Perception modules and autonomous vehicles

Abstract

This application relates to the field of robotics, and more particularly to a sensing module and an unmanned vehicle. The sensing module includes a first housing, a first sensing module, and a ventilation module. The first housing has a receiving cavity, and one side of the first housing has a mounting hole communicating with the receiving cavity. The first sensing module includes a telescopic mechanism and a sensing body. The telescopic mechanism is disposed within the receiving cavity, and the sensing body is disposed within the telescopic mechanism. The telescopic mechanism drives the sensing body along the mounting hole to reach a first position or a second position. The ventilation module is disposed within the first housing. When the sensing body is located at either the first or second position, the ventilation module allows gas within the receiving cavity to flow out through the gap between the inner wall of the mounting hole and the sensing body. The sensing module and unmanned vehicle of this application can improve the problem of contaminants adhering to the surface of the sensing body.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more particularly to a perception module and an unmanned vehicle. Background Technology

[0002] In service locations such as industrial parks and express delivery stations, unmanned delivery vehicles can be used to deliver or receive goods in order to save labor costs, thus replacing the work of couriers or food delivery workers.

[0003] Delivery drones typically navigate using sensing devices such as radar and cameras, which need to be exposed to the external environment. After driving in the external environment for a period of time, contaminants such as rainwater or dust will adhere to the surfaces of the radar and cameras, affecting their normal operation, reducing the navigation accuracy of the delivery drone, and even leading to traffic accidents. Summary of the Invention

[0004] The embodiments of this application aim to provide a sensing module and an unmanned vehicle, so as to at least improve the problem of contaminants adhering to the surface of the sensing subject.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is as follows: a sensing module is provided, the sensing module including a first housing, a first sensing module and a ventilation module. The first housing is provided with a receiving cavity, and a mounting hole communicating with the receiving cavity is also provided on one side of the first housing. The first sensing module includes a telescopic mechanism and a sensing body. The telescopic mechanism is disposed in the receiving cavity, and the sensing body is disposed in the telescopic mechanism. The telescopic mechanism is used to drive the sensing body along the mounting hole to reach a first position or a second position. The ventilation module is disposed in the first housing. When the sensing body is located at either the first position or the second position, the ventilation module can be used to allow gas in the receiving cavity to flow out from the gap between the inner wall of the mounting hole and the sensing body.

[0006] In some embodiments, the first housing includes a main housing and a protective cover protruding from the main housing; a mounting hole is provided at one end of the protective cover away from the main housing, and the mounting hole communicates with the receiving cavity through a channel of the protective cover; when the sensing subject is in a first position relative to the mounting hole, the sensing subject extends out of the mounting hole and is exposed outward; when the sensing subject is in a second position relative to the mounting hole, the sensing subject is received within the channel of the protective cover.

[0007] In some embodiments, the first housing further includes a protective cover disposed at one end of the sensing body; when the sensing body is in a second position relative to the mounting hole, the protective cover covers the end face of the protective cover having the mounting hole.

[0008] In some embodiments, the first housing further includes a base plate, the base plate and the main housing enclosing the accommodating cavity; the telescopic mechanism includes a drive seat, a connecting rod and a support frame; the support frame is mounted on the base plate, and the support frame supports and mounts the connecting rod; the drive seat is disposed on the base plate, one end of the connecting rod is connected to the sensing subject, and the other end of the connecting rod is drivenly connected to the drive seat, the drive seat is used to drive the connecting rod to telescopic movement, thereby driving the sensing subject to reach the first position or the second position along the mounting hole.

[0009] In some embodiments, the telescopic mechanism further includes a connecting platform; one side of the connecting platform is connected to the connecting rod, and the other side of the connecting platform is connected to the sensing body; a sealing step is provided around the connecting platform, and when the sensing body is in a first position relative to the mounting hole, the sealing step is in contact with the edge of the mounting hole.

[0010] In some embodiments, the top of the accommodating cavity is tapered, and a through hole communicating with the channel of the protective cover is provided on the top of the accommodating cavity, wherein the through hole is larger than the mounting hole; a vent hole is also provided on the base plate.

[0011] In some embodiments, the sensing module further includes a second sensing module; the second sensing module is respectively disposed on both sides of the sensing body, and the second sensing module is fixedly installed on the first housing.

[0012] In some embodiments, the sensing module further includes a second housing and a third housing, the second housing and the third housing being detachably connected to both sides of the first housing; at least one of the second housing and the third housing is provided with one or more second sensing modules; wherein two second sensing modules are respectively installed along a first direction of the first housing; the second housing and the third housing are respectively installed along a second direction of the first housing, wherein the first direction and the second direction are perpendicular to each other.

[0013] In some embodiments, the sensing module further includes an interaction module disposed in the first housing, the second housing, or the third housing, and the interaction module includes one or more of a display panel, an operation panel, a barcode scanner, an emergency stop switch, a speaker, and turn signals.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in the embodiments of this application is: to provide an unmanned vehicle, the unmanned vehicle including a vehicle body and the above-mentioned sensing module, wherein the first housing is slidably mounted on the vehicle body.

[0015] Unlike related technologies, in the sensing module and unmanned vehicle of this application embodiment, the sensing subject can extend and retract along the mounting hole, protruding outwards during operation and retracting inwards during standby, thereby reducing the time the sensing subject is exposed to the external environment and reducing the amount of contaminants adhering to the surface of the sensing subject; and the ventilation module allows the gas in the accommodating cavity to flow out from the gap between the inner wall of the mounting hole and the sensing subject, blowing away some of the contaminants on the outer surface of the sensing subject, further reducing the amount of contaminants adhering to the surface of the sensing subject, improving the problem of contaminants adhering to the surface of the sensing subject, improving the navigation accuracy of the unmanned vehicle, and reducing the probability of traffic accidents.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0017] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0018] Figure 1 This is a schematic diagram of the structure of the unmanned vehicle according to an embodiment of this application;

[0019] Figure 2 yes Figure 1 The diagram shows the state of the unmanned vehicle during the disassembly and assembly of the first housing.

[0020] Figure 3 yes Figure 1 A partial structural diagram of the sensing module in the image;

[0021] Figure 4 yes Figure 3 Exploded view;

[0022] Figure 5 yes Figure 1 A partial structural diagram of the sensing module in the image;

[0023] Figure 6 yes Figure 4 A schematic diagram of the structure of the first sensing module.

[0024] The reference numerals in the detailed embodiments are as follows:

[0025] 100. Driverless cars;

[0026] 1. Vehicle body; 11. Chassis; 12. Cargo container; 13. Sliding rail;

[0027] 2. Sensing module;

[0028] 21. First housing; 211. Slide groove; 212. Receiving cavity; 213. Mounting hole; 214. Main housing; 215. Protective cover; 216. Protective cap; 217. Through hole; 218. Base plate; 2181. Vent hole; 219. Groove;

[0029] 22. First sensing module; 221. Telescopic mechanism; 2211. Drive base; 2212. Connecting rod; 2213. Support frame; 2214. Connecting platform; 2215. Sealing step; 2216. Collection tank; 222. Sensing main body;

[0030] 23. Ventilation module; 24. Control module; 25. Second sensing module; 26. Second housing; 27. Third housing;

[0031] 28. Interactive module; 281. Display panel; 282. Operation panel; 283. Barcode scanner; 284. Emergency stop switch; 285. Speaker; 286. Turn signals;

[0032] 29. Antenna module; 291. Combined antenna; 292. Strip antenna. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. It should be noted that, unless otherwise specified, the various features in the embodiments of this application can be combined with each other, all within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed with a different module division or order than that shown in the device schematic diagram or the flowchart.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0035] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0036] In the description of the embodiments of this application, the terms "first," "second," etc., are used to define components merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and should not be construed as limiting the scope of protection of this application. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0037] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0038] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0039] To solve the above technical problems, such as Figure 1 As shown, this application embodiment provides an unmanned vehicle 100, which can travel along the ground. The unmanned vehicle 100 can be a delivery vehicle 100, a food delivery vehicle 100, a transportation vehicle 100, etc. The unmanned vehicle 100 includes a vehicle body 1 and a perception module 2. The vehicle body 1 is used for movement, and the perception module 2 is used for sensing environmental information. The environmental information includes terrain information, building information, and moving object information, etc. The environmental information can be used to generate a map, and then the travel route of the unmanned vehicle 100 can be generated based on the map to realize the navigation of the unmanned vehicle 100.

[0040] For the aforementioned vehicle body 1, such as Figure 2 As shown, the vehicle body 1 includes a chassis 11 and a cargo container 12, with the cargo container 12 detachably mounted on the chassis 11. The chassis 11 is used for movement, and the cargo container 12 is used for loading goods. In this embodiment, the cargo container 12 is a parcel locker with multiple doors on one side. The cargo container 12 is electrically connected to a sensing module 2, which can send an opening command to the cargo container 12 to open the corresponding door.

[0041] In order to clearly describe the positions in the following sections, the vehicle body 1 is used to locate each direction. The direction in which the vehicle body 1 travels in a straight line is the second direction, and the horizontal direction perpendicular to the direction in which the vehicle body 1 travels is the first direction, that is, the left and right directions of the vehicle body 1.

[0042] In some embodiments, when the container 12 is installed on the chassis 11, the container door faces the first direction or the opposite direction, so that the container door is located on the side of the unmanned vehicle 100, making it convenient for users to retrieve goods.

[0043] The aforementioned sensing module 2 is detachably mounted on the vehicle body 1. When the sensing module 2 malfunctions, it can be removed for inspection without disassembling the entire unmanned vehicle 100, thus reducing the difficulty of repair and maintenance. Optionally, the sensing module 2 is positioned on the top of the vehicle body 1, allowing it to obtain a wider field of view and making it less prone to obstruction.

[0044] like Figure 2 The sensing module 2 shown includes a first housing 21 and a first sensing module 22. The first housing 21 is detachably mounted on the vehicle body 1, and the first sensing module 22 is mounted on the first housing 21. By detachably mounting the first housing 21 on the vehicle body 1, the sensing module 2 can be detachably installed on the vehicle body 1. Furthermore, the first housing 21 is slidably mounted on the vehicle body 1, thereby reducing the difficulty of detaching and installing the first housing 21 by sliding. In some embodiments, the vehicle body 1 is provided with a slide rail 13, and the first housing 21 is provided with a slide groove 211. The slide rail 13 can be slidably connected to the slide groove 211 to slidably mount the first housing 21 on the vehicle body 1. The first housing 21 can be detached from the vehicle body 1 by sliding the first housing 21 along the sliding direction until the slide rail 13 disengages from the slide groove 211. The reverse operation can be used to install the first housing 21 on the vehicle body 1. Optionally, the first sensing module 22 is disposed on the top of the first housing 21, so that the first sensing module 22 can obtain a larger field of view and is not easily obstructed.

[0045] like Figures 2 to 4As shown, the first housing 21 is provided with a receiving cavity 212, and a mounting hole 213 communicating with the receiving cavity 212 is also provided on one side of the first housing 21. The first sensing module 22 includes a telescopic mechanism 221 and a sensing body 222. The telescopic mechanism 221 is disposed within the receiving cavity 212, and the sensing body 222 is disposed within the telescopic mechanism 221. The telescopic mechanism 221 is used to drive the sensing body 222 along the mounting hole 213 to reach a first position or a second position. The movement of the sensing body 222 along the mounting hole 213 means that the sensing body 222 passes through the mounting hole 213 and can move along the axial direction of the mounting hole 213 to change the height of the sensing body 222 protruding from the first housing 21. The sensing body 222 can move to a first position and a second position relative to the mounting hole 213. In this embodiment, when the sensing subject 222 moves to a first position relative to the mounting hole 213, the sensing subject 222 extends outward from the mounting hole 213 to allow it to operate and sense environmental information. When the sensing subject 222 does not need to operate, such as in standby mode, it can move to a second position relative to the mounting hole 213. At this time, the height of the sensing subject 222 protruding from the first housing 21 is reduced, thereby reducing the area exposed by the sensing subject 222, or even completely retracting it into the first housing 21. This reduces the amount of contaminants adhering to the surface of the sensing subject 222, improves the problem of contaminant adhesion, enhances the navigation accuracy of the unmanned vehicle 100, and reduces the probability of traffic accidents. Optionally, the sensing subject 222 is a lidar, cylindrical in shape, with one end connected to the telescopic mechanism 221.

[0046] like Figure 3 and Figure 4 As shown, the sensing module 2 also includes a ventilation module 23, which is disposed in the first housing 21. When the sensing body 222 is located in either the first or second position, the ventilation module 23 can be used to allow gas in the accommodating cavity 212 to flow out through the gap between the inner wall of the mounting hole 213 and the sensing body 222. It is understood that when the sensing body 222 is located in either the first or second position, and in both the first and second positions, the sensing body 222 is inserted into the mounting hole 213. When the gas flows out of the mounting hole 213, it needs to pass through the gap between the inner wall of the mounting hole 213 and the sensing body 222. The gas can blow away at least some of the contaminants on the sensing body 222, further reducing the contaminants adhering to the surface of the sensing body 222 and improving the problem of contaminants adhering to the surface of the sensing body 222. Optionally, the ventilation module 23 includes a fan, which is disposed in the first housing 21 and used to blow gas into the accommodating cavity 212.

[0047] In some embodiments, such as Figure 4As shown, the first housing 21 includes a main housing 214 and a protective cover 215 protruding from the main housing 214; a mounting hole 213 is provided at the end of the protective cover 215 away from the main housing 214, and the mounting hole 213 is connected to the receiving cavity 212 through the channel of the protective cover 215; when the sensing body 222 is in the first position relative to the mounting hole 213, the sensing body 222 extends out of the mounting hole 213 and is exposed to the outside; when the sensing body 222 is in the second position relative to the mounting hole 213, the sensing body 222 is received in the channel of the protective cover 215. It is understandable that, in order for the sensing body 222 to be housed within the first housing 21, the first housing 21 needs to have a certain thickness along the contraction direction of the sensing body 222. However, by providing a protective cover 215 to house the sensing body 222, the thickness of other parts of the first housing 21 can be appropriately reduced. For example, the thickness of the main housing 214 along the contraction direction of the sensing body 222 can be less than the length of the first sensing module 22, allowing the portion of the first sensing module 22 extending beyond the main housing 214 to be housed by the protective cover 215. Furthermore, in this embodiment, when the sensing body 222 is in the second position relative to the mounting hole 213, the sensing body 222 is housed within the channel of the protective cover 215, meaning the sensing body 222 is completely retracted into the first housing 21. The end face of the sensing body 222 along the extension / retraction direction can be flush with or recessed from the surface of the first housing 21, thus only one end face of the sensing body 222 is exposed, greatly reducing the exposed area of ​​the sensing body 222 and further improving the problem of contaminant adhesion to the surface of the sensing body 222. Optionally, the protective cover 215 can be detachably installed on the main housing 214.

[0048] To improve the problem of the exposed end face of the sensing subject 222, such as Figure 4 As shown, the first housing 21 may further include a protective cover 216, which is disposed at one end of the sensing body 222. In this embodiment, the protective cover 216 is disposed at the end of the sensing body 222 away from the telescopic mechanism 221, that is, the exposed end of the sensing body 222. Thus, when the sensing body 222 is in the second position relative to the mounting hole 213, the sensing body 222 can be completely concealed, further improving the problem of contaminants adhering to the surface of the sensing body 222.

[0049] Furthermore, when the sensing body 222 is in the second position relative to the mounting hole 213, the protective cover 216 covers the end face of the protective cover 215 having the mounting hole 213. By covering the end face of the protective cover 215 having the mounting hole 213, the mounting hole 213 can be sealed, so that the gap between the inner wall of the mounting hole 213 and the sensing body 222 is not connected to the outside, thereby improving the problem of contaminants entering the receiving cavity 212 from the gap and contaminating the receiving cavity 212 and the sensing body 222.

[0050] In some embodiments, such as Figure 4 As shown, the top of the accommodating cavity 212 is tapered, and a through hole 217 communicating with the channel of the protective cover 215 is provided on the top of the accommodating cavity 212. In this embodiment, the main shell 214 is used to define the top of the accommodating cavity 212. The central part of the main shell 214 is a cone-shaped structure that convexes upward, so that the top of the accommodating cavity 212 gradually narrows upward, presenting a tapered shape. A through hole 217 is provided in the center of the top shell, and the protective cover 215 is placed on the through hole 217, so that the channel in the protective cover 215 communicates with the through hole 217, so that the mounting hole 213 communicates with the accommodating cavity 212. Gas in the accommodating cavity 212 can enter the protective cover 215 through the through hole 217, and then flow out from the protective cover 215 through the mounting hole 213. The through hole 217 is larger than the mounting hole 213 so that the telescopic mechanism 221 can pass through; it also makes the airflow channel narrower and the airflow speed faster when the gas flows from the through hole 217 to the mounting hole 213, which is conducive to blowing away the pollutants on the surface of the sensing body 222.

[0051] In some embodiments, such as Figures 4 to 6 As shown, the first housing 21 also includes a base plate 218, which and the main housing 214 enclose to form an accommodating cavity 212; the telescopic mechanism 221 includes a drive seat 2211, a connecting rod 2212 and a support frame 2213; the support frame 2213 is installed on the base plate 218 and supports the connecting rod 2212; the drive seat 2211 is disposed on the base plate 218, one end of the connecting rod 2212 is connected to the sensing body 222, and the other end of the connecting rod 2212 is driven to the drive seat 2211. The drive seat 2211 is used to drive the connecting rod 2212 to telescopically move, thereby driving the sensing body 222 to reach a first position or a second position along the mounting hole 213. In this embodiment, the base plate 218 is flat, and the main shell 214 is connected to the four edges of the base plate 218, thereby forming at least a portion of the accommodating cavity 212 between the base plate 218 and the main shell 214, and making the first shell 21 mainly present as a hollow plate; the support frame 2213 is provided with a limiting hole (not shown), the connecting rod 2212 passes through the limiting hole and can slide along the limiting hole, and the extension direction of the limiting hole is perpendicular to the base plate 218, that is, the connecting rod 2212 is mounted on the base plate 218; the drive seat 2211 drives the connecting rod 2212 to slide along the limiting hole, so that the connecting rod 2212 moves in extension and retraction, thereby driving the sensing body 222 to move along the mounting hole 213, and the sensing body 222 can move along the mounting hole 213 to the first position and the second position. Optionally, the axis of the mounting hole 213 coincides with the axis of the limiting hole, so that when the connecting rod 2212 moves along the axis of the limiting hole, it drives the sensing body 222 to move in a direction parallel to the axis of the mounting hole 213.

[0052] In some embodiments, such as Figure 3 and Figure 4 As shown, a vent 2181 is also provided on the base plate 218, which is used to supply gas from the outside into the accommodating cavity 212. Optionally, the vent 2181 is circular or square, and there are multiple vents 2181. Optionally, the ventilation module 23 is an electric fan, which is covered by the vent 2181 and blows gas into the accommodating cavity 212 through the vent 2181.

[0053] In some embodiments, such as Figure 3 and Figure 4 As shown, the first housing 21 has a groove 219 on the side facing the vehicle body 1. The sensing module 2 also includes a control module 24, which is disposed within the groove 219. When the first housing 21 is installed on the vehicle body 1, the vehicle body 1 closes the groove 219 to reduce contact with the external environment. When the first housing 21 is removed from the vehicle body 1, the control module 24 is exposed, facilitating maintenance of the control module 24. Optionally, the groove 219 is located on the base plate 218, and some ventilation holes 2181 are provided on the side wall or bottom wall of the groove 219. These ventilation holes 2181 can be used for cable passage.

[0054] In some embodiments, such as Figure 6 As shown, the telescopic mechanism 221 also includes a connecting platform 2214; one side of the connecting platform 2214 is connected to a connecting rod 2212, and the other side of the connecting platform 2214 is connected to a sensing body 222; a sealing step 2215 protrudes around the connecting platform 2214, and when the sensing body 222 is in the first position relative to the mounting hole 213, the sealing step 2215 fits against the edge of the mounting hole 213. When the sensing body 222 moves to the first position relative to the mounting hole 213, the sealing step fits against the edge of the mounting hole 213, which can seal the mounting hole 213 and improve the problem of contaminants entering the accommodating cavity 212 from the gap between the inner wall of the mounting hole 213 and the sensing body 222; it can also serve as a mechanical limiter, accurately limiting the sensing body 222 to the first position relative to the mounting hole 213. In this embodiment, the connecting platform 2214 is located below the mounting hole 213, and the sealing step 2215 protrudes upward, thus forming a collection groove 2216 on the top of the sealing step 2215. The collection groove 2216 can collect contaminants that enter the accommodating cavity 212 from the gap between the inner wall of the mounting hole 213 and the sensing body 222, thereby reducing the amount of contaminants entering the accommodating cavity 212.

[0055] In some embodiments, the protective cover 216 and the connecting platform 2214 are disc-shaped, and the mounting hole 213 is circular, which facilitates the protective cover 216 and the connecting platform 2214 in closing the mounting hole 213.

[0056] In some embodiments, such as Figure 2As shown, the sensing module 2 also includes a second sensing module 25; the second sensing module 25 is respectively provided on both sides of the sensing body 222, and the second sensing module 25 is fixedly installed on the first housing 21. The second sensing module 25 is provided on both sides of the sensing body 222, which can enhance the sensing effect of the sensing module 2 on these two sides.

[0057] In some embodiments, such as Figure 2 As shown, the sensing module 2 also includes a second housing 26 and a third housing 27, which are detachably connected to both sides of the first housing 21. At least one of the second housing 26 and the third housing 27 is provided with one or more second sensing modules 25. By providing the second sensing module 25 on the second housing 26 or the third housing 27, the sensing effect of the sensing module 2 can be enhanced.

[0058] In some embodiments, such as Figure 2 As shown, the second housing 26 and the third housing 27 are located at both ends of the container 12 along the second direction, and the first housing 21 is located on the top of the container 12. The first housing 21, the second housing 26, and the third housing 27 are all detachably connected to the container 12, and one end of the second housing 26 and the third housing 27 are detachably connected to the chassis 11. When the unmanned vehicle 100 malfunctions, the first housing 21, the second housing 26, and the third housing 27 can all be detached from the vehicle body 1 for easy maintenance.

[0059] In some embodiments, such as Figure 2 As shown, two second sensing modules 25 are respectively installed along the first direction of the first housing 21; a second housing 26 and a third housing 27 are respectively installed along the second direction of the first housing 21, wherein the first and second directions are perpendicular to each other. A second sensing module 25 is provided on both sides of the first housing 21 along the first direction and on both sides along the second direction, which enhances the sensing effect of the sensing module 2 in the four directions (front, back, left, and right), reduces the probability of the unmanned vehicle 100 encountering obstacles in these four directions, and improves the safety of the unmanned vehicle 100. Since the second sensing modules 25 are respectively located on the first housing 21, the second housing 26, and the third housing 27, when a second sensing module 25 malfunctions, only the corresponding housing needs to be removed, without disassembling the entire sensing module 2, facilitating maintenance.

[0060] In some embodiments, such as Figure 2 , Figure 4 As shown, the first sensing module 22 is located at the top center of the first housing 21. The sensing subject 222 includes one or both of radar and camera. The radar has a field of view of 360°, so it can scan obstacles around the unmanned vehicle 100 from various angles. The camera can be a panoramic camera, so it can capture images of the surrounding 360° field of view.

[0061] In some embodiments, the second sensing module 25 includes a radar with a field of view between 90° and 180°, for example 130°, for scanning obstacles on one side of the unmanned vehicle 100, and the radar is oriented downwards towards the unmanned vehicle 100, so it can scan obstacles that are close to the unmanned vehicle 100.

[0062] In some embodiments, the second sensing module 25 further includes a camera, which is used to sense environmental information such as people, vehicles, and objects within the acquired field of view, and can analyze the environmental information to obtain a series of information such as type, color, size, direction, and speed. Furthermore, there are multiple cameras, each with a different orientation, to acquire environmental information from different directions.

[0063] In some embodiments, the first sensing module 22, the second sensing module 25, the ventilation module 23, and the control module 24 are detachably connected to the first housing 21, the second housing 26, and the third housing 27, which facilitates the maintenance of the first sensing module 22, the second sensing module 25, the ventilation module 23, and the control module 24, as well as facilitates replacement and upgrades, and allows the unmanned vehicle 100 to be modified according to actual needs.

[0064] In some embodiments, such as Figure 1 and Figure 2 As shown, the sensing module 2 also includes an interaction module 28, which is disposed in the first housing 21, the second housing 26, or the third housing 27. The interaction module 28 includes one or more of the following: a display panel 281, an operation panel 282, a barcode scanner 283, an emergency stop switch 284, a speaker 285, and a turn signal 286. The interaction module 28 may also have some components disposed in one of the first housing 21, the second housing 26, and the third housing 27, and other components disposed in the other one or two of the following: for example, the display panel 281 and the operation panel 282 are disposed in the second housing 26, the barcode scanner 283 and the emergency stop switch 284 are disposed in the first housing 21, and the speaker 285 and the turn signal 286 are disposed in the third housing 27. The system includes a display panel 281 for displaying information and an operation panel 282 for operation; both panels can be touchpads. A barcode scanner 283 scans barcodes, such as QR codes or barcodes, to quickly input product information. An emergency stop switch 284 stops the unmanned vehicle 100 from operation in case of a malfunction, preventing secondary accidents. A speaker 285 provides audible alerts to alert people to avoid the area and to prompt users to retrieve goods. A turn signal 286 indicates the direction the unmanned vehicle 100 will turn to vehicles or pedestrians behind it. In this embodiment, the display panel 281 and operation panel 282 are integrated touchpads.

[0065] In some embodiments, the components of the interaction module 28 may be disposed on the vehicle body 1, for example, the turn signal 286 may be disposed on the chassis 11.

[0066] In some embodiments, the various components of the interaction module 28 are detachably connected to the first housing 21, the second housing 26 and the third housing 27, which facilitates the maintenance of the interaction module 28 and the replacement and upgrading of the various components. The interaction module 28 of the unmanned vehicle 100 can be modified according to actual needs.

[0067] In some embodiments, such as Figure 2 and Figure 4 As shown, the sensing module 2 also includes an antenna module 29, which is disposed on the first housing 21. The antenna module 29 includes a combined antenna 291 and strip antennas 292. The combined antenna 291 can transmit and receive signals of multiple frequency bands, and there are multiple strip antennas 292, with different strip antennas 292 used to transmit and receive signals of different frequency bands. Optionally, the antenna module 29 is installed on the top surface of the first housing 21, which is beneficial for receiving and transmitting signals. Optionally, the antenna module 29 can be detachably installed on the first housing 21 for easy disassembly for maintenance, replacement, and configuration changes.

[0068] In the sensing module 2 and the unmanned vehicle 100 of this application embodiment, the sensing body 222 can extend and retract along the mounting hole 213, protruding outwards during operation and retracting inwards during standby, thereby reducing the time the sensing body 222 is exposed to the external environment and reducing the amount of contaminants adhering to the surface of the sensing body 222. Furthermore, the ventilation module 23 allows gas in the accommodating cavity 212 to flow out through the gap between the inner wall of the mounting hole 213 and the sensing body 222, blowing away some of the contaminants on the outer surface of the sensing body 222, further reducing the amount of contaminants adhering to the surface of the sensing body 222 and improving the problem of contaminants adhering to the surface of the sensing body 222. The first housing 21 may also include a protective cover 216, which is disposed at one end of the sensing body 222 and can seal the mounting hole 213, preventing the gap between the inner wall of the mounting hole 213 and the sensing body 222 from communicating with the outside, thereby improving the problem of contaminants entering the accommodating cavity 212 through this gap and contaminating the accommodating cavity 212 and the sensing body 222. The top of the accommodating cavity 212 tapers, which increases the airflow speed when gas flows from the through hole 217 to the mounting hole 213, thus helping to blow away contaminants on the surface of the sensing body 222. The telescopic mechanism 221 also includes a connecting platform 2214, which can seal the mounting hole 213, improving the problem of contaminants entering the accommodating cavity 212 through the gap between the inner wall of the mounting hole 213 and the sensing body 222; it can also act as a mechanical limiter, accurately limiting the sensing body 222 to a first position relative to the mounting hole 213. The sensing module 2 also includes a second sensing module 25, a second housing 26, and a third housing 27. The second sensing module 25 is disposed in the first housing 21, the second housing, and the third housing 27, which not only enhances the sensing effect of the sensing module 2 but also facilitates maintenance.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A sensing module, characterized in that, The sensing module includes: A first housing is provided with a receiving cavity, and a mounting hole communicating with the receiving cavity is also provided on one side of the first housing; the first housing includes a main shell and a protective cover protruding from the main shell; the mounting hole is provided at the end of the protective cover away from the main shell, and the mounting hole communicates with the receiving cavity through the channel of the protective cover; the first housing also includes a bottom plate, and the bottom plate and the main shell enclose the receiving cavity. A first sensing module includes a telescopic mechanism and a sensing body. The telescopic mechanism is disposed within the accommodating cavity, and the sensing body is disposed within the telescopic mechanism. The telescopic mechanism drives the sensing body along the mounting hole to reach a first position or a second position. The telescopic mechanism includes a drive seat, a connecting rod, and a support frame. The support frame is mounted on the base plate and supports the connecting rod. The drive seat is disposed on the base plate. One end of the connecting rod is connected to the sensing body, and the other end of the connecting rod is driven to the drive seat. The drive seat drives the connecting rod to telescopically extend, thereby driving the sensing body along the mounting hole to reach the first position or the second position. A ventilation module is disposed in the first housing. When the sensing body is located at either the first position or the second position, the ventilation module can be used to allow gas in the accommodating cavity to flow out from the gap between the inner wall of the mounting hole and the sensing body. Wherein, when the sensing subject is in a first position relative to the mounting hole, the sensing subject extends out of the mounting hole and is exposed outward; when the sensing subject is in a second position relative to the mounting hole, the sensing subject is received within the channel of the protective cover; the first housing also includes a protective cover, which is disposed at one end of the sensing subject; when the sensing subject is in the second position relative to the mounting hole, the protective cover covers the end face of the protective cover having the mounting hole; the telescopic mechanism includes a connecting platform, one side of which is connected to the connecting rod, and the other side of which is connected to the sensing subject; the connecting platform has a sealing step protruding around its periphery, and when the sensing subject is in the first position relative to the mounting hole, the sealing step is in contact with the edge of the mounting hole.

2. The sensing module according to claim 1, characterized in that, The top of the accommodating cavity is tapered, and a through hole is provided at the top of the accommodating cavity to communicate with the channel of the protective cover, wherein the through hole is larger than the mounting hole; Ventilation holes are also provided in the base plate.

3. The sensing module according to any one of claims 1-2, characterized in that, The sensing module further includes a second sensing module; the second sensing module is respectively provided on both sides of the sensing body, and the second sensing module is fixedly installed on the first housing.

4. The sensing module according to claim 3, characterized in that, The sensing module further includes a second housing and a third housing, which are detachably connected to both sides of the first housing; at least one of the second housing and the third housing is provided with one or more of the second sensing modules; Two second sensing modules are respectively installed along the first direction of the first housing; the second housing and the third housing are respectively installed along the second direction of the first housing, wherein the first direction and the second direction are perpendicular to each other.

5. The sensing module according to claim 4, characterized in that, The sensing module also includes an interaction module, which is disposed in the first housing, the second housing, or the third housing. The interaction module includes one or more of the following: a display panel, an operation panel, a barcode scanner, an emergency stop switch, a speaker, and turn signals.

6. An unmanned vehicle, characterized in that, include: Vehicle body; as well as The sensing module as described in any one of claims 1 to 5, wherein the first housing is slidably mounted on the vehicle body.

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