An unmanned vehicle with target recognition function

Abstract

This invention discloses an autonomous vehicle with target recognition functionality, comprising a vehicle body and a lidar sensor and a camera sensor mounted on the vehicle body for target recognition. Both sensors are mounted on the vehicle body via a protective mechanism. The protective mechanism includes a base and a housing mounted on the base. The front end of the housing is open, and a flexible, light-transmitting film is arranged around the outer periphery of the housing via multiple support rollers. The flexible film seals the opening at the front end of the housing. The housing also includes a driving component for driving the flexible film to rotate and a cleaning component for wiping and cleaning the flexible film during its rotation. This invention employs a rotating flexible film cleaning method, ensuring that no object appears in the sensor's optical path during the cleaning process. This avoids interference and misjudgment of the sensor's target recognition, thus ensuring the driving safety of the autonomous vehicle.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and more specifically to an autonomous vehicle with target recognition function. Background Technology

[0002] Autonomous vehicle control systems rely on sensors to perceive the surrounding environment, including vehicles, pedestrians, and traffic signs. Autonomous vehicles are typically equipped with multiple sensor devices to acquire more information. Different sensors can complement each other, providing richer information for the autonomous vehicle's control system to perceive. LiDAR sensors and camera sensors are the two most commonly used and essential sensor devices in autonomous vehicles.

[0003] LiDAR sensors use lasers to scan the environment surrounding autonomous vehicles and generate point cloud data. This point cloud data allows the autonomous vehicle's control system to quickly and easily create a 3D model of the surrounding environment. Therefore, LiDAR sensors have become the most important onboard sensors. Camera sensors can collect image information about the environment around the autonomous vehicle. The autonomous vehicle's control system can combine the image information collected by camera sensors with the point cloud data collected by LiDAR sensors to identify obstacles and traffic signs in the vehicle's surroundings. Therefore, cameras are also very important onboard sensors. The combined use of LiDAR and camera sensors allows for wider coverage, cross-verification of acquired information, and improved accuracy in environmental recognition by the autonomous vehicle control system. Furthermore, it ensures the stability of the control system even if a single sensor malfunctions or fails.

[0004] Both lidar sensors and camera sensors rely on optical technology. Therefore, for autonomous vehicles to maintain stable and accurate target recognition, the optical paths of the lidar and camera sensors must be kept undisturbed. However, during vehicle operation, the protective lenses of the lidar and camera sensors can become dirty from rain, mud, and other contaminants, leading to reduced recognition accuracy. Furthermore, since autonomous vehicles lack a driver to regularly inspect and clean them, this compromises driving safety and increases the risk of accidents. Moreover, existing automatic cleaning methods, such as using telescopic rods to move cleaning levers back and forth, can interfere with sensor recognition and cause misjudgments due to the movement of the cleaning levers along the optical path, which is detrimental to autonomous driving. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned vehicle with target recognition function, which solves the problem that the target recognition accuracy of unmanned vehicles is reduced due to rain and mud getting on the optical paths of lidar sensors and camera sensors, leading to driving safety accidents. At the same time, it overcomes the defects of existing cleaning methods that easily interfere with sensor recognition and cause misjudgment.

[0006] The present invention achieves the above objectives through the following technical solutions:

[0007] An unmanned vehicle with target recognition function includes a vehicle body and a lidar sensor and a camera sensor installed on the vehicle body for target recognition. The lidar sensor and the camera sensor are both installed on the vehicle body through a protective mechanism.

[0008] The protective mechanism includes a base and a housing disposed on the base for accommodating a lidar sensor or a camera sensor. The front end of the housing is open, and a flexible light-transmitting film is provided around the outer periphery of the housing by multiple support rollers. The flexible light-transmitting film seals the opening at the front end of the housing. The housing is also provided with a drive component for driving the flexible light-transmitting film to rotate around, and a cleaning component for wiping and cleaning the flexible light-transmitting film when it rotates around.

[0009] A further improvement is that a sealing brush is provided at the opening edge of the front end of the housing for sealing in contact with the flexible light-transmitting membrane.

[0010] A further improvement is that there are four support rollers, which are arranged at the four corners of the housing.

[0011] A further improvement is that the driving component consists of a motor, a driving roller located at the output end of the motor, and a driven roller mounted on the base. The driving roller and the driven roller are located opposite each other on different sides of the flexible light-transmitting film and are pressed and bonded to the flexible light-transmitting film.

[0012] A further improvement is that the cleaning component consists of a pad and a cleaning block, the cleaning block being in contact with the outer side of the flexible light-transmitting membrane, and the pad being located on the inner side of the flexible light-transmitting membrane and corresponding to the position of the cleaning block.

[0013] A further improvement is that the protective mechanism also includes a wetting element, which includes a wetting roller on the mounting base and a pressing roller mounted on the housing. The wetting roller is located on the outer side of the flexible light-transmitting film, and the pressing roller is located on the inner side of the flexible light-transmitting film. The wetting roller and the pressing roller are positioned correspondingly and are pressed and adhered to the flexible light-transmitting film. The wetting roller rolls along the surface of the flexible light-transmitting film when the flexible light-transmitting film rotates around it to wet the flexible light-transmitting film.

[0014] A further improvement is that the wetting roller includes a hollow cylinder with its upper and lower end faces sealed and its side faces having notches, a mandrel rotatably disposed at the center of the hollow cylinder, and a sponge ring sleeved on the outside of the mandrel. The outer diameter of the sponge ring is equal to the inner diameter of the hollow cylinder. The sponge ring protrudes from the notch in the hollow cylinder and is pressed and adhered to a flexible light-transmitting membrane. Several barrier membranes are provided inside the sponge ring along the radial direction, and the barrier membranes divide the sponge ring into several pieces.

[0015] The shell is equipped with a water storage tank, which is inserted into the hollow cylinder from the upper end face away from the notch via a water pipe, and is used to supply water to the sponge ring.

[0016] A further improvement is that the driving component is connected to a controller, which controls the driving component to drive the flexible light-transmitting film to rotate around for a set duration every set period.

[0017] The beneficial effects of this invention are as follows:

[0018] (1) The present invention adopts a cleaning method of rotating a flexible light-transmitting film around the sensor, so that no object will appear on the optical path of the sensor during the cleaning process. This can avoid interference and misjudgment of the sensor's recognition and ensure the driving safety of the unmanned vehicle.

[0019] (2) The present invention can automatically clean the flexible light-transmitting membrane when it rotates around, and uses multiple cleaning components for cleaning, combined with the automatic wetting function of the wetting component, so that the cleaning effect is outstanding. It can effectively remove rainwater and dirt from the surface of the flexible light-transmitting membrane, keep it clean, and has a simple structure, is easy to control, and is inexpensive. Attached Figure Description

[0020] Figure 1 A side view of an autonomous vehicle with target recognition capabilities;

[0021] Figure 2 This is a side view of the protective structure;

[0022] Figure 3 for Figure 2 AA section view in the middle;

[0023] Figure 4 This is an enlarged view of the wetted part;

[0024] Figure 5 This is a schematic diagram of the structure of the wetting roller;

[0025] In the diagram: 1. Vehicle body; 2. LiDAR sensor; 3. Camera sensor; 4. Base; 5. Housing; 6. Support roller; 7. Flexible transparent membrane; 8. Drive component; 801. Motor; 802. Drive roller; 803. Driven roller; 9. Cleaning component; 901. Pad; 902. Cleaning block; 10. Sealing brush; 11. Wetting component; 111. Wetting roller; 1111. Notch; 1112. Hollow cylinder; 1113. Mandrel; 1114. Sponge ring; 1115. Barrier membrane; 112. Extrusion roller; 12. Water tank. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0027] Combination Figure 1-5 As shown, an autonomous vehicle with target recognition function includes a vehicle body 1, and a lidar sensor 2 and a camera sensor 3 installed on the vehicle body 1 for target recognition. The lidar sensor 2 acquires point cloud data and the camera sensor 3 acquires image data. The two data are fused to identify the target object. This is existing technology and will not be described in detail here.

[0028] Both the lidar sensor 2 and the camera sensor 3 are mounted on the vehicle body 1 via a protective mechanism. The protective mechanism includes a base 4 and a housing 5 mounted on the base 4 to house the lidar sensor 2 or the camera sensor 3. The front end of the housing 5 is open for detection by the lidar sensor 2 and the camera sensor 3. A flexible light-transmitting film 7 is arranged around the outer periphery of the housing 5 via multiple support rollers 6. The flexible light-transmitting film 7 seals the opening at the front end of the housing 5. The housing 5 is also equipped with a driving component 8 for driving the flexible light-transmitting film 7 to rotate around, and a cleaning component 9 for wiping and cleaning the flexible light-transmitting film 7 when it rotates around. This allows the entire outer surface of the flexible light-transmitting film 7 to be cleaned, ensuring the transparency of the opening at the front end of the housing 5. During the cleaning process, no objects will appear at the opening at the front end of the housing 5, avoiding interference or misjudgment of the sensor recognition and ensuring the driving safety of the autonomous vehicle.

[0029] Preferably, in this invention, a sealing brush 10 is provided at the open edge of the front end of the housing 5 for contacting and sealing with the flexible light-transmitting film 7, thereby increasing the dustproof effect and reducing wear on the flexible light-transmitting film 7.

[0030] Preferably, in this invention, there are four support rollers 6, which are arranged at the four corners of the housing 5, so that the flexible light-transmitting film 7 is supported into a rectangle that conforms to the housing 5.

[0031] Preferably, in this invention, the driving component 8 comprises a motor 801, a driving roller 802 located at the output end of the motor 801, and a driven roller 803 mounted on the base 4. The driving roller 802 and the driven roller 803 are located opposite each other on different sides of the flexible light-transmitting film 7 and are pressed and adhered to the flexible light-transmitting film 7. The motor 801 can be mounted on the outer wall of the housing 5. When the motor 801 rotates, it causes the driving roller 802 and the driven roller 803 to clamp the flexible light-transmitting film 7 and rotate around it. Of course, the driving component 8 can also adopt other structural forms.

[0032] Preferably, in this invention, the cleaning component 9 consists of a pad 901 and a cleaning block 902. The cleaning block 902 contacts the outer surface of the flexible light-transmitting membrane 7, and the pad 901 is located on the inner side of the flexible light-transmitting membrane 7 and corresponds to the position of the cleaning block 902. The cleaning block 902 can be made of materials such as sponge or fiber felt. When the flexible light-transmitting membrane 7 rotates, it slides against the surface of the cleaning block 902. The pad 901 helps to keep the flexible light-transmitting membrane 7 moving in a straight line. In this way, dirt on the outer surface of the flexible light-transmitting membrane 7 is cleaned away. Multiple cleaning components 9 can ensure the cleaning effect. The cleaning components 9 can be manually cleaned once a period of time, for example, once a month, to prevent dirt from accumulating and affecting subsequent cleaning effects.

[0033] Preferably, the protective mechanism of the present invention further includes a wetting element 11, which includes a wetting roller 111 on the mounting base 4 and a pressing roller 112 mounted on the housing 5. The wetting roller 111 is located on the outer side of the flexible light-transmitting film 7, and the pressing roller 112 is located on the inner side of the flexible light-transmitting film 7. The wetting roller 111 and the pressing roller 112 are positioned correspondingly and are pressed and adhered to the flexible light-transmitting film 7. The wetting roller 111 rolls along the surface of the flexible light-transmitting film 7 when the flexible light-transmitting film 7 rotates around it, so as to wet the flexible light-transmitting film 7.

[0034] Specifically, the wetting roller 111 includes a hollow cylinder 1112 with its upper and lower end faces sealed and its side faces having notches 1111, a spindle 1113 rotatably disposed at the center of the hollow cylinder 1112, and a sponge ring 1114 sleeved on the outside of the spindle 1113. The outer diameter of the sponge ring 1114 is equal to the inner diameter of the hollow cylinder 1112. The sponge ring 1114 protrudes from the notch 1111 of the hollow cylinder 1112 and is pressed and adhered to the flexible light-transmitting membrane 7. Several barrier membranes 1115 are provided inside the sponge ring 1114 along the radial direction, and the barrier membranes 1115 divide the sponge ring 1114 into several pieces. In addition, a water storage tank 12 is provided on the shell 5. The water storage tank 12 extends into the hollow cylinder 1112 from the upper end face away from the notch 1111 through a water pipe for supplying water to the sponge ring 1114.

[0035] When the flexible transparent membrane 7 is not rotating, water in the water storage tank 12 will only permeate into one sponge ring 1114 block (the block away from the notch 1111 and connected to the water pipe). This sponge ring 1114 block will be sealed by the barrier membrane 1115 and the hollow cylinder 1112, preventing water from permeating into other sponge ring 1114 blocks or leaking out. Thus, the water in the water storage tank 12 will not continue to flow out and will be preserved. When the flexible transparent membrane 7 rotates, the sponge rings 1114 roll along the surface of the flexible transparent membrane 7. The sponge rings 1114 blocks that have permeated with water will rotate until they come into contact with the flexible transparent membrane 7, transferring the water to the surface of the flexible transparent membrane 7. The water in the water storage tank 12 will then permeate into different sponge rings 1114 blocks one by one and flow out slowly. Therefore, the wetting element 11 can achieve automatic opening and closing functions, eliminating the need for separate control and preventing water waste.

[0036] Preferably, in this invention, the driving component 8 is connected to a controller, which controls the driving component 8 to drive the flexible light-transmitting film 7 to rotate around for a set duration at set intervals. For example, the driving component 8 is controlled to drive the flexible light-transmitting film 7 to rotate around for 30 seconds every half hour. Within 30 seconds, the flexible light-transmitting film 7 will rotate at a constant speed several times, and the whole thing will be repeatedly cleaned.

[0037] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. An unmanned vehicle with target recognition function, comprising a vehicle body (1), and a laser radar sensor (2) and a camera sensor (3) arranged on the vehicle body (1) for target recognition, characterized in that, Both the lidar sensor (2) and the camera sensor (3) are mounted on the vehicle body (1) through a protective mechanism; The protective mechanism includes a base (4) and a housing (5) disposed on the base (4) for accommodating a laser radar sensor (2) or a camera sensor (3). The front end of the housing (5) is open, and a flexible light-transmitting film (7) is provided around the outer periphery of the housing (5) by multiple support rollers (6). The flexible light-transmitting film (7) seals the opening at the front end of the housing (5). The housing (5) is also provided with a drive component (8) for driving the flexible light-transmitting film (7) to rotate around and a cleaning component (9) for wiping and cleaning the flexible light-transmitting film (7) when it rotates around. The protective mechanism also includes a wetting element (11), which includes a wetting roller (111) mounted on the base (4) and a pressing roller (112) mounted on the housing (5). The wetting roller (111) is located outside the flexible light-transmitting film (7), and the pressing roller (112) is located inside the flexible light-transmitting film (7). The wetting roller (111) and the pressing roller (112) are positioned correspondingly and pressed against the flexible light-transmitting film (7). The wetting roller (111) rolls along the surface of the flexible light-transmitting film (7) when the flexible light-transmitting film (7) rotates around it to wet the flexible light-transmitting film (7). The wetting roller (111) includes a hollow cylinder (1112) with the upper and lower end faces sealed and the side faces having notches (1111), a mandrel (1113) rotatably disposed at the center of the hollow cylinder (1112), and a sponge ring (1114) sleeved on the outside of the mandrel (1113). The outer diameter of the sponge ring (1114) is equal to the inner diameter of the hollow cylinder (1112). The sponge ring (1114) protrudes from the notch (1111) of the hollow cylinder (1112) and is pressed and adhered to the flexible light-transmitting film (7). Several barrier films (1115) are provided inside the sponge ring (1114) along the radial direction. The barrier films (1115) divide the sponge ring (1114) into several pieces. The shell (5) is provided with a water storage tank (12), which extends from the upper end face of the hollow cylinder (1112) and away from the notch (1111) through a water pipe to supply water to the sponge ring (1114).

2. The unmanned vehicle with target recognition function according to claim 1, characterized in that, The front opening edge of the housing (5) is provided with a sealing brush (10) for contacting and sealing with the flexible light-transmitting film (7).

3. An unmanned vehicle with target recognition function according to claim 1, characterized in that, There are four support rollers (6), which are arranged at the four corners of the housing (5).

4. An unmanned vehicle with target recognition function according to claim 1, characterized in that, The driving component (8) consists of a motor (801), a driving roller (802) located at the output end of the motor (801), and a driven roller (803) mounted on the base (4). The driving roller (802) and the driven roller (803) are located opposite each other on different sides of the flexible transparent film (7) and are pressed and bonded to the flexible transparent film (7).

5. An unmanned vehicle with target recognition function according to claim 1, characterized in that, The cleaning component (9) consists of a pad (901) and a cleaning block (902). The cleaning block (902) is in contact with the outer side of the flexible light-transmitting film (7). The pad (901) is located on the inner side of the flexible light-transmitting film (7) and corresponds to the position of the cleaning block (902).

6. An unmanned vehicle with target recognition function according to claim 1, characterized in that, The drive unit (8) is connected to a controller, which controls the drive unit (8) to drive the flexible light-transmitting film (7) to rotate around for a set time every set period.

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