As shown, the radar housing 31 includes a cylindrical peripheral wall 311 and a side end wall 312 connected to the inner side of the peripheral wall 311. The peripheral wall 311 forms a mounting cavity 310, and the plane of the side end wall 312 is perpendicular to the central axis of the radar housing 31. The side end wall 312 divides the mounting cavity 310 into a first cavity 3102 and a second cavity 3101. The radar plate 32 and the drive assembly are disposed in the first cavity 3102, and the second cavity 3101 is used to accommodate the connecting part 212.

[0063] Specifically, such as Figure 11 and Figure 12 As shown, the peripheral wall 311 is the main structure of the radar housing 31, i.e., a cylindrical structure. The side end wall 312 is a cross-section perpendicular to the axis inside the cylindrical structure shown. The planar shape of the side end wall 312 can be seen as follows: Figure 11 The cross structure shown can also be other structures.

[0064] In this embodiment, the side end wall 312 divides the mounting cavity 310 formed by the peripheral wall 311 into a first cavity 3102 and a second cavity 3101. The radar plate 32 and the drive assembly are disposed in the first cavity 3102. The second cavity 3101 is used to accommodate the connecting part 212 when the radar housing 31 and the connecting part 212 are coaxially connected. Through reasonable division and reasonable layout, the area of ​​the support arm 20 occupied by the radar 30 is reduced as much as possible.

[0065] In one embodiment, combined Figures 10 to 12 As shown, a first positioning part 3121 is provided on the side wall 312 near the connecting part 212. The first positioning part 3121 is connected to a second positioning part 41 provided on the connecting seat 40 that matches the first positioning part 3121, so as to realize the connection between the first end of the radar housing 31 and the connecting part 212. A third positioning part 3111 is provided on the peripheral wall of the second cavity 3101 near the end arm 22 of the support arm. The third positioning part 3111 is connected to a fourth positioning part 51 provided on the fixing seat 50 that matches the third positioning part 3111, so as to realize the connection between the second end of the radar housing 31 and the end arm 22 of the support arm.

[0066] It should be noted that the first positioning part 3121 on the side end wall 312 and the second positioning part 41 on the connecting seat 40 can be a snap-fit ​​mechanism provided on the side end wall 312 and the connecting seat 40, or a magnetic attraction structure, as long as the two can be adapted and can connect the first end of the radar housing 31 to the connecting part 212 through matching. The adaptation of the third positioning part 3111 on the peripheral wall 311 and the fourth positioning part 51 on the fixed seat 50 is similar to that of the first positioning part 3121 and the second positioning part 41, and will not be described in detail here.

[0067] In this embodiment, by providing matching first positioning part 3121 and second positioning part 41 on the side end wall 312 and the connecting seat 40 respectively, the first end of the radar housing 31 is connected to the connecting part 212 of the support arm 20. By providing third positioning part 3111 and fourth positioning part 51 on the peripheral wall 311 and the fixed seat 50 respectively, the second end of the radar housing 31 is connected to the end arm 22 of the support arm, thereby achieving precise positioning of the radar 30.

[0068] In one embodiment, such as Figure 11 and Figure 12 As shown, the radar 30 also includes a wiring groove 80 disposed on the outside of the radar housing 31 for accommodating the circuit wiring of the connecting part 212 and / or other components on the support arm end arm 22.

[0069] Specifically, other components, such as RTK antennas, 4G antennas, or WIFI antennas, will be installed on the connecting part 212 and the end arm 22 of the support arm 20. The circuit wiring of these components needs to pass through the internal mounting cavity of the radar 30 and connect to each other. Since the radar board 32 needs to rotate continuously when the radar 30 is working, in order to avoid friction on the wiring, a wiring groove 80 is provided on the outside of the radar housing 31, which can reduce friction and fix the wiring, making it both beautiful and neat.

[0070] Wiring channel 80 can be as follows Figure 11 The rectangular groove shown can also be a groove of other shapes. This application embodiment does not limit the specific shape of the wiring groove 80.

[0071] In one embodiment, such as Figure 11 As shown, the radar 30 also includes a first mounting part 70 disposed on the outside of the radar housing 31. The first mounting part 70 and the mounting bracket 331 are respectively disposed on both sides of the central axis of the radar housing 31. The first mounting part 70 is used to install lighting equipment.

[0072] Specifically, a first mounting portion 70 extends from the outer side of the peripheral wall 311 of the mounting housing for mounting lighting equipment, which may be a searchlight, and the first mounting portion 70 may be a mounting column or a mounting protrusion, etc.

[0073] In this embodiment, a first mounting part 70 is provided on the outside of the radar housing 31 to install lighting equipment, providing illumination for the unmanned vehicle to work at night.

[0074] In one embodiment, an audio device, such as a horn, can be installed in the cavity of the housing of the support arm end arm 22. When the radar 30 and the vision sensor module 332 detect an obstacle, the horn can provide a warning sound to the driver of the autonomous vehicle.

[0075] Exemplary driverless car

[0076] Figure 14 The diagram shown is a structural schematic of an unmanned vehicle according to an embodiment of this application. Figure 14 As shown, the unmanned vehicle includes a base 10; a support arm 20 vertically connected to the base 10, a portion of which is parallel to and higher than the base 10, and a radar 30 as provided in any of the above embodiments is disposed on this portion.

[0077] In this embodiment, the radar 30 is positioned within the portion of the support arm 20 that is parallel to and higher than the base 10. Compared to the prior art where the radar 30 is directly positioned at the front end of the unmanned vehicle base 10, the radar 30 can be located at a higher height, thereby increasing its detection range and effectively improving its detection performance. Furthermore, a visual obstacle avoidance component is provided on the outer side of the radar housing of the radar 30. This component uses a combination of radio signal detection and video detection to detect obstacles promptly and accurately, enabling rapid and effective obstacle avoidance.

[0078] It should be understood that the term "comprising" and its variations as used in this application are open-ended, meaning "including but not limited to". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment". In this specification, the illustrative expressions 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 suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0079] Although terms such as "first" or "second" may be used in this application to describe various elements (such as cavities, positioning parts, and mounting parts), these elements are not limited by these terms, which are only used to distinguish one element from another.

[0080] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0081] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A radar, characterized in that, include: Radar housing, radar plate rotating inside the radar housing, and drive assembly for driving the radar plate to rotate; Wherein, both ends of the radar housing are connected to the housing of the support arm of the unmanned vehicle, so that the radar is set in the part of the support arm that is parallel to and higher than the base of the unmanned vehicle, the central axis of the radar housing coincides with the central axis of the part of the support arm that is connected to the radar, and the central axis of the radar housing is parallel to the base of the unmanned vehicle. The support arm includes a main support arm and an end support arm. The two ends of the radar housing are respectively connected to the main support arm and the end support arm. An audio device is provided in the cavity of the end support arm housing. The main support arm housing includes a support part connected to the base and a connecting part connected to the support part and having a corner connection function. Wherein, the first end of the radar housing is connected to the connecting part via a connecting seat, and the second end of the radar housing opposite to the first end is connected to the housing of the support arm end arm via a fixing seat; The radar plate is connected to the fixed base via a drive assembly, and rotates around the central axis of the radar housing within the mounting cavity formed by the drive assembly. A visual obstacle avoidance assembly is provided on the outer side of the radar housing.

2. The radar according to claim 1, characterized in that, The visual obstacle avoidance component includes: Mounting bracket fixedly connected to the radar housing; A vision sensor module that is detachably connected to the mounting bracket.

3. The radar according to claim 2, characterized in that, The visual obstacle avoidance component also includes: A back plate that is detachably connected to the mounting bracket; The backplate and the vision sensor module are located on opposite sides of the mounting bracket, and the backplate is used for heat dissipation.

4. The radar according to claim 3, characterized in that, The back panel includes multiple grille windows.

5. The radar according to claim 2, characterized in that, The visual sensor module includes a binocular camera, wherein the two cameras in the binocular camera are at a preset distance and a preset angle.

6. The radar according to any one of claims 1 to 5, characterized in that, It also includes a wiring groove located on the outside of the radar housing to accommodate the circuit wiring of other components on the support arm.

7. The radar according to claim 1, characterized in that, The support is vertically connected to the base.

8. The radar according to claim 1, characterized in that, The radar housing includes: A cylindrical peripheral wall that forms the mounting cavity; The side end wall is connected to the inner side of the peripheral wall. The plane of the side end wall is perpendicular to the central axis of the radar housing. The side end wall divides the mounting cavity into a first cavity and a second cavity. The radar plate and the drive assembly are disposed in the first cavity, and the second cavity is used to accommodate the connecting part.

9. The radar according to claim 8, characterized in that, A first positioning part is provided on the side wall near the connecting part. The first positioning part is connected to a second positioning part on the connecting seat that matches the first positioning part, so as to realize the connection between the first end and the connecting part. A third positioning part is provided on the peripheral wall of the second cavity near the end arm of the support arm. The third positioning part is connected to a fourth positioning part on the fixed seat that matches the third positioning part, so as to realize the connection between the second end and the end arm of the support arm.

10. The radar according to claim 9, characterized in that, It also includes a first mounting part disposed on the outside of the radar housing. The first mounting part and the mounting bracket are respectively disposed on both sides of the central axis of the radar housing. The first mounting part is used to install lighting equipment.

11. An unmanned vehicle, characterized in that, include: The radar as described in any one of claims 1 to 10.

Images